Mitsubishi MELFA CR1D Instruction Manual page 414

5Functions set with parameters
NonFlip
(8) If the singular point passage function is specified, the operation speed may be lowered compared to nor-
mal linear interpolation, etc. Moreover, the singular point passage function may affect the execution speed
of programs as the function involves complicated processing. Specify the singular point passage function
only for interpolation instructions where the function is required.
5-401 About singular point passage function
The structure flag changes from NonFlip to
Flip as the robot passes a singular point
Singular point
The structure flag remains NonFlip as the
robot does not pass a singular point
Singular point
Pause
NonFlip
Jog
Resume