The task must be programmed in a class background task. Attached example where I want to control the force of the robot in Z.
What I need to know is how to start this background task?
thanks
Hello,In KUKA LBR iiwa, the controller can run different background tasks parallel with robot applications.
I would like to run a background task to monitor what robot application is running, and when it is stopped.
Does anyone have an idea how to do that?Thank you.
Vinh
I never tried it. Mu instinct tells me to see if there's a Java program that can check on the JVM. Just a wild guess.
The task must be programmed in a class background task. Attached example where I want to control the force of the robot in Z.
What I need to know is how to start this background task?thanks
You cannot control/move or display on the SmartPad from a background task.
This instruction :
initializeCyclic(0, 500, TimeUnit.MILLISECONDS, CycleBehavior.BestEffort);
Means that your background task starts right with robot startUp ( 0 ms delay) and the program runs each 500ms (i.e. 500ms is the time between two calls of runCyclic() )
What are you exactly planning to do?
Hello
I want to do is display the value of the force made by the robot in Z while making a path.
ForceSensorData data =lbr.getExternalForceTorque(lbr.getFlange());
Vector force1=data.getForce();
double forceInZ=force1.getZ();
getLogger().info("Force=" + forceInZ);
but I do not visualize "Force =" at any time. Can it be because the time to be lower for example 10ms?
Example:
initializeCyclic(0, 10, TimeUnit.MILLISECONDS,
CycleBehavior.BestEffort);
I see. You want constant display on the smartPad at the same time as the robot moves.
Try using a Thread for that, I'm not sure if it can access the SmartPad , though. I'll try it in the coming days if I'll have time.
Thank you very much, it would be very great help
Hi, I am also working on the background task too, can you help me this post?
https://www.robot-forum.com/robotforum/kuk…ackground-task/
I really appreciate if you can help me. Thank you very much!!!
