Figure 4: Extensible Singularity Point In Space; Figure 5: Wrist Singularity Point In Space - Omron Techman Robot Safety Manual

The maximum working range can be achieved when the third joint is almost at zero degrees
Wrist Singularity Point in Space:
When the rotational axes of the fourth and the sixth joints are parallel, the robot will enter the Wrist Singularity Point
in Space. At this time, the motion of the arm will cause a large-angle displacement of the fourth joint, but it will be
stopped due to stop criteria of motion speed. Once the robot enters the Wrist Singularity Point in Space, it will stop
and report an error.
When the fourth and sixth joint are nearly parallel, the robot is about to enter the Wrist
Safety Manual TECHMAN ROBOT Safety System 3.3
Maximum
workspace area
Extensible Singularity Point in Space

Figure 4: Extensible Singularity Point in Space

Singularity Point in Space.

Figure 5: Wrist Singularity Point in Space

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