Posts by Marhy

    Hi guys,


    I am trying to use asynchronous motions with the help of moveAsync() command.
    The robot doesn't react on this command and skip it without any errors.
    I have already tried all kinds of parameters and movements - cartesian pos., joints, ptp, lin...
    I am using now spline block, but I need to use moveAsync() too.


    I'll happy for any advice

    Hi guys,


    i have a problem with method getLastExecutedMotion(); (code bellow)
    This method should return a joint angles of next commanded position from my motion container (myTrajectory).
    In motion container (myTrajectory) i have a sequence of motions - ptp(angles in radians).
    The obtained values from this method (getLastExecutedMotion()) are not exactly the same (like in spMotions field). There are a little differences, in the range of decimal places.


    where could be a problem?



    Thank you


    Marhy


    edit: solved!

    Hi kiiwa, hi razzo,


    Thanks for your responses.
    First I'll explain what my goal is. I have a TCP connection: Robot - server, PC - client.
    I have an application on robot. This app can teach a paths (by demonstration), and save each learned path
    to its own created file. So I have a folder in Sun. cabinet , which can contains many files.
    I need to have a copy (in real time) of this folder in my client PC, to be able to view it and change it (both in the PC and in the robot).


    Quote

    You can access the robot's Windows 7 Folders via your PC's "Remote Desktop Connection" tool. Enter your robot's IP address + Kuka's password


    I know about a remote desktop, but I do not think it's practical in my case, or?


    Quote

    Have you ever tried to access the Sunrise Controller via an explorer?!


    I tried it, but failed. Cant see a sunrise cabinet network card. But interesting is, I am able to ping
    from sunrise cabinet (192.168.0.1) to my PC and conversely.


    Perhaps the best solution for me will be to do a copy of shared folder and files via client-server program.
    (After each change, load the file into the bufferedWriter and send it). What do you think?


    Thank you


    Marhy

    Hi guys,


    Is there any chance to create a shared folder in Sunrise cabinet? (accessible from both the PC and the cabinet)
    I know, there is a windows 7 embedded with internal IP 192.168.0.1 and VxWin (virtual Realtime OS) which directly
    communicates with PC via a familiar IP address to us (172.31.1.xxx). Unfortunately, i dont know, how to get access to
    the VxWin nor its network card.


    Anyone any idea?


    thanks in advance


    Marhy

    Hi,


    Quote

    I am searching a script file which I taught and I like to copy the script.


    What do you mean by a "script file"?


    The file in which the robot learned points (coordinated, angles, etc.) are stored by default
    is named RoboticsAPI.data.xml. This file is stored in your project folder.


    Quote

    How I copy the script to another iiwa?


    If you have created a program (like in your video for example), just
    connect your PC to another IIWA, and then synchronize a project which contains
    your program :winking_face:


    Marhy

    Hi Alex,


    I have 1.10.0.8 version.
    I think I've tried to set all the combinations of ESM states :grinning_squinting_face:
    I tried to set only one ESM state which contained hand guiding device active (ESM 1), and the problem persisted.
    Next time, try setting up the StationSetup.cat, as you have advised me.


    Anyway...I partially solved my problem. I just tried to run the hand guiding application without any ESM states,
    just robot.move(handGuiding()), and it's worked... :grinning_squinting_face: I do not understand how it is possible, and maybe I do not want to..


    In any case, I will let you know, if the change in StationSetup.cat will help.


    Thank you

    Hello everyone,


    So the problem continues...


    Quote

    First, run PositionAndGMSReferencing in AUT to get rid of any position/torque related referencing errors. When in AUT, with the PositionAndGMSReferencing program selected, press the Hand Guiding enabling switch until the run symbol on the SmartPAD illuminates.


    Unfortunately, if I press the hand guiding enabling switch on MF, I can only move with the robot by hand,
    but the run symbol on the SmartPAD not illuminates. Even if I hold the hand guiding enabling switch
    pressed for a long time..so I'm still stuck :thinking_face:


    We will try to write to the Kuka company for advice


    Marhy

    Hi Alex,


    Thank you for your comprehensive response!


    Quote

    1) Try to perform hand guiding in T1 Frames view


    I'm not sure I understand it well.
    I could create a background task, and with the help of getCurrentCartesianPosition() I can
    to monitor the frames during a hand guiding in T1. Is this what you meant?


    Quote

    I've attached a good test program to try and it should hopefully help you understand the configuration a little better


    Thank you for your test program. I think I understand, how a hand guiding works. I have a similar program (inspired by the manual),
    and ESM I have the same like you (inspired by the manual too).


    Quote

    When in AUT, with the PositionAndGMSReferencing program selected, press the Hand Guiding enabling switch until the run symbol on the SmartPAD illuminates.


    Good idea...this way I could run any application in AUT mode and If it works, it will be good.
    Anyway, I would like to figure out how to run an application in T1 mode, this is the my biggest problem :thinking_face:


    There are my HMI screenshots in the annex (with activated ESM according to you)


    Marhy


    get familiar with manual. it tells you how to reference each joint (just jog it past certain point or make program that does that).


    I know, how to reference joints (i have a program for this), but my problem is, the motion enable is denied, (I cant move with the robot)
    because of added ESM in safety conf. contains a hand guiding device inactive. There is no error in device status..

    Hi there,


    I am trying to run a hand guiding in auto mode for the first time, so I have created
    ESM with one row - hand guiding device inactive and set enabling switch MF Touch = true
    in a safety configuration. (according to the manual)
    After synchronizing of project and restarting robot and activate new safety conf. with added ESM state,
    I can't run any application. (When I set T1 or T2 mode, the enabling switch on the smartPAD
    does not respond to the press and in AUT mode the play button does not start the application - in both cases
    motion is denied). There is no error, Safety is ok - green light, but motion is denied. The only thing that works is hand guiding in T1, T2 mode (without a program)
    If I remove the ESM state, everything is running well again. In the Annex I add screenshots of my safety configuration.


    EDIT: There are some errors in a protocol:
    - Generic device error
    - position invalid (ID1,...,ID7)
    - Axis range data ID1,...,ID7 invalid
    - Axis range ID1,...,ID7 unknow
    But after activation safety conf. there are only one warning (positions sensor not referenced)


    does anyone know how to fix it?


    (LBR iiwa 7 R800/Touch pneumatisch)


    I will be happy for any advice


    Marhy


    I am not sure if XML-files will be synchronized by the SWB. This is something you have to figure out. If it is possible it would be the easier way.


    Ok, I will try it in this week :smiling_face: I have one more question about this.
    I am thinking now, how to read a frames from the "myFrameFile.xml".
    I have parsed the myFrameFile.xml, so now I have a names of the frames in variables of strings.
    But I dont know, how to use it in my robot application. A default path is RoboticsAPI.data.xml/...
    Is there any way how to set a path to "myFrameFile.xml"?
    My aim is to reach, that P1 in this command ( lbr.move(ptp(getApplicationData().getFrame("/P1")); ) will belong to the file "myFrameFile.xml".


    I will be glad for any idea or advice

    Hi everyone,


    I have looked for some information about this topic today and I have found this one:


    https://www.robot-forum.com/ro…l-file/msg83741/#msg83741


    This topic was mostly about how to save myFrameFile.xml to a robot's disk. Kiiwa has written about transfer it via USB,
    or file transfer with JAVA via network (client - server).


    My question is: Why not save the file to the project/src straight on a PC, and then synchtonize?
    Is not that easier and faster? Or there is any problem I do not know about?


    Thank you

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