Posts by cnicho35

Nice, thank you!!

It appears I have RSIVisual but I see no way to add/remove/edit the blocks on the diagram. If I want to add an AxisCorr block, how would I go about doing that? How about a debugging block?

Thanks for your reply! Going by this thread, I can find the installer for that program at D:\KUKA_OPT?

Link to files listed above:

https://github.com/ros-industr…si_hw_interface/krl/KR_C4

Part 1:

I am trying to configure an RSI application to set the axis positions from an external controller. I have this example RSIX file which is doing PosCorr but I want to do AxisCorr and it seems as simple just replacing the PosCorr block with an AxisCorr block but I cannot find information on how to edit the diagram and add/replace blocks. Does anyone know how to edit the block diagram?

Part 2:

Also, I have an older example RSI application which has the following files:

RSI_Ethernet.rsi

RSI_Ethernet.rsi.diagram

RSI_Ethernet.rsi.xml

RSI_EthernetConfig.xml

(from ROS kuka_experimental for those curious)

Is there a way to convert these files to an rsix file? If I drop them in the SensorInterface folder on the KRC4 controller, my application does not work like it does for the example rsix file.

Any help would be greatly appreciated.

Thank you all for your responses and discussion. I will likely pursue disabling T2 and performing full speed trials in AUT. We are not running a very fast process so this should be fine.

Anyone have information on how to disable T2? Is this done in WorkVisual?

Thanks!

Edit: here is a nice description of disabling T2 on KUKA controllers:

T2 mode - KUKA Robot Forum - Robotforum - Support and discussion community for industrial robots and cobots

Quote from Cwany

Would you consider disabling T2? That way you can either run the robot in T1, AUT, or EXT.

Thanks for your reply Cwany! Disabling T2 may be possible for us but I need to double check which capabilities we would lose. Are you able to single step through a program in AUT?

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Hi there,

We are setting up a robot cell for our laboratory and trying to stay within the standards of robot safety. On the KUKA SIB we are using the operator safety input (X11 4 and 22) for our safety light curtain fencing which only is considered while the robot is in AUT mode. We need to ensure that in T2, no one can get bludgeoned by the robot but if we put our safety fencing on an E stop input, then we can't enter the area to program in T1.

My question is: can we configure the robot controller to consider the safety fencing in T2/AUT and not T1?

Thanks in advance.