KUKA with ros2 fri warnings

Hi all

I want to connect KMR 200 iiwa 14 omnimove with ROS2 using FRI. I used example from this link: Verify Connection to the Robot — LBR-Stack 1.4.3 documentation.

However, whenever tried to run LBRServer application, nothing happens. I used the enabling switch and run the java application. However, I can move the robot base and arm manually with the Kuka controller.

There is a warning from the safety controller. Can anyone help me to solve the warning.

Error message:

- Position sensor not mastered (K2:A1, A2, A3, A4)

- Position sensor not referenced (K1: A1, A2, A3, A4, A5, A6, A7)

- Error reading offsets of mastering marks for positioning referencing.

- Axis without safe torque sensor (K2:A1, A2, A3, A4)

- There are deactivated rows in PSM configuration.

Hi panic mode. Thank you for your reply. I was able to solve it by mastering and calibration.

However, I noticed the time in KUKA controller is completely wrong. Do you have any expertise how can I change the time? I tried different video and vlog. But it seems my interface is different. I have no idea how can I minimize the HMI and access the settings in windows.

Hi panic mode I couldn't find the minimize option or menu command to minimize. I tried login in as a expert and safety technician.

Thank you. The keyboard worked.