[SamuelEStreamline]

I'm hoping you can help me understand this issue.

My team is using FANUC robots. We have checked what tolerances cause singularities on our controller, and see them at +/- 3.5 degrees. When we set "Tolerance to avoid Wrist Singularity" to 4 degrees in RDK's Tools -> Options -> Motion, the simulation passes without flagging a singularity, but then the controller flags singularities because some robot motions do get within +/- 3.5 degrees. 

Is there a discrepancy between FANUC's wrist singularity tolerance and RoboDK's Wrist singularity tolerance? I would like to capture all possible singularities within the RoboDK simulation before executing on-line with the robots.

Thank you.

[Albert]

If you slightly modify the coordinate system or the tool definition this will modify the joint movement of the robot and it could make the movement fall within the tolerance to avoid.

You could also improve the accuracy of the simulation by reducing the Maximum path step tolerance from 1 mm (default value) to 0.1 mm:

1. Select Tools-Options
   
2. Select theMotion tab
   
3. Set Maximum path step to 0.1 mm
   

Let me know if you still have issues. If you can share your RoboDK project file and where exactly the robot stops we can better take a look.

[SamuelEStreamline]

Thank you Albert,

We will keep working on this and I will reach out again if needed.