Integrator reported that the arm repeatedly hit a wrist-axis singularity during retraction, occasionally tripping a software limit switch that required manual recovery; other forum engineers advised there was no automatic fix and recommended avoiding the singularity zone with calculated path segments rather than expecting the controller to handle it.
- Wrist singularity near the A5 zero position trips a software limit switch mid-cycle
- No automatic recovery from the fault; each occurrence needs manual intervention
- Avoiding the singularity requires a software workaround rather than a controller fix
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