# About singularity

**URL:** <https://forum.universal-robots.com/t/about-singularity/28097>\
**Category:** Technical Questions\
**Created:** [April 25, 2023, 1:42am UTC](https://forum.universal-robots.com/t/about-singularity/28097 "2023-04-25T01:42:58Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![wubaojian0504](https://avatars.discourse-cdn.com/v4/letter/w/aca169/32.png) [@wubaojian0504](https://forum.universal-robots.com/u/wubaojian0504)\
**Post date:** [April 25, 2023, 1:42am UTC](https://forum.universal-robots.com/t/about-singularity/28097/1 "2023-04-25T01:42:58Z")

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How to get the singularity state of the robot in real time through the remote interface？

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**Author:** ![benjamin.schmautz](https://avatars.discourse-cdn.com/v4/letter/b/c89c15/32.png) [@benjamin.schmautz](https://forum.universal-robots.com/u/benjamin.schmautz)\
**Post date:** [April 25, 2023, 5:52am UTC](https://forum.universal-robots.com/t/about-singularity/28097/2 "2023-04-25T05:52:55Z")

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UR does not provide such state output.  
But you can read out the joints and note the limits.  
According to this you can build your own singularity check.