Enum SimulationErrorFlags

A movement can't involve an exact rotation of 180 deg around a unique axis. The rotation is ambiguous and has infinite solutions.

A collision detected during the move.

Joint 3 is too close the elbow singularity.

The robot can't make a linear move. Consider a joint move instead.

The robot is too close to the front/back singularity (wrist close to axis 1).

There is no solution available to complete a linear move. Consider using a joint move.

The path is feasible (no error found), however, the calculation is inaccurate or invalid due to a large axis move. Reduce the time step or the robot speed to properly get accurate flags. This error flag is never combined with other error flags. This flag will appear with time based simulations and it means the path is feasible but RoboDK is unable to calculate it with the current time step.

This specific error can appear if a circular movement is not properly defined. For example, 2 of the 3 points are too close to each other. Make sure to select 2 different targets defining an arc from the last robot movement.

Linear Move not possible. One of the Axis reached its joint limit.

You can avoid this warning by changing motion tolerances in Tools-Options-Motion. roboDk.Command("ToleranceSingularityWrist ", 2.0); //Threshold angle to avoid singularity for joint 5 (deg) roboDk.Command("ToleranceSingularityElbow ", 3.0); //Threshold angle to avoid singularity for joint 3 (deg) roboDk.Command("ToleranceSingularityBack", 20.0); //Threshold for back/front tolerance, in mm roboDk.Command("ToleranceTurn180", 0.5);

Joint 5 is too close to a singularity (0 degrees)

This is specific to instructionListJoints and it is displayed when the target is not reachable.

Wrist singularity (unable to flip joint 5 from positive/negative). Joint 5 crosses 0 degrees. This is a singularity and it is not allowed for a linear move;