Posts by kiiwa
-
-
1. How to log the data (such a,s current position, Cartesian forces/torques, etc) as a function of time, from the controller?
Read the Part "Recording and evaluating data" in Chapter "15. Programming" in the document "KUKA_SunriseOS_1X_en.pdf", it explains how to configure the DataRecorder object to log the information you want (Torques, Angle Values, etc.) to a file (The recorded data are saved in a file and stored on the robot controller in the directory C:\KRC\Roboter\Log\DataRecorder.)
2. How to establish communication using TCP/IP. Since, no much information is available in the manual, it has been quiet difficult in establishing the communication.Like panic mode said, it's pretty standard java TCP or UDP Socket programming, just be sure to use ports between 30,000 and 30,010.
-
1 - Be sure to select the correct types of robot and Media Flange, when you create the project (You'll find them in StationSetup.cat file).
2 - Be sure to initialize the correct controller in your program. Here's the skeleton of a robot application:Code
Display Morepackage application; import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication; import static com.kuka.roboticsAPI.motionModel.BasicMotions.*; import com.kuka.roboticsAPI.controllerModel.Controller; import com.kuka.roboticsAPI.deviceModel.LBR; public class RobotApplication extends RoboticsAPIApplication { private Controller kuka_Sunrise_Cabinet_1; private LBR lbr_iiwa_7_R800_1; public void initialize() { kuka_Sunrise_Cabinet_1 = getController("KUKA_Sunrise_Cabinet_1"); lbr_iiwa_7_R800_1 = (LBR) getDevice(kuka_Sunrise_Cabinet_1, "LBR_iiwa_7_R800_1"); } public void run() { lbr_iiwa_7_R800_1.move(ptpHome().setJointVelocityRel(0.3)); } /** * Auto-generated method stub. Do not modify the contents of this method. */ public static void main(String[] args) { RobotApplication app = new RobotApplication(); app.runApplication(); } }
-
Hi Lukáš,
Can you post the content of the XML file you used to configure the communication? (Path in the attached file)
-
Hello,
I use Schunk's WSG50 electric gripper ( For both KUKA robots LBR iiwa and Agilus KR6 R900 sixx), it's pretty reliable and robust ( You can control it via TCP, UDP, Profibus, Profinet, all-or-nothing, etc.), it has even a web server and it can run LUA scripts. The only con is price ( I don't know how much my company paid for it, but I've been told it's expensive).
-
Hello !
I'm sorry , I bring out of the shadow this post but I am trying to une handGuiding but I don't understand the documentation.
I'm working on a LBR iiwa 14 R820 too but with a Media Flange Touch.
I just put in run()
robot.move(handGuiding());I tried to run the program, there is no error but the robot doesn't matter about my push. I tried to push it up to 12 Nm without callback.
Could someone advice me how to configure this please ?In documentation, thez talk about a AMF "Hand guiding device enabling active" but when I add a row in my safetyConfiguration, I don't have it in the list the IDE show me.
NB : I have default SafetyConfiguration.
Thanks for your help !
You should map the "UserButton" on the mediaFlange to a Global variable, using WorkVisual. I'll show you the parts of the documentations that explains this when I have them in hand.
-
Hi Cinatale,I haven's succeeded with the handguiding function provided in the document.
However, I programmed the robot with smart servo motion. Basically, I move the robot based on the external force/torque.
That way, I got the robot moves as I want.Hope this helps.
Vinh
SmartServo/DirectServo/FRI are not meant for handGuiding, but rather for applications where the robot should change its paths, to adapt to the environment (For instance, visual Servoing for Pick&Place )
-
Hi vin,
I don't think media flange tool is required. Since every joint is having torque sensor you can limit the torque values in the program itself. If it exceeds then link will move.
There is one sample application also named impidence control, which allows hand guided motion.
Hope it helps..."HandGuiding" is not "compliance mode". The impedance control is detailed in the part of the SunriseOS 1.x document in "Programming with a compliant Robot", where the robot TCP acts like a Spring System with Stiffness and damping.
-
Hi,I am working with KUKA LBR iiwa 14 R820, I am trying to use manual guidance motion with handGuiding() command. It seems that I need to have a media flange touch.
However, I do not have it now, does anyone know how I can use handGuiding() without the flange touch?Many thanks in advance!
Vinh
You don't, forcibly, need a "Medien-Flansch Touch electrisch" to use the HandGuiding on the LBR iiwa (either the 7kg or 14kg). In case you have a "Medien-Flansch electrisch" you can use an X11 external "enabling switch" to play the role of "UserButton" on the Touch Flange. The role is communicating with the program to switch to handguiding() mode via user defined ESM's.
I'm a bit in a hurry, so excuse my brief answer:
- Add a boolean global variable in your RoboticsAPI.data.xml
- configure you safetyConfiguration.conf like in the documentation (By adding ESM1, ESM2 and ESM3)
- map your inputs/outputs using WorkVisual then export it to a sunrise IOConfiguration.wvs (It's also in the documentation)
- Create the Java program of movement.
I know that this answer doesn't help much, I'll try to give you the parts of documentation that explains the process.Cheers,