Hi.
I'm trying to use the hand guiding within a RobotApplication of an iiwa 7 R800. My code looks as following:
Code
...
import static com.kuka.roboticsAPI.motionModel.HRCMotions.*;
public class HandGuidedScanning extends RoboticsAPIApplication{
...
public void run() {
robot.setESMState("1"); // ESM1 = stop (path-maintaining) if hand guiding is active
robot.move(ptp(homePos).setJointVelocityRel(Config.VELOCITY_NORMAL_JOINT));
robot.setESMState("2"); // ESM2 = stop (path-maintaining) if hand guiding is inactive
logger.info("Ready for hand guiding...");
robot.move(handGuiding());
logger.info("Hand guiding finished!");
robot.setESMState("1"); // ESM1 = stop (path-maintaining) if hand guiding is active
robot.move(ptp(homePos).setJointVelocityRel(Config.VELOCITY_SLOW_JOINT));
}
}
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When I run this application the robot moves to the home position and on the smartPad "Ready for hand guiding..." is printed as expected.
But in the manual is written that the robot should not be fall in pause mode after handGuiding() is called. But this is what happens. Moreover the whole app is crashed because I cannot restart the app nor any other app. Only a restart of the whole robot works.
What I'm doing wrong?
Thanks for any reply,
tammoj