Mitsubishi Electric CR750-Q Instruction Manual page 530

5Functions set with parameters
*Operation when the singular point passage function is valid
When the singular point passage function is made valid, the robot can move from position A to position C via
position B (the position of a singular point) and vice versa through XYZ jog and linear interpolation opera-
tion. In this case, the value of the structure flag switches before and after passing position B.
If the singular point passage function is invalid (or not supported), the robot stops before moving from posi-
tion A to position B, as an error occurs. The robot stops immediately before position B in the case of XYZ jog
operation.
Position A
The robot can pass a singular point when the robot's motion path passes through the singular point. If the
motion path does not go through the singular point (passes near the singular point), the robot continues
operation without switching the value of the structure flag.
•Positions D -> E -> F: The robot's motion path passes through a singular point
Position D
•Positions G -> H -> I: The robot's motion path passes near a singular point
Position G
CAUTION
5-510 About singular point passage function
Position B
(the structure flag switches before and after position E).
Position E
(the structure flag is not switched).
Position H Position H
When passing near a singular point, the robot may rotate in a wide circle as in the
case of position H in the figure above. Be sure to keep an eye on the robot and avoid
getting in the way when working near the robot, such as when teaching positions.
Position C
Position F
Position I