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  1. Robotforum - Support and discussion community for industrial robots and cobots
  2. Members
  3. mabot

Posts by mabot

  • KUKA LBR iiwa hand-guiding with workspace monitoring

    • mabot
    • November 17, 2022 at 4:03 PM

    You can set TCP in cartesian space monitoring with SafetyConfig.

    Or, you can continuously read each joints or cartesian position in backgrounds and data exchange with main thread, stop the motion etc...

    BTW, I set my safety configuration like, each position +-5 degree from each limit,,,

  • iiwa 7 r800 USB recovery

    • mabot
    • October 16, 2022 at 12:15 PM

    As panic mode says, you should contact KUKA customer service.

  • Hand Guiding with application

    • mabot
    • October 16, 2022 at 12:13 PM

    You can refer to the document on Xpert

    KUKA Sunrise.OS Operating and Programming Instructions for System Integrators

    At 16.9 Programming manual guidance then you can follow.

    Have you done installing HRC?

  • Kuka IIWA Robot State error

    • mabot
    • October 16, 2022 at 12:09 PM

    Looks like it relates etherCAT devices.

    Can you run the robot with the other projects not using etherCAT device?

    If you can, then problem might be in process in communicating etherCAT devices.

  • Testing External control via UDP interface KUKA LBR iiwa

    • mabot
    • October 16, 2022 at 12:06 PM

    I think you can check PC's firewall or security software.

  • Requesting the state of collision detection, velocity monitoring and workspace monitoring KUKA LBR MED 7

    • mabot
    • October 16, 2022 at 12:02 PM

    Hello HeleneAlberdi

    I don't understand what you wrote: Sunrise.Workbench Med 1.15 can be read how to request the state of several safety signals.

    WHat does the read mean?

    And, what is the purpose to read the state of the collision detection etc?


  • Communication between kuka lbr iiwa 7 and PC

    • mabot
    • August 31, 2022 at 5:56 PM

    Thank you for updating codes! :smiling_face:

  • set Additional Torque In Cartesian Impedance Control

    • mabot
    • August 25, 2022 at 9:39 AM

    Hello Victoria

    If the path depends on force which LBR add, then you can check direction(vector) to add the force.

    //setting parameters for impedance mode

    addingConstantForceMode = new CartesianSineImpedanceControlMode();

    addingConstantForceMode.parametrize(CartDOF.Z).setStiffness(0);

    addingConstantForceMode.parametrize(CartDOF.Z).setBias(1); //Nearly 1N

    In above code it push Z direction for example.

  • Make Robot TCP move along a circle

    • mabot
    • August 25, 2022 at 9:28 AM

    My suggestion is to use CartesianImpedanceControlMode and CartesianSineImpedanceControlMode when move.

    Move with lower stiffness and set some bias.

    Move path should be offseted to move along the object.

  • Communication between kuka lbr iiwa 7 and PC

    • mabot
    • August 25, 2022 at 9:25 AM

    You can use KONI for UDP, but it requires FRI as I understand.

    *Point it out if it is wrong, I always use FRI option when I use KONI port.

    Then you should be clear about which port, which IP is set at the KONI port.

    You can edit them at StationSetup.cat.

    For the UDP communications, I think you might use these in code.

    java.net.DatagramPacket;

    java.net.DatagramSocket;

    java.net.InetAddress;

    About UDP there are some port number limitations, it's written in "Operating and Programming Instructions for System Integrators" section 12.3

  • Problem with HRC safety configuration in Sunrise Workbench for manual guidance of KUKA IIWA 7 R800 robot.

    • mabot
    • August 25, 2022 at 9:14 AM

    Hello empowered

    I see your situation.

    Possible options to take might be

    ・Create new project from the beginning

    ・Re-install sunrise workbench and its options

    Sunrise Workbench sometimes face to a bug with its ".git" systems.

    Have you tried re-install from the beginning? if you dont have lists in the below picture, then installation might be failed.

    You should tell about it to your local KUKA CS.

    Best

  • Problem with HRC safety configuration in Sunrise Workbench for manual guidance of KUKA IIWA 7 R800 robot.

    • mabot
    • July 22, 2022 at 5:55 PM

    I think you can have a look at this thread.

    Thread

    Enabling hand-guiding on the KUKA iiwa without the hand-guiding flange.

    I'm trying to use hand-guiding on a KUKA iiwa R820 with the "Medien-Flansch IO pneumatisch" installed like a few other posts today. Ive read those posts but am having some difficulties in setting up.

    I will connect an enabling switch Input CIB_SR.5 on the X11 to enable hand-guiding and then call "robot.move(handGuiding());" to enable the hand guiding mode. I have imported "import static com.kuka.roboticsAPI.motionModel.MMCMotions.*;" into my code. Is this method correct and is there further code…
    EdChamberlain
    February 10, 2017 at 4:30 PM

    Basically "Hand guiding device enabling active" and "Hand guiding device enabling inactive" is available with only HRC.

    Best and quick way is to ask Kuka customer servie and purchase the HRC option.

    There would be various way to achieve your application.

    Instead of using ESM and buttons you can try to read external torque of certain axis to stop hand guiding mode, etc..

  • Cartesian protected space monitoring and Safety tool

    • mabot
    • June 28, 2022 at 9:31 AM

    Hello @henriquebg

    What is the problem you are posting? I haven't still clear about it.

    what does the "driving me crazy" mean?

    Are you looking for a method to achieve your goal or asking detail of HRC functions?

  • Kuka Med - can't set a TCP

    • mabot
    • June 25, 2022 at 10:44 AM

    Hi, I am totally agree with above answer.

    By only sunrise workbench, you can set up the tool TCP.
    About the operator modes, you can select the usermode by pushing a button in left-down.

    It is supposed to be appear expert user button.

    More about the smartPAD, please go to KUKA Xpert.

  • Kuka IIWA frames backup

    • mabot
    • June 25, 2022 at 10:12 AM

    Hello Aga_K2.

    To save frames' coordinates, please download the project from the controller of your LBR iiwa first.

    Once you download a project, you might see the project's frames' coordinates in the Sunrise Workbench.

    Manually you can log these values for a backup.

    About the backup manager program, I havent heard about it before.

    Please ask your Kuka customer service wheather it is a software option.

    If it is not a software option, maybe you can find a java application in samples like "transport" or GMSReferencing or BrakeTest.

    Note that even though your frames coordinates are backuped, if your robots and surroundings physically move you need re-touchup.

    Hope this helps.

  • Follow the profile of a metal part

    • mabot
    • June 3, 2022 at 10:07 AM

    inan you should make the other thread.

  • how to check the running hours of KUKA LBR iiwa ?

    • mabot
    • June 3, 2022 at 10:01 AM

    If you mean the operating time then please select the information tile at the Station level. After IP or some information, there is a Robot name/Type plate provides Operating time in hours.

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