Hi Alex! Thanks a lot for your contributions.
Today we made relevant progresses and I was able to hand guide my LBR iiwa:
1. the wirings of my X11 port, as showed in my previous post, are OK. I mean the contacts of the safety switch used to enable the handGuiding() motion should be normally opened. When the contact close, the robot can be hand guided. It is necessary (for some unknown reason) to "click" twice on the enabling switch, but this is not an issue;
2. Also the mechanism and the configuration of the event driven states is OK, as showed in my previous post;
3. All of my troubles derived (hem... currently derive) by the fact that when I run the application (using it in AUTOMATIC mode only - it's OK for me to live with this limitation) I can reach this statement:
but not this one:
I mean, when I enter the handGuiding() function, the opening and closing of the CIB_5 contacts allow just to stop and to restart the hand guiding. But I found no way to get out of the handGuiding() motion!!!
I thought the solution for this issue could have been to use a breakWhen condition in the robot motion, depending on the logical level of the CIB_5 input, but this is not feasible! Not supported by the handGuiding method!
Any ideas?
napol1. Hem... I think you have reported earlier on the same behaviour in your rig... May I ask how did you manage to solve the issue?
Cheers,
gv