I don't know exactly how he did it technically, but basically he set the joint position the robot was in to be zero, so he cpuld move it back to its original zero. However, he did that using a special program from his laptop which only Kuka has. So it should not be possible for us to fix it.
Posts by HououinKyouma
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Hi LBRiiwaa,
In the end I could not solve it myself, so I called Kuka and they solved it for me. At least back then, they claimed that it was not possible for us to resolve this issue ourselves, so they sent an engineer to fix it. I would suggest you to contact your Kuka vendor or contact Kuka directly, hopefully they can help you with it. Good luck!
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Hi,
Sorry to comment on this post again after it's been solved, but I do have a question related to this. I am also trying to get the distance between two poses, I understand that I can use the pose_dist function for this. However, it is not clear to me what the return value of pose_dist means. In the case of point_dist, this is simply the euclidean norm of the difference between the translational parts of the poses. In the case of a pose however, we compare both translations (in meters) and orientations (in radian) and we get something back in meters (what!?). Then in the case of two rotations (poses with translation set to 0 and only a rotation), we also get a metric in meters which doesn't make sense to me. What does this metric mean and how do I interpret it?
Wilson
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Ok never mind, this topic can be closed. It appeared that the ethernet cable was half broken, so the connection was just really bad. Replaced the ethernet cable and everything works fine now
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Hi,
I'm using the Kuka LBR IIWA with KRC4. It happens a lot that the synchronization hangs on either FindDeployableTypesHelper_Searching or on cleanup when I try to deploy my project to the cabinet. Occasionally it works, but that seems to be random luck. Does anyone know why this might happen and how to solve it? Thanks.
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Hi,
Yes, I already tried that. The system seems to be in a deadlock now: in order to move the joints back they should be within their joint limits. However, the joints are blocked because they're past the limits.. In order to master, the joints need to be within the limits as well. Right now if I try mastering it complains about the limit violation.
Edit: By the way all joints are currently unmastered, which also makes it impossible to run any application. Not that the application would work because of the limit violation though..
Edit2: It seems like my problem is similar if not the same as described here, only for a Kuka robot instead of Fanuc: https://www.robot-forum.com/robotforum/fan…5228/#msg65228. Is this solvable using Kuka? -
Hi,
I was jogging the robot and somehow it got past its joint limits (as in overshooting, it's not just against the joint limit but it went over it). The problem is that I can't move it back to normal again because the robot blocks itself since it violated the joint limits. How can I solve this? The weird thing is that I am able to move the robot even more away from the joint limit in the other (wrong) direction. Please let me know if you have a solution for this, thanks.
Edit: I tried adjusting the software limits in $machine.dat and even tried setting the joint axis in question to be a continuous joint (no limits). Both didn't work..
Best,
WilsonP.S. I attached a picture to illustrate my problem. As you can see, the joint limit for the first axis is supposed to be -170 degrees, while the current position is -192.62. Like I said, it is possible to turn the robot more into the negative side, but not back within -170 and 170 degrees.
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Yes that worked for me, thanks. The problem was indeed that the Kuka OS was running. I just didn't know that's what "KS" meant. Preventing that from starting up helped. However, I have another issue now running the ROSCom java application, where it just hangs and doesn't start up, but I guess that's an application specific thing which I will ask the developer about. Thanks for your reply!
Edit: Never mind, it works, just a matter of following the instructions properly
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Hi all,
I am working with the Kuka LBR IIWA and would like to use ROS to control it. I found this https://bitbucket.org/khansari/iiwa/wiki/Home to do that, but I got stuck at the part to make the cabinet accept ROS communication. Whenever I run "C:\KUKA\Hardware\Manager>KUKAHardwareManager.exe -assign OptionNIC -os WIN", it gives me a warning saying "Assignment not possible while KS is running". Once this command is executed successfully, I should be able to see the network interface but I don't see it.
So the thing is, the controller has two physical ethernet ports, but if I log into the cabinet I can only see one in the network center. The one that is currently showing is the Virtual Network Adapter which acts as a bridge between Windows and VxWorks from what I understand. From the little information I gathered, I suspect that the second interface is not shown to Windows because it's hidden by VxWorks and we need to take that interface out of VxWorks to make it available for Windows, so that we can establish a connection with ROS. By using the HardwareManager I can't get this second network interface to show up. What can I do to solve this problem? Is it possible to stop this "KS" process so that the HardwareManager can do its job? Or should I try to do something else? I already checked the BIOS settings and both Ethernet ports are enabled. If I plug in a cable I can see leds lighting up. However, if I check ipconfig or the device manager I don't see the interface, although I think I did see it in Regedit. I am quite at a loss now and information is scarce so please let me know if you know something, thanks.