# Omron Viper 850 Orientation out of range error

Good morning folks

We have a Omron Viper 850 robot

It is in inverted mount, i.e mounted upside down as you can see in the photo.

We are using the ACE 4.3 Software to program the robot. I don't have the code to paste here, but is something like:

SPEED 20 ALWAYS
DURATION 0.5 ALWAYS
MOVE safe.pos
MOVES pos2
MOVEC pos3,pos4


The properly code are much bigger than it. But this fit as an example, because we are using basically these five instructions.

When we ran the code, the robot sometimes make the course, sometimes not. When not, we receive the error message "Orientation Out of Range".

We suspect that we have to include some instruction to says to the robot that it are working in upside down orientation.

The manual ev+ programming pdf is here.

I appreciate any idea to workaround this error.

• I'm not experienced with industrial robot arm but I have some experience on designing the controller, could you get the value of joint 4 5 6 when error happen? it seems like spherical wrist singularity, try to give offset around 0-5 degree on joint 5 and 6 and inform if there is any difference. Jul 10 at 10:14
• Sorry, i didnt realize what you mean by give offset around 0-5 degree. Could you give more detailed information? Jul 10 at 10:28
• For example before command MOVES, try to increase the joint 5 and 6 by 5 degree Jul 10 at 10:34
• Right now i am a few kilometers away from the robot to realize the test. I ve already moved around the joints 4 5 and 6 before, but with no success. I think that i may use the BASE or FRAME instruction to change the orientation. What do you think? Jul 10 at 10:57
• I'm sorry with my limited knowledge I cant help any further.. but you can take a look at this article robohub.org/… maybe give u any useful information. Jul 10 at 11:31