代码 MOTN-209: Modify Singular Dest(L:%d)

Cause: This warning message indicates that the taught position at the specific line is inside a singularity zone. By default, the system modifies it in order to control the rotation of axis 4. If $ra_prarmgrp[].$use_strt_j4 = TRUE, the Auto 4.ERROR CODES B-83124EN-6/02 Singularity Avoidance function will internally modify the destination position when it is inside a pre-defined singularity zone in the following way: z The joint angle of Axis 4 is kept the same as the value of the previous position z The TCP location (x, y and z) of the position is the same as it was taught (no location error) z The orientation (w, p and r) of the position is kept as close to the taught position as possible (minimal orientation error) This warning message is posted only when the program motion is executed under T1/T2 mode and $ra_paramgrp[].$warnmessenb = TRUE. Remedy: If you do not want the system to modify the singularity point, set $ra_paramgrp[].$use_strt_j4 = FALSE.