June 19, 2019, 03:07:17 AM
Robotforum | Industrial Robots Community

 Handguiding without enabling switch pressed

normal_post Author Topic:  Handguiding without enabling switch pressed  (Read 161 times)

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May 30, 2019, 01:18:44 PM
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Vale_


Hello everyone

I am working with an LBR iiwa 14R820 (media Flange touch pneumatics)

I am trying to figure out if there is a way to use Handguiding without having to keep the enabling switch pressed (white button on the flange).
Is there a way to achieve this by modifying some security configuration or maybe something else ?

Thanks in advance
Vale

Today at 03:07:17 AM
Reply #1

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Guest

June 05, 2019, 04:34:20 PM
Reply #1
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evo85210


This is how I implement hand guiding without the trigger.

I'm away from the machine so I dont have the code, but basically:

Enter impedance mode
Start recording the current position to an array every 300ms or so
Assign a button/create a dialog to exit/stop hand guiding,
Then use a button/dialog to call the array to repeat the motion.

This'll only work in auto, and it records all the pauses between movement.


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