03 / Singularity handling

Singularity at 80% of the cycle.
Or not.

The kernel detects approaching singularities during programming and steers joint motion around them — with axes-limit and heavy-axis controls you tune for your cell.

See the solver in action How the kernel handles it

[ Hero visual: tight shot on a 6-axis robot wrist
mid-rotation, axes labels overlaid (J4 / J5 / J6).

Sim window: kernel re-routing motion around
a singularity zone — wireframe dome,
the path avoids it. ]

"I keep getting singularity errors when my J4 and J6 are nowhere near lined up."
Abodame99 · robot-forum

"I'm also facing this problem but I haven't found a solution."
Kornelia · same thread, two years later

"If the problem persists, mount your end of arm tool at an angle, so that axis 5 is between 30 and 45 degrees."
kluk-kluk · the workaround is hardware

When the workaround is in the hardware

Something in the OLP layer has been broken for a long time.

$14k

CFRP wing skin scrapped at 80% of the cycle when joint 5 hit a wrist flip the post smoothed wrong.

2 years

Same singularity thread on robot-forum. No software fix. The vendor never replied.

30°–45°

Competitor "fix" — re-mount your end-effector at this angle so axis 5 never gets close to zero.

What changes with ENCY Robot

Advanced Multi-Axis Control. Singularities solved in software.

Singularity detection during programming

Per-component thresholds for wrist, elbow and base. The kernel sees the approach before the controller force-stops the cell. docs ↗

Advanced Axes Limits Control

Prevents overturns and smooths motion through singularity zones. Tune allowed deviation; the kernel respects it on every regenerate.

Heavy-axis behaviour

Mark high-mass axes. The link planner minimises their motion and stages tool-change positions accordingly. Large robots stay stable.

Joint-space link planning

Machine-space shortest path — air moves take the route the robot's joints actually want, not the Cartesian guess. docs ↗

Bring the cycle that scrapped the last part. We'll walk through it with the kernel running.

30-minute teardown with an ENCY application engineer. We load your geometry, visualise the singularity zone, and watch the solver route motion around it. No slideware.

See the solver in action Map your robot in the sandbox

Singularity at 80% of the cycle.Or not.