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Avoid singularity

Hello everyone, I'm new here, I recently purchased a KUKA kr60 and i'm trying to control it with robodk ! To define the workspace i'm trying to make some simulations but I really dont get why i keep having the error about singularity when the robot arm need to make a turn close to him.

I have fond a possible solution to place tha table far from the robot but this way I reduce the robot working area. attached you can find the program

Hi Luca,

There is no RoboDK station (.rdk) attached to your post.

Have a great day.

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