Run XML with Sunrise?

Zugspitze · Sep 27th 2017

Hello,

I am currently setting up an iiwa 7 with sunrise OS 1.11. Everything is looking good so far, jogging works fine and the test programs run in T1. Network connection is set up via X66. I also installed Sunrise Workbench and made sense of AMF PSM and PSM and how to synchronize the Project.

Now I am asking myself how to make a Robot Application out of an *.xml file that was generated by another software (kuka|p rc) . Can someone post a general workflow how to proceed with the data? Do I need to parse the *.xml in the java code?

Help is very much appreciated

Zugspitze · Sep 27th 2017

the program actually generates an xml that is similar to the RoboticsAPIData.
How do I get this running since it's not an exececutable robot application that can be started with the play buton on the smart pad?

XML

<?xml version="1.0" encoding="utf-8"?>
<RoboticsAPIData>
  <version>3</version>
  <world>
    <frame name="PTP ">
      <transformation x="501.59714454671735" y="-134.69615760017064" z="160" a="0" b="1.5707963267948966" c="-0" />
      <redundancyData>
        <redundancy transformationProviderName="legacy" type="com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy">
          <info type="com.kuka.roboticsAPI.deviceModel.StatusTurnRedundancy$StatusParameter" value="2" valueType="java.lang.Integer" />
          <info type="com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy$E1Parameter" value="0" valueType="java.lang.Double" />
        </redundancy>
      </redundancyData>
    </frame>
    <frame name="LIN ">
      <transformation x="501.59714454671735" y="-134.69615760017064" z="160" a="0" b="1.5707963267948966" c="-0" />
      <redundancyData>
        <redundancy transformationProviderName="legacy" type="com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy">
          <info type="com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy$E1Parameter" value="0" valueType="java.lang.Double" />
        </redundancy>
      </redundancyData>
    </frame>
  </world>
</RoboticsAPIData>

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**panic mode** · Sep 27th 2017

Normally you would integrate it into sunrise project then sync it with controller.

Zugspitze · Sep 28th 2017

In sunrise, only applications written in java (see image in the tree structure under 'package') show up on the teach pendant as applications after syncing and are executable..

razzo · Sep 28th 2017

you wanna run a KRL programm with a sunrise robot?!

Zugspitze · Sep 28th 2017

razzo
no. I want to run this code with a sunrise robot:

XML

<?xml version="1.0" encoding="utf-8"?>
<KUKAprc>
  <PRC_Settings>
    <BASE>
      <FRAME>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <A>0</A>
        <B>0</B>
        <C>0</C>
      </FRAME>
    </BASE>
    <INITTOOL>
      <FRAME>
        <X>0</X>
        <Y>0</Y>
        <Z>132.99</Z>
        <A>0</A>
        <B>-1.5707963267948966</B>
        <C>0</C>
      </FRAME>
    </INITTOOL>
    <LININT>4</LININT>
    <PTPINT>50</PTPINT>
    <LINACC>1</LINACC>
    <PTPACC>100</PTPACC>
  </PRC_Settings>
  <PRC_CommandData>
    <PRC_CMD>
      <TYPE>AXIS</TYPE>
      <AXIS>
        <AXIS>
          <A01>0</A01>
          <A02>0</A02>
          <A03>0</A03>
          <A04>-1.5707963267948966</A04>
          <A05>0</A05>
          <A06>0.78539816339744828</A06>
          <A07>-0.78539816339744828</A07>
        </AXIS>
      </AXIS>
      <KMRX>0</KMRX>
      <KMRY>0</KMRY>
      <KMRTHETA>0</KMRTHETA>
      <VEL>0.15</VEL>
      <INT>C_PTP</INT>
    </PRC_CMD>
    <PRC_CMD>
      <TYPE>PTP</TYPE>
      <FRAME>
        <FRAME>
          <X>501.59714454671735</X>
          <Y>-134.69615760017064</Y>
          <Z>160</Z>
          <A>0</A>
          <B>1.5707963267948966</B>
          <C>-0</C>
        </FRAME>
      </FRAME>
      <VEL>0.15</VEL>
      <STATUS>010</STATUS>
      <TURN></TURN>
      <E1VAL>0</E1VAL>
      <KMRX>0</KMRX>
      <KMRY>0</KMRY>
      <KMRTHETA>0</KMRTHETA>
      <INT>C_PTP</INT>
    </PRC_CMD>
    <PRC_CMD>
      <TYPE>LIN</TYPE>
      <FRAME>
        <FRAME>
          <X>501.59714454671735</X>
          <Y>-134.69615760017064</Y>
          <Z>160</Z>
          <A>0</A>
          <B>1.5707963267948966</B>
          <C>-0</C>
        </FRAME>
      </FRAME>
      <VEL>250</VEL>
      <E1VAL>0</E1VAL>
      <KMRX>0</KMRX>
      <KMRY>0</KMRY>
      <KMRTHETA>0</KMRTHETA>
      <INT>C_ORI</INT>
    </PRC_CMD>
    <PRC_CMD>
      <TYPE>AXIS</TYPE>
      <AXIS>
        <AXIS>
          <A01>0</A01>
          <A02>0</A02>
          <A03>0</A03>
          <A04>-1.5707963267948966</A04>
          <A05>0</A05>
          <A06>0.78539816339744828</A06>
          <A07>-0.78539816339744828</A07>
        </AXIS>
      </AXIS>
      <KMRX>0</KMRX>
      <KMRY>0</KMRY>
      <KMRTHETA>0</KMRTHETA>
      <VEL>0.15</VEL>
      <INT>C_PTP</INT>
    </PRC_CMD>
  </PRC_CommandData>
</KUKAprc>

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razzo · Sep 28th 2017

This is no code for an iiwa ...
Has absolutely nothing to do with it

Zugspitze · Oct 4th 2017

there were some classes missing to run the code.
It's now fixed and up and running.

Thanks anyway for your effort - won't be the last time I have questions

Run XML with Sunrise?

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