TMflow Software version: All versions.
TM Robot Hardware version: All versions.
The TCP of the robot cannot reach the space outside the scope of the robot specification and the singularity. TM Robot comes with three types of singularity point in space: internal singularity point in space, extensible singularity point in space, and wrist singularity point in space. When TCP Point goes to the singularity point, the robot will stop and issue a warning. (For singularity, please refer to Singularity Point in Safety Manual System.) If the robot moving path may pass a singular point, users should select PTP in the Motion Node setting. The program will avoid the area automatically. If there is no way to rule out the situation, contact qualified and authorized service personnel.
