Posts by kiiwa

No worries

You're welcome

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i used a cartesian values

Can you post the code you did use, please? So I can check it, the problem can arise from many sources.

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my question is how can i know the limits for my WORKING SPACE please

You should know it from the documentation ( I attached the dimensions of the working envelope). It's a hardware limit. You can also define a workspace monitoring row on your SafetyConfiguration (To avoid collision for example) by axes or the Cartesian coordinates like in the photo attached ( The Cartesian monitoring comes as a plug-in you should add to Sunrise Workbench, I'm not sure if the company should pay for it).

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could u tell me more about the difference between Cartesian and axis values or about singularity

You risk getting into singularities only when you control the robot by Cartesian coordinates (never when you use axes values), because it's mathematical problem. I quote from Quora:

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A kinematic singularity is a point within the robot's workspace where the robot's Jacobian matrix loses rank. The Jacobian is the matrix relating joint velocities to end effector velocities.
Intuitively, for a standard six joint manipulator, this means that a kinematic singularity is a point in the workspace where the robot loses its ability to move the end effector in some direction no matter how it moves its joints. It typically occurs when two of the robot's joints line up, making them redundant.

So, my advice, avoid the Cartesian coordinates as much as you can, especially if you cannot predict your next move. Use

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able mode I mean, the same reaction when you press a white button on the smartPad to center position - in this mode you can run aplications (All text on the smartPad change color to white).

It's the enabling switch.

I tried the Handguiding yesterday morning on an LBR iiwa Touch Electrisch, it worked in Manual Mode T1, just when I clicked on the white button on the Flange, I didn't have to click on the Enabling Switch at the same time.
From what I've seen, the white button is an Enabling Switch for the handGuiding only.

Can you elaborate please? Name of the Robot, type of the Controller, etc.

Can you post the code that generated this error? Were you performing PTP motions using Axes values or Cartesian values?

Try using axes values that are in the right ranges (so the robot won't do a MOD to that value and do unexpected things) like in the photo I attached.
And if you are using Cartesian values, frames ( that you created in SunriseWorkbench in the application data tab, then loaded via the SmartPad) or shifts on frames Cartesian coordinates be sure that these points fall in your working space and don't put the robot in a singularity position.

Another thing, the PTP joint motion takes the angles values in Radian and not degrees. Here's an example:
// These values are in Radian

robot.move (ptp (axis1ValueInRadian, axis2ValueInRadian, axis3ValueInRadian,  axis4ValueInRadian, axis5ValueInRadian, axis6ValueInRadian, axis7ValueInRadian));

// If you want to use degrees do this.

robot.move(ptp(Math.toRadians(axis1ValueInRadian), Math.toRadians(axis1ValueInRadian) , Math.toRadians(-90), Math.toRadians(-90), Math.toRadians(-90), Math.toRadians(-90), Math.toRadians(-90)));

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What is input signal CIB_SR.5 in your PSM settings? Is it important for a manual guiding?

It's for the external switch connected to the X11 port (Not relevant for handGuiding on an LBR iiwa with Touch Flange)

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The smartPAD is in enable mode

What do you mean by " enable mode"? T1 ?

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And when I want manual guide the robot, it no matter, in which section on the smartPAD I currently am?

I tried this only once with a colleague, the handGuiding started when we click on the white button directly (Close any open program,and be on T1 mode).

Can you check the value of the MediaFlangeIOGroup on the SmartPad? (It's on the top left)

The safety configuration is good, I attached a photo of a safety configuration for an LBR iiwa R800 MFT Electrisch that has a working HandGuiding in T1 mode. I think it's something else.
Did you activate the safety configuration from the smartPad after synchronizing your project?

You can use EtherKRL (It's a Tech or Option to install on the controller) in a .sub program (a background task called SUBMIT) to communicate via Standard Ethernet to a PC or another robot. You should just configure the channels and the Server/Client on each node.

Here's a snippet of a .sub program, I used to receive from my PC an order to update an Output:

DECL EKI_STATUS RET
DECL BOOL myRead
myRead=FALSE


LOOP
   RET=EKI_Init("PC")
   RET=EKI_Open("PC")


   LOOP
      WAIT FOR $FLAG[62]==TRUE   ; Packet Received
       RET=EKI_GetBool("PC", "Ext/Switch", myRead)  ; Update boolean myRead with the value received in the XML file
       $OUT[30]=myRead   ; set Output n30 
       $FLAG[62]=FALSE    ; reset the reception flag
   ENDLOOP


   RET=EKI_Close("PC")
   RET=EKI_Clear("PC")
ENDLOOP

Each time I want to check if I received something from the PC, I just read the flag's value friom any .src program.

Yeah, sure. Just PM me. And you can post the results on the board so other members can benefit (I noticed that a lot of people have issues with HandGuiding() on LBR iiwa variants).

I use both of LBR iiwa (Which comes with a Sunrise Cabinet Controller) and Agilus R900 (With KRC4 Compact Controller), the LBR iiwa is very diffrent that the other KUKA robots.

Ok, I see. It's an LBR iiwa 7 R800 and its Flange is Touch Electrisch if I'm not mistaken.

In fact to make hangGuiding working you gotta configure many things.
1- Configuration of your station, then its installation.
2 - The Security Configuration (PSM and ESM states)
3 - Add a variable (usually a boolean) in RoboticsAPI.data.xml to check if the button on the flange is pushed for activation.
4 - Configuration of Inputs/Outputs with WorkVisual.
5 - Write the Java program and synchronize it to the robot
6 - execute the program from the smartPad

I don't know exactly in what step are you stuck,can you tell me what did you do until now?

Can you tell me what robot are you using and its Flange type?

Quote from safix

Do you have any experience with robot kuka lbr iiwa (for example hand guidance) or something?

Yes, I do. Feel free to ask.

Hello Armand0s,

First, I have some questions.
- Can you verify if the check boxes on the Customer PSM rows are checked? ( You should deactivate them like in the picture attached)
- Can you tell me if the robot is handling an object or having a load/Tool mounted on its TCP?
- What value in [Nm]did you choose for the Collision detection?

Here's how you add a permanent collision detection (Sunrise safety concept provides 2 different monitoring mechanisms: 1- Permanent safety-oriented monitoring PSM. 2- Event-dependent safety-oriented monitoring ESM)
- Open your SafetyConfiguration.sconf
- Go to the Tab Customer PSM
- uncheck all the boxes (unless you're using an external emergency stop system. either be it a button, a sensor or another input signal).
- Add a row and configure the category, AMF and reaction, and you can monitor collision on some axes or all axes (The steps are in the attached images).

Try this and you have issues feel free to ask

Kiiwa

Here's how you Update the PDS-Firmware. On a KUKA LBR iiwa.
First, you're rarely asked to do it. Usually, it's when you upload a new project to the robot controller for the very first time, or when some problems occur and start a project for scratch. You'll get an error message (the LED on the "Station" Button is in red), asking you to do so.
Click on the physical button I showed in my previous answer; then you'll get a menu like the one in the attached file. Click: Diagnosis --> PDS-Firmware update. You'll get a confirmation and the robot will start the update. Don't interrupt the robot while updating, no disconnecting cables or power off. IT takes between 10 minutes to 5 hours according to KUKA, in my experience usually 10-20 minutes max.

Great Hope it wasn't late, though.

Run the .exe installer as an Admin.

I used SunriseWorkbench 1.7 and 1.8 on Windows 7, 8.1. and 10 without problems.

I don't have the LBR iiwa with me now (I'll use the Agilus's SmartPad instead), but I can show you the button you use, which is in the attached photo. Click on it, and if I remember you're find three menus, just look for PDS firmware update .

Good Luck

Quote from ExpertAutoEngineer

I'm also having some trials understanding the relevance of WorkVisual, and until an English Kuka training course is available in Europe I'm going to flounder with my 1400/820.

Hi Adam,
Sorry for the EtherCat, I never used it with the LBR iiwa.
WorkVisual is used to map Inputs/Outputs. You create an IOConfiguration.wvs using SunriseWorkbench, then you open it with WorkVisual, do your mapping and export it back. It's detailed in the document "KUKA_SunriseOS_1X_en.pdf" Chapter 11 Bus Configuration

Quote from Spl

Is the main really supposed to be inside the class?

Yes. And any movement instruction must be in the "run()" method. The example code I posted is a "RoboticsAPIApplication" sample (i.e. a program that would make the robot move). Otherwise, you can use BackgroundWorkers or other Java Classes, Interfaces, etc.