Posts by panic mode

what version of WoV? what host OS? what user level? how exactly WoV was installed and where?
how are you connecting to KRC? what are the network settings on KRC and your PC running WoV?

[size=2]maybe.... but that is not complete instruction set. following it blindly can cause other problems.[/size]

[font=verdana, arial, helvetica, sans-serif][size=2]make sure to setup WoV before doing anything - integrate KOPs and update DTMs for anything that project uses.
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(maybe) here, tried posting in download section but it would not allow to save...

what is the value for $ADVANCE, $APO

those COM1 and COM2 don't need to be on same computer....

they can be COM ports on different machines. you can also add RS232 ports to your laptop through USB adapters.

can you post files?

Quote from willy

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1. Move panel to S2 and S3 (see attachment in previous post).
2. When S2 or S3 is triggered, save the position when triggered. then rotate around it.
3. If opposite sensor is detected,save the position when triggered and the panel is aligned whit the sensors.
4. now i can do the calculation of the orientation. i calculate them by comparing the angle of the base of S1 and S2. then subtract the actual rotation of the gripper (keeping in mind -180/180)
This works fine. If i put the offset angle in the new tool, the robot keeps the orientation.
5. Now i have the rotation of the panel aligned whit the sensors, I'm able to compare the actual robot position with the sensor position on X-axis.
the difference between them is the Offset. And apply the offset into the new tool.
6. then move to S1. when sensor triggered i subtract actual position with sensor Position.
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[size=1em]Does not sound good to me... you need to do a sanity check before programming. i would suggest to practice with props and move them by hand until you figure out CORRECT sequence. then do the programming... for example use business card as a panel substitute[/size]

[size=1em]your step2 is not ok... you are are you sure you are rotating about correct point? you are skipping things.... you are supposed to bring the panel edge BACK to the tripped sensor, then rotate ABOUT SENSOR. this can be done different ways, probably simplest is to create external tool TCP at each sensor.[/size]

login as expert then inspect all folders under KRC:\R1
look for any file that may have a red "X".
you may attempt to recompile (saving file causes recompiling or moving them to other drive and then bringing back).
if that does not work, check those files for specific errors...

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stage 1 (crawling):
1. get suitable cable (null-modem or crossover).
2. connect one end to COM1 and another to COM2
3. open two terminals
4. use terminal #1 to initialize and open port COM1
5. use terminal #2 to initialize and open port COM2
6. practice sending/receiving data. anything you type in one, should appear in another and the other way around. see what happens when the port settings dont match or handshake signals are not wired etc etc etc. this is important in learning stage to recognize behaviours and responses when ports and wiring are not correct.

stage 2 (stumbling):
repeat above exercise but replace one of terminals (say #2) with a KRL program and connect corresponding cable end to COM3. goal is to see something transmitted. details on KRL code are in CWRITE manual.

stage 3 (walking):
replace other terminal with camera. connect camera to COM3. goal is to see something transmitted.

stage 4 (running):
modify and debug KRL program to transmit data you really need. and use it to correct robot position[/size]

yes, that's what the interrupts are for.
create main program (new) that calls your current program, declare interrupt to call your "reset" ISR when input is on, then create ISR with BRAKE and RESUME commands....

well...

menu entries can be lumped all into one .comfig file but keeping different technologies in separate config files is much more portable, easier to manipulate and less error prone - one can simply duplicate good file and tweak it for new uses.

here is a very crude demo for stat keys with menu in separate config file

to communicate over serial port several things must be correct:

1. wiring must be correct for specific devices (DTE/DTM or DTM/DTM)
2. port configuration on both devices must be the same (baud rate, parity, data bits, handshaking...)
3. connection must be open
4. both must use same protocol/data format

Rs232wiring could be a problem

COM3 is labeled "ST5"

you need to enable drives before you try to move robot.

that is not right. E1 and E2 should be swapped (E1 root point need to be stationary in WORLD)

[size=2]1. Login as Expert[/size]
[size=2]2. Open file: C:\KRC\Roboter\Config\System\Common\CabCtrl.xml[/size]
[size=2]3. Find line: <OpModes T2="on" AUT="on" EXT="on"/>[/size]
[size=2]4. Change it to: <OpModes T2="off" AUT="on" EXT="on"/>[/size]
[size=2]5. Perform cold boot with reload files.[/size]

you need MADA that matches current robot. if KR150 is no longer robot arm you have, MADA for KR150 will do no good.

Does your robot arm have extension? Can you measure it? (simple measure tape will do)

Both KR150 and KR200 arms have many variants and can be fitted with extensions 200 or 400 mm. This increases reach but reduces rated payload.

ZH is “in-line wrist”

ZF or TJ are gearbox types

ZH and TJ indicate different wrist/gears