Hello Everyone,
We are doing research on body structures such joints and other parts. The goal is to better understand the mechanical side of the body, therefore analyse forces and moments acting on body during certain motions. First of all there is no direct interaction with living individuals! We are testing on joint models or cadavers so there have to be no concerns about any interaction with humans.
As we do want to work more with offline programming and real time data viewing, we want to setup a remote pc to directly interact with the robot. For this purpose, we purchased the following setup
- KR150 R2700 extra
- KRC 4 (V8.2.26)
- UserTech (V3.1.4)
- RSI (V3.1.4)
- FTCtrl (V3.0.3)
At the moment, I work on setting up the ethernet communication and try to better understand the whole system. I tried to go through the ethernet examples provided with the RSI but struggled to get it run properly.
First, I had a lot of difficulties to even get a connection. Finally I managed to get all the ip configurations right so I can ping the robot (RSI Network!) from the remote laptop and starting the test server, it seems like I do have a connection. I tracked the data flow using wireshark but it looks like, data is only sent from the robot to the remote. There seems to be no answer from the pc to the received data. According to the manual, each package sent by the robot has to be answered by an external system withing a certain time. According to my data flow, this seems to be not the case.
However, I tried to run the provided "RSI_Ethernet.src" and look what happens. I get to the line 31
ret = RSI_MOVECORR()
followed by the error on the SmartPad
"Signalfow (running): Object EHTERNET1 provides error RSITimeout"
"Stop through $CORRECTION-Functionality"
Unfortunately, the manual provides very little information helping me for troubleshoot. I hope someone from the forum might have some advice what to try and where I could have a closer look.