Singularity Point; Table 13: The R; Values Of Each Product Series - Omron Techman Robot Safety Manual

Hold to Run has two categories:
Jog the robot by continuously pressing the + / - Button of the Robot Stick.
•
Jog the robot by continuously pressing the + / - Button in TMflow software.
•
Once the + / - Button is released, the robot will stop operation immediately and will continue operation when
pressed again. If TMflow connects to the robot through Ethernet or Wi-Fi, the robot will automatically issue a
protective stop when releasing the + / - Button or the connection is broken. Depending on the quality of connection,
there may be a maximum detection delay of 800ms for loss of communication. Using the physical button to perform
Hold to Run function, the detection time of releasing the button is up to 30ms.

Singularity Point

The motion of an articulated robot is often limited by the kinematic design, and cannot perform Cartesian motion
control under all joint positions. The joint position that will cause the robot to be unable to perform Cartesian control
is a singularity point. When the robot encounters a singularity point, it will stop motion and initiate a warning.
Three types of singularity point for TM Robot:
Internal Singularity Point in Space
•
Extensible Singularity Point in Space.
•
Wrist Singularity Point in Space.
•
Internal Singularity Point in Space:
The distance from the intersection of the rotational axes of the fifth joint and the sixth joint to the extended line of
the rotational axis of the first joint is defined as R
and centered on the extended line of the rotational axis of the first joint is the Internal Singularity Point in Space. As
soon as the robotic arm approaches the Internal Singularity Point in Space, the arm will stop and issue a warning.
The R values of each product series are shown in the following table:
offset
Safety Manual TECHMAN ROBOT Safety System 3.3
. The cylindrical space that is formed by R
offset
Main model
TM5 Series
TM12/14 Series

Table 13: The R

values of each product series

offset
R
offset
122.3 mm
156.3 mm
as the radius
offset
34