Posts by kiiwa

I don't know if you can do it via a Robot program.
The Alternative is to use Windows "Remote Desktop Connection" on your PC to connect to the IIWA, "WIN+D" to minimize the SmartPad UI, double click the "ShutDown" shortcut in the Robot's Windows7 Desktop.
Do you know the use name and password to log in to the robot, already?

The easiest way to do it is to use workspace monitoring in your "StafetyConfiguration.conf".

Do you have the correct load data of your tool?

Seems like a fuse problem. Check them with a multi-meter and change the defective one(s).

How time critical is your task?

It's either the fuse of the Cable.

Quote from yjtkc

Hello
I am in a similar situation. The robot can not communicate with the PC using UDP.
I am using port 30000.
Using the above program did not work well.
If so, where should I check? Please help me.

Robot: iiwa 14 R820　SunriseOS 1.13
Station Server IP : 172.31.1.147
PC IP : 172.31.1.116
But it does not work well. On the other hand, from the PC I can find 172.31.1.147 with the ping command.

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Can you send from PC--> IIWA but not IIWA --> PC? Did you check your firewall settings?

Honestly, I don't know. It seems a hardware problem for me. Contact KUKA support

Quote from andoors2011

what i'm trying to do is obtaining outputs for specific errors from the robot and outputting them directly to the PLC or another HMI. what kind of IO modules/card that i can buy to accomplish so and at the same time keep the existing IOs? note: i already setup the IO inside workvisual and setup the xml in sunrise.

If you're using Profinet/Ethercat you don't need additional IO cards, they are supported natively on IIWA. Now, you need to know what signals are you sending and interpret them on the PC side.

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2- i did define a user key to make the robot go home but the problem is that i don't know how to override the current running line of code so i can force the robot to go home, is there like a break command that stops the robot from what's it doing or stop the code then when i press home it will go home regardless?

There's "breakwhen" that you can use with a ForceCondition or listeners for other events.

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3- does the smartpad for the iiwa lbr 14 r820 allow you to create a frame and an end frame? i can create frames easily but i can't create end frames or connect points together to make for example a complete movement, is there a way i can do so? i do see the magnifying glass that should points to the end frame but i don't see anything in the manual that shows how to create a complete movement like 2-3 points within one frame....like one frame that goes from point 1 to 2 then to 3 then back to 1 for example?

You can create only one point/frame using the smartPad. A motion isn't defined by its Start and End points, but by the end point as you can go to the point with different types of motions independently from your start positions. If you want to create a path from a set of points look up "Spline motion type" in the manual or use MoveAsync instead of Move.

I think it's the fuse. Double check with a multimeter.

I don't have a robot next to me to test it. I think you're getting to error because you're calling the run() from another run(), without initializing the context:

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No RoboticsAPIcontext initialized. Either inject it or pass it to the tasks' constructor
at com.kuka.roboticsAPI.applicationModel.tasks.RoboticsAPITask.getContext(RoboticsAPITask.java:83)
at application.ImpedanceFS.initialize(ImpedanceFS.java:26)
at application.ForceSense.run(ForceSense.java:134)

Cable problem. I had the same issue with one robot before.

What gripper are you trying to control? Is it via simple All-or-nothing I/O or another protocol like Ethercat or profinet?

You already installed them, that's why you're getting these errors. Now, just check the remaining options and uncheck the one you don't have its installer (like in the attached image), then install your project.

If you don't have any Safety sensor connected, deactivate the "Protective Stop" in your Safety configuration. You should also remaster your axes.

- StationSetup > Installation
- Install
- Robot will restart
- Sync

Can you post the code of ImpedanceFS class?

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not in parallel, I simply want it to run another program like it's part of the first program.

It's in java, so yes, you can do a lot. Here's an example:

package apps; 
import static com.kuka.roboticsAPI.motionModel.BasicMotions.*;   
import com.kuka.roboticsAPI.deviceModel.JointPosition;
import com.kuka.roboticsAPI.deviceModel.LBR; 


public class AnotherProgram  {	
	private LBR myRobot; 
	private double myVelocity = 0.4;
	JointPosition  myPosition;
	public AnotherProgram( LBR _robot ) { 
		 this.myRobot = _robot;
	} 

	public void goToHomePosition(double _velocity ) { 		
		this.myRobot.move(ptpHome().setJointVelocityRel(_velocity));  
	}  

	public void goTo (JointPosition _jointPosition, double _velocity) {  
  		this.myRobot.move(ptp(_jointPosition) .setJointVelocityRel(_velocity)); 
	} 

	public void run() {		
	 myPosition = new JointPosition(  Math.toRadians(10),Math.toRadians(10),Math.toRadians(10),Math.toRadians(10),Math.toRadians(10),	Math.toRadians(10),	Math.toRadians(10));  
	 this.myRobot.move(ptp(myPosition).setJointVelocityRel(myVelocity)); 
	} 
}

package apps; 
import javax.inject.Inject;  
import com.kuka.roboticsAPI.deviceModel.JointPosition;
import com.kuka.roboticsAPI.deviceModel.LBR; 
import com.kuka.roboticsAPI.controllerModel.Controller; 
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;   


public class testProgram extends RoboticsAPIApplication {
	@Inject
	private LBR robot;
	private Controller controller; 
	JointPosition position ;
	double velocity = 0.3;  
	@Override
	public void initialize() {
		controller = (Controller) getContext().getControllers().toArray()[0]; 
		robot = (LBR) controller.getDevices().toArray()[0];  
		 position = new JointPosition(  
					Math.toRadians(0),	
					Math.toRadians(-45),
					Math.toRadians(0),
					Math.toRadians(-60),
					Math.toRadians(0),
					Math.toRadians(0),
					Math.toRadians(90));  
	} 
	@Override
	public void run()  
	{    
		AnotherProgram anotherProgram = new AnotherProgram(robot); 
		anotherProgram.goToHomePosition(velocity );
		anotherProgram.goTo(position, velocity); 
		anotherProgram.goToHomePosition(velocity );
		anotherProgram.run(); 
	}  
}

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Is there a method for the robot to stay stationary without locking up after ~5 sec of idle?

I don't know how to do it, but I'm sure it's somewhere in the robot's configuration, like a delay before braking or something. Contact kuka for this if it's very essential to what you want to implement.

Quote

is there a way for it to be constantly sensing/refreshing the value (with or without the slight movement)?

Yes. Try a background task or a breakwhen with a contactForce condition. The implementation really depends on your application.

Quote from benjamin lovage

I already realized HandGuiding motion. But the robot falls under its own mass gravity, how can I make it still when there's no external force.?

Are you sure you're moving the tool too?

myTool.getFrame("TCP").move(handGuidingMotion);

You have this problem because you're trying to use DirectServo and it's not installed on your sunrise Workbench. Here's what you should do:
- Go to your sunrise workbench installation folder (the one you find in the CD provided along with the robot), it should be in a path like Workbench\options, and follow the steps on the attached images.
Once its done, re-install your project on the robot, then synchronize your project.