We've seen this message before, but only after one of our motion commands caused a violation of the T1 speed limit (or so the logs say.) Are there any other warnings/errors associated with it?
Posts by gtrobot
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wes_mcgee
I think we're on the same wavelength. That is essentially what we did, just with rotation matrices instead of quaternions. We transformed the Euler angles into rotation matrices to find the correction that would give the desired orientation, then transformed the correction into Euler angles for RSI. But I imagine you could get any representation to work (well, except Euler angles ) -
What kind of motions/routines are you running?
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The external axis we're using is a rotational joint, so unfortunately it's not a 1-to-1 setup. However, it would be awesome if you had time to test the AXISCORR+AXISCORREXT+AXISCORRMON setup, since we still haven't heard back from KUKA, and still haven't been able to figure out the issue. I can provide RSI project files if it would be helpful. I can also provide endless amounts of gratitude!
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We've run into this issue in one of our robot configurations as well. As best as I can tell, it has to do with the robot reporting cartesian orientation in ZYX Euler angles, but RSI giving corrections based on base-frame axes when using RSI in world frame mode (if that makes any sense.) We ended up just using rotation matrices (transform Euler angles to rot. matrix, do stuff, transform rot. Matrix back to Euler angles), and it worked out pretty well.
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As wes_mcgee points out, I'm using both the AXISCORR and AXISCORREXT objects to adjust the axis limits, as well as the AXISCORRMON (which handles both axis and external) for the overall limits. The problem I'm seeing, it turns out, is that without the AXISCORREXT object my joint limits are fine (exactly as I define them in RSIVisual). But when I add the AXISCORREXT object, all of the joint limits revert back to +-5 degrees (axis and external) and displays the "AXISCORR Correction out of range: A*max" message, irrespective of what I've set in the AXISCORR and AXISCORRMON object parameters. At this point, I'm not really sure what else to try.
Ever see anything like this? Thoughts, suggestions, help?
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I did try the GetPublicPar and SetPublicPar functions, but was unsuccessful. It was after this that I thought perhaps the issue might be solved somewhere in RSIVisual (though whether that's true or not, I'm still not sure.)
What I don't understand is how I can run one RSI project generated from RSIVisual and have no joint limit issues, then modify it by adding only the AXISCORREXT object (and not changing any other parameters), and suddenly have all of the joint limits be reset to 5. I did a diff of the RSI files (.rsi, .rsi.xml, .rsi.diagram) to see if anything had been modified unexpectedly, and found that the only changes were additions relevant to the AXISCORREXT object.
Has anyone seen any behavior like this? I've put in a request for help from KUKA, but I'm not sure how quickly that will happen. Thanks!
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I didn't think the ST_PARAM was valid in RSI 3.1, the version used on the KRC4.
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I'm seeing some strange behavior in RSI ethernet control of external axes.
I have two rsi projects created using RSIVisual. In the first I am using AXISCORR and AXISCORRMON to open up the max axis limits, and am successfully able to control the robot through the workspace without any correction limit issues.
However, when I take this rsi project and simply add AXISCORREXT to control a single external axis, I am able to control all axes (including external) but the axis limits revert to the +-5, despite the fact that I have not changed them in the AXISCORR and AXISCORRMON objects.
Has anyone seen this kind of behavior? Any ideas on how to fix it?
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Update: After more testing, I believe this to have been caused by proximity to a singularity (after moving A4 and A6 out of alignment, the phenomenon disappeared.) Though, why a singularity in the wrist would cause issues with joint control I'm still not sure.
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Were you able to fix this problem? If so, how?
I have tried modifying the limits that exist in the *.rsi.xml and *.rsi files, but still get "AXISCORR Correction out of range: A2max".
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I am currently trying to control a KUKA robot using the RSI interface with the KRC4. I can successfully connect to the robot, but the robot is almost immediately stopped because of overspeed / velocity errors. Specifically:
KSS01102 - Command velocity A4
KSS00421 - Overspeed A6 XX%, reset or block selection required.What is odd is that motion seems to occur (or is attempted) even when I'm not sending any non-zero corrections.
For example:
-I run the KRL program, with PTP $pos_act (no motion in the robot - stays put.)
-I connect a remote PC to the KRC4 and run the ethernet control, and see the following packets:Code
Display More<Rob Type="KUKA"> <AIPos A1="-0.0012" A2="-90.0003" A3="90.0010" A4="0.0000" A5="0.0131" A6="-0.0062" /> <ASPos A1="-0.0012" A2="-90.0003" A3="90.0010" A4="0.0000" A5="0.0130" A6="-0.0059" /> <EIPos E1="14.3005" E2="0.0000" E3="0.0000" E4="0.0000" E5="0.0000" E6="0.0000" /> <ESPos E1="14.3005" E2="0.0000" E3="0.0000" E4="0.0000" E5="0.0000" E6="0.0000" /> <Delay D="0" /> <IPOC>4669938</IPOC> </Rob> <Rob Type="KUKA"> <AIPos A1="-0.0012" A2="-90.0003" A3="90.0010" A4="0.0000" A5="0.0131" A6="-0.0062" /> <ASPos A1="-0.0024" A2="-90.0007" A3="90.0019" A4="-17.6458" A5="0.0232" A6="17.6346" /> <EIPos E1="14.3005" E2="0.0000" E3="0.0000" E4="0.0000" E5="0.0000" E6="0.0000" /> <ESPos E1="14.3005" E2="0.0000" E3="0.0000" E4="0.0000" E5="0.0000" E6="0.0000" /> <Delay D="0" /> <IPOC>4669950</IPOC> </Rob>
-Note the difference in the ASPos for A4 and A6 in the last packet - from ~0 to +-17. This last for ~6 packets, then goes back to ~0. Note also that I am sending "0.0" as correction for all joints during this time.
-The robot stops, complaining about A4 and A6.
-I rerun the program, and suddenly there is motion in A4 and A6 when it does PTP $pos_act.I know I must be doing something wrong, but I can't see what it is. Any help would be greatly appreciated. Thanks!
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Ha! Can't believe I missed it. Thanks!
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How do you minimize the HMI on the KRC4 SmartPad? Thanks!
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SkyeFire This is good information to know, thank you.
So, with KLI set to 172.31.1.147, I set the remote PC to 172.31.1.148, and I am able to ping from both the KRC and the remote PC. Success!
However, when I set the RSI connect to 172.31.2.XX (as per suggestion in the 'KRC4 RSI Ethernet' thread), after a cold boot the teach pendant indicated it could to talk to the KRC4. Is this a common error, or is there something I missed setting the RSI IP?
Thanks for the help!
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Is this network page the best (or only?) interface/method for determining the network configuration (IP address, etc.) for the KLI and RSI?
I'm trying to diagnose a network issue (can ping external PC from KRC4 command line, but not KRC4 from external PC). I've read that KLI and RSI need to be on different subnets, but I have to be able to identify KLI first.
Again, any help is greatly appreciated. Thanks!
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Since the HMI is running on VxWorks, wouldn't it be able to show the VxWorks connections? Is there an option for this in the Network Configuration menu?
I will check what comes up in the RSI-Network program again, but I don't remember seeing the virtual5 network there.
What does it mean that I can't see the virtual 5 connection in Network Configuration? Could this indicate that the KLI connection is not properly installed/configured? Is there an easy way to check that it has been (or to configure the KLI connection)? It used to be quite easy to check through telnet on the KRC2's, but I'm not sure if this is still possible with the KRC4.
Any help would be greatly appreciated. Thanks!
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When I log into Network Configuration in Expert mode, all I see is the 172.31.1.147 connection. Shouldn't I see the KLI virtual 5 network? Am I doing something wrong? Thanks!
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Again, I know this should be a simple question, but where do I find how the network connections are configured on the KRC4, if I'm trying to use RSI to control the robot? I know that there is supposed to be a virtual network for KLI (virtual 5?), and I've read that RSI should come up somewhere as virtual 6, but when I do 'ipconfig' at the command prompt, all I see is the '192.168.0.1' on network 3. Thanks for the help!
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Can you post the KRL program you are using?