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Posts by MOM

    What I learned in the meantime:

    everone wants help, but no one wants to help (some exceptions)


    When I spend hours to check documentations I expect an answer, just to know whether I am on the right way and also for others maybe having the some problem!


    As I learned:

    It is not working this way: suggestions worked for me - who cares about the others?


    Therefore I am not willing to be an active member anymore - but as passive one (just getting the good information which is helpful - like a lot of others)


    Passive one means able to read the atachemnets but not able to respond - to me it sounds only stupid members are trying to help and respond


    Beeing not passive member, please just close my actual member ship


    I am sorry to say that, but trying to help without any response is annyoing

    ok


    I was trying to help to solve the problem with the interbus.

    I know You are online at the moment without any resonse.


    I spent hours to help without any response or excuse e. g. (no time, no material, out of town)

    So, I will listen, but do not helping for any problems in the future anymore (in general)


    out and good bye

    ok,


    I am trying to find my G4 book with all the error codes.


    So can you put your setup back together just to get the first error messages again.

    Can you also prepare a list with all the leds - for all boards?


    Did you do a cold start or an io reconfiguration?

    now I got it

    You are using a s type load cell (range probably up to 750 N) and the module HX711 as amplifier and for higher resolution for the input voltage(s).


    The robot should not monitor (or display) the values on the way to reach the required force. A threshold is set (maybe changeable) which activates an output to the robot control and via interrupt the robot motion will stop.


    If you want to reach 500 N then you probably want to set the threshold to 490 N so when the interrupt is executed and the robot came to a stop the 500 N are reached.


    As an arduino output I just want to mention, that are EtherCAT modules for arduino available wich may be used as well

    I just followed the rules of DH.


    for FK:

    1. draw kinematic model of the robot with all axes set to zero

    2. get the coordinate system for every axis

    3. get the DH Parameter for every axis (as introduced by Denavit Hartenberg - A1, A4 und A6 are inverted)

    4. calculate the transformation matrices (as introduced by Denavit Hartenberg)

    5. calculate flange frame (T06 by multpliying T01*T12*T23*T34*T45*T56)


    for IK:

    1. calculate wrist center point (wcp)

    2. using wcp to calculate axis position for A1, A2 and A3 (which gives 4 sets of angles)

    3. calculate R36

    4. Using R36 to calculate A4, A5 and A6 (which gives either 2 more choices (+/- 180°) or eight more choices (A4 and A6 +/- 360.0°)

    so I had a closer look to your post #8


    draw the kinematic model of your robot with all joints set to 0.0 (A1 thru A6, some robot could move to this position, but it is easier to calculate!)

    I gave you an example for axes A1 and A2 (see post #5)


    A1, A2 and A3 (Z-axis) pointing in the opposite direction (see also post #7 for that)

    (this is the reason why my axis 2 is pointing up and your A2 is pointing down)


    Where you got the number 0.6709 from - you are not allowed to make any orientation change besides theta or alpha

    (this part of the drawing is wrong - your first guess was correct - post #8)


    To me you are not 5 cm off, you are 800 mm in Z off

    let's go thru the posts:


    Hello, we have kr15 / 2 robot that we are driving with krc1 controls that we actively use, we cannot make backups on this robot, we can see the usb we plugged in on the Windows side, the USB in krcconfigator is selected but it gives a path error, it gives the same error when we want to get to the d directory. Thank you

    he wants to make a backup (archive) and can not do it!

    (at this moment we do not know the KSS version and we do not know the type of main board; all we know: it is a kr c1!)


    Just a guess: On old KUKA controllers USB was deactivated in BIOS. The reason being that USB violated realtime conditions in VxWorks. As long as you do not use USB while robot is running you can activate it in BIOS.

    I would not recommand this for one reason:

    in order to make a backup you would need to shut the pc down to activate USB in BIOS?

    Sometimes you want/have to make a backup while the system is running


    KSS Version and Name of main board would be helpful

    We still do not have this information yet!


    And how do you take it from d to some external medium? if you dont have floppy and you can't use USB? It is not helpfull if the archive is only on D disk in the controller and you can't transfer it to PC...

    I can show you pictures of kr c1 with floppy drives


    or you simply change the path to d:\archive.zip\ as shown in post #6

    this is the local HDD and follow panic mode


    archiving to local HDD works if controller is accessible from other machine (through network or laplink)


    where is the problem?