Figure 3: The Definition Of R Offset - Omron Techman Robot Safety Manual

R
offset
Figure 3: The Definition of R .
offset
Extensible Singularity Point in Space:
When the third joint is almost at its zero degree, which means the robot is almost at the maximum working radius.
The space exceeding this radius is the Extensible Singularity Point in Space. In this space, the robot will stop and
report a warning due to exceeding the motion range of the robot.
Safety Manual TECHMAN ROBOT Safety System 3.3 35