Robot Singularity Tolerances: Configuring Motion Options

Interpret Front/Back Singularity Tolerance

In Options > Motion, Tolerance to avoid Front / Back singularity (deg) refers to the robot's shoulder singularity. Treat “Front / Back” as the interface terminology for that singularity condition, not as a separate fourth singularity type.

The available evidence does not define how the controller applies the angular tolerance, where it measures the angle, or how motion changes inside the tolerance. Confirm those details in the controller documentation before selecting a value.

Interpret the 180-Degree Turn Tolerance

Tolerance to avoid 180 deg turns (deg) concerns attempts to rotate the tool by 180 degrees while executing a linear movement. It is distinct from the wrist, elbow, and Front/Back singularity tolerances.

The evidence does not establish whether the option changes the path, rejects the move, selects another orientation solution, or issues a warning. Do not infer one of these behaviors solely from the option name.

Configure and Verify the Motion

1. Identify whether the problematic path approaches a wrist, elbow, or shoulder condition. For a shoulder condition, use the Front/Back singularity setting.
2. If a linear move commands a 180-degree tool-orientation change, evaluate the separate 180-degree turn setting.
3. After changing a tolerance, execute the affected linear path under controlled conditions and verify the actual tool path, orientation, and controller response. Record the original value so the change can be reversed.

Do not use one tolerance as a substitute for another. The correct selection follows the motion condition: Front/Back for the shoulder singularity and 180-degree turns for tool rotation during linear motion.

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