hand guiding - safety configuration problem [modified]

Marhy · Dec 5th 2017

Hi there,

I am trying to run a hand guiding in auto mode for the first time, so I have created
ESM with one row - hand guiding device inactive and set enabling switch MF Touch = true
in a safety configuration. (according to the manual)
After synchronizing of project and restarting robot and activate new safety conf. with added ESM state,
I can't run any application. (When I set T1 or T2 mode, the enabling switch on the smartPAD
does not respond to the press and in AUT mode the play button does not start the application - in both cases
motion is denied). There is no error, Safety is ok - green light, but motion is denied. The only thing that works is hand guiding in T1, T2 mode (without a program)
If I remove the ESM state, everything is running well again. In the Annex I add screenshots of my safety configuration.

EDIT: There are some errors in a protocol:
- Generic device error
- position invalid (ID1,...,ID7)
- Axis range data ID1,...,ID7 invalid
- Axis range ID1,...,ID7 unknow
But after activation safety conf. there are only one warning (positions sensor not referenced)

does anyone know how to fix it?

(LBR iiwa 7 R800/Touch pneumatisch)

I will be happy for any advice

Marhy

**panic mode** · Dec 6th 2017

get familiar with manual. it tells you how to reference each joint (just jog it past certain point or make program that does that).

Marhy · Dec 6th 2017

Quote from panic mode

get familiar with manual. it tells you how to reference each joint (just jog it past certain point or make program that does that).

I know, how to reference joints (i have a program for this), but my problem is, the motion enable is denied, (I cant move with the robot)
because of added ESM in safety conf. contains a hand guiding device inactive. There is no error in device status..

razzo · Dec 6th 2017

can you send HMI screenshots? Probably there is something that can help.

alexanderdsmith · Dec 6th 2017

Hey Marhy,

First, run PositionAndGMSReferencing in AUT to get rid of any position/torque related referencing errors. When in AUT, with the PositionAndGMSReferencing program selected, press the Hand Guiding enabling switch until the run symbol on the SmartPAD illuminates.

https://www.robot-forum.com/ro…4-r820/msg82896/#msg82896
Try looking through this forum post; this is how I got hand guiding to work for the first time, mind you, without a Media Flange designed for hand guiding. A couple things you can try:

1) Try to perform hand guiding in T1 Frames view

2) Write a test program that has a call to robot.move(HandGuidingMotion motion)
- I've attached a good test program to try and it should hopefully help you understand the configuration a little better
- ESM States attached below.

3) Switch your handguiding enabled/disabled ESM states (maybe you configured them in the wrong order?)

Try these out if you can, and if you're still having trouble some helpful things to include would be snippets of test code or any diagrams to help describe the problem.

Let us know if this helps!
-Alex

Code

import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import com.kuka.roboticsAPI.controllerModel.Controller;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.geometricModel.Workpiece;
import com.kuka.roboticsAPI.motionModel.HandGuidingMotion;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.ptp;




/**
 * Implementation of a robot application.
 * <p>
 * The application provides a {@link RoboticsAPITask#initialize()} and a 
 * {@link RoboticsAPITask#run()} method, which will be called successively in 
 * the application life cycle. The application will terminate automatically after 
 * the {@link RoboticsAPITask#run()} method has finished or after stopping the 
 * task. The {@link RoboticsAPITask#dispose()} method will be called, even if an 
 * exception is thrown during initialization or run. 
 * <p>
 * <b>It is imperative to call <code>super.dispose()</code> when overriding the 
 * {@link RoboticsAPITask#dispose()} method.</b> 
 * 
 * @see #initialize()
 * @see #run()
 * @see #dispose()
 */
public class HandGuidance extends RoboticsAPIApplication {
	private Controller kuka_Sunrise_Cabinet_1;
	private LBR robot;
	private HandGuidingMotion motion;

	public void initialize() {
		kuka_Sunrise_Cabinet_1 = getController("KUKA_Sunrise_Cabinet_1");
		robot = (LBR) getRobot(kuka_Sunrise_Cabinet_1,
				"LBR_iiwa_7_R800_1");
		// decalare paramerters for the handguiding motion, to avoid Singularities and axes limits
	      motion = new HandGuidingMotion();
	      motion.setAxisLimitsMax(Math.toRadians(160), Math.toRadians(60), Math.toRadians(30),
	    		  Math.toRadians(-5), Math.toRadians(65), Math.toRadians(90), Math.toRadians(55))
	    		  .setAxisLimitsMin(Math.toRadians(-160), Math.toRadians(-10), Math.toRadians(-30),
	    				  Math.toRadians(-110), Math.toRadians(-95),Math.toRadians(-90), Math.toRadians(-55))
	    		  .setAxisLimitsEnabled(true, true, true, true, true,true, true)
	    		  .setAxisLimitViolationFreezesAll(false)
	    		  .setPermanentPullOnViolationAtStart(true);
	}

	public void run() 
	{
        robot.setESMState("2");		// sets controller to monitor collisions and high velocity
        robot.move(ptp(0, Math.toRadians(20), 0, Math.toRadians(-90), 0,
				Math.toRadians(-20), 0).setJointVelocityRel(0.2));
        getLogger().info("ESM State monitoring Hand Guiding");
        robot.setESMState("1");		// controller will only monitor the handguiding switch
		robot.move(motion);
		getLogger().info("ESM State monitoring High Velocity and Collision Detection");
		robot.setESMState("2");		// return to previous monitoring
		robot.move(ptp(0, Math.toRadians(20), 0, Math.toRadians(-90), 0,
				Math.toRadians(-20), 0).setJointVelocityRel(0.2));
	}
	/**
	 * Auto-generated method stub. Do not modify the contents of this method.
	 */
	public static void main(String[] args) {
		HandGuidance app = new HandGuidance();
		app.runApplication();
	}
}

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Marhy · Dec 7th 2017

Hi Alex,

Thank you for your comprehensive response!

Quote

1) Try to perform hand guiding in T1 Frames view

I'm not sure I understand it well.
I could create a background task, and with the help of getCurrentCartesianPosition() I can
to monitor the frames during a hand guiding in T1. Is this what you meant?

Quote

I've attached a good test program to try and it should hopefully help you understand the configuration a little better

Thank you for your test program. I think I understand, how a hand guiding works. I have a similar program (inspired by the manual),
and ESM I have the same like you (inspired by the manual too).

Quote

When in AUT, with the PositionAndGMSReferencing program selected, press the Hand Guiding enabling switch until the run symbol on the SmartPAD illuminates.

Good idea...this way I could run any application in AUT mode and If it works, it will be good.
Anyway, I would like to figure out how to run an application in T1 mode, this is the my biggest problem

There are my HMI screenshots in the annex (with activated ESM according to you)

Marhy

Marhy · Dec 7th 2017

Quote from razzo

can you send HMI screenshots? Probably there is something that can help.

Hi Razoo,

You can look at my HMI screenshots in my previous post.
I dont know, if this can help you.

alexanderdsmith · Dec 7th 2017

Sorry for the confusion with the part about HandGuiding in T1 in the Frames View. I believe that, depending on your version of Sunrise (I'm currently on 1.9.1.7 and this feature has probably been modified in later versions), a built in feature for the robot is being able to activate HandGuiding in T1 when you are in the Frames View. Our robot is able to do this on startup, but once HandGuiding has been used in AUT mode (in an application), the T1 Frames View functionality goes away for a reason we still haven't determined. From your initial post, it appears that HandGuiding works in T1, so I believe you will need to reference it in AUT before continuing testing in T1. Unfortunately, I haven't done much testing with T1 and HandGuiding lately, so I don't know if I can help much there.

Marhy · Dec 9th 2017

Ok I will try your tips on wednesday propably,
and then I will report here, how did it go.

thank you for now Alex!

Marhy · Dec 14th 2017

Hello everyone,

So the problem continues...

Quote

First, run PositionAndGMSReferencing in AUT to get rid of any position/torque related referencing errors. When in AUT, with the PositionAndGMSReferencing program selected, press the Hand Guiding enabling switch until the run symbol on the SmartPAD illuminates.

Unfortunately, if I press the hand guiding enabling switch on MF, I can only move with the robot by hand,
but the run symbol on the SmartPAD not illuminates. Even if I hold the hand guiding enabling switch
pressed for a long time..so I'm still stuck

We will try to write to the Kuka company for advice

Marhy

alexanderdsmith · Dec 20th 2017

Just got upgraded to 1.14.1.15, and now I see what your problem is! This feature definitely changed some version after 1.9, and I am currently going through the hoops to figure out how to fix this.

alexanderdsmith · Dec 20th 2017

A very pertinent note from Chapter 13.10.4 in the manual:

The configured ESM state with the lowest number is automatically active when the controller is booted.

You mention that ESM 1 is the state with "handguiding device inactive" correct? If this is the case, make ESM 1 with AMF "handguiding device active", then your ESM 2 should have AMF "handguiding device inactive", with all the necessary parameters. The reason this is a problem is that the robot is designed to allow hand guiding regardless of whether it is in an application or not. On start, if the state "handguiding device inactive" is waiting for the device to be used, then the robot application cannot be run. This solved my problem, let me know if it solves yours too!

alexanderdsmith · Dec 20th 2017

I figured out the actual problem; in StationSetup.cat, you need to set "Enable manual guidance in Automatic mode" to false. This will make it so that instead of always allowing the device to be activated, it will only be activated when robot.move(handGuiding()) is called in code. See the attachment, then when you change this value to true, go to the installation tab and install the new setup (this will take a minute, and you will be prompted to restart the robot when it is done installing). After this, your code should work.

Marhy · Dec 22nd 2017

Hi Alex,

I have 1.10.0.8 version.
I think I've tried to set all the combinations of ESM states
I tried to set only one ESM state which contained hand guiding device active (ESM 1), and the problem persisted.
Next time, try setting up the StationSetup.cat, as you have advised me.

Anyway...I partially solved my problem. I just tried to run the hand guiding application without any ESM states,
just robot.move(handGuiding()), and it's worked... I do not understand how it is possible, and maybe I do not want to..

In any case, I will let you know, if the change in StationSetup.cat will help.

Thank you

hand guiding - safety configuration problem [modified]

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