That looks very promising, vielen Dank!
But I can not run your sample code. Do you by any chance know what happened to com.kuka.generated.ioAccess.X11IOGroup?
I am using 1.10.
Thanks!
That looks very promising, vielen Dank!
But I can not run your sample code. Do you by any chance know what happened to com.kuka.generated.ioAccess.X11IOGroup?
I am using 1.10.
Thanks!
Sure, they're the simplest of ESMs for testing.
ESM 1: Emergency stop smartpad -> Stop 1 (on path)
ESM 2: Hand Guiding Device Inactive -> Stop 1 (on path)
Hey everyone,
I implementing a HandGuidingMotion with a self-made enabling switch (according to this
thread). It works very well, you're great help However, when my code gets to the handguiding motion, it shows a "Motion paused", I have to press my enabling switch and then confirm via the green play button. Is there a way around this, such as, just start handguiding when the button is pushed and then positionHold when the button is released?
Thanks!
Are you trying to do something similar to the setAxisLimitsMax/Min commands available to Hand Guided control?
YES this is exactly what I am looking for. However, the setMaxPathDeviation is not useful for me because I want to set Axis-specific parameters. Do you have any ideas?
Make a PSM on axis range.
When I do this, I get exactly what I was NOT looking for: A Stop 1. I rather want the robot to not move further but also not to emergency stop.
Hey everyone,
I am new to iiwa programming. I am currently working on an application for human-machine collaboration. Unfortunately, I sometimes run into axis limit violations: When the robot is in Cartesian Impedance Control Mode and the User pushes an axis to its limits, an exception is thrown. How can I avoid this by "blocking" each axis a few degrees before the limits?
EDIT: I do not want the robot to stop, just for clarification.
Thanks!
All issues solved - thanks very much everyone for your help!!
Do you usually close threads or mark issues solved? Otherwise - this is it Thank again!
Thanks everyone, this was much easier than expected, I should not have opened another thread for this - sorry. I just wanted to be safe to not end up with a bricked multi-10000-euro-robot-control Now FINALLY get this guy to do some cooler stuff than rebooting...
For the future though: Can someone quickly give me the most important things to consider when backing up my system? It did work out well this time from a totally messed-up system to vanilla (with some programs) but in the future when things become more complex I want to be safe...
Thanks again for all your support
I decided to make this a new topic because it has nothing to do with my initial error anymore.
I have recovered my sunrise cabinet from the KUKA Recovery USB stick. I chose "recover from hidden partition" because "recover from usb stick" ended in a "nothing to do here" boot message.
Now when I boot my sunrise cabinet, startKRC runs as expected but smartHMI does not open and when I try to open it manually from desktop, it turns out that the folder C:\KRC\SmartHMI does not exist anymore. Any ideas how I get the software back?
Manipulating by hand configuration files on controller is leading to major problems.
WES7 system on controller do not have exclusive access to network card. Adjusting IP addresses on Windows side only screw up internal communication between controller and teach pendant (SmartPad is a separate PC with WindowsCE) and real time operating system VXworks (which controls physical NIC)
I am aware of this, that is why I am trying to get the robot back to an initial configuration. Alas, changes on windows level had been made before and communication is already screwed up. However, I am getting there.
I still run into issues with the smartpad: It can not establish connection to the krc. this happens irregularly and it looks like another IP conflict. I know that changes have been made to the smartpad IP again on windows level but I have never even touched that so I do not know what the default setting is supposed to be - can anyone look that up for me or maybe know off of the top of their head...
1. connect keyboard to smartpad
2. press start button
3. click settings -> network and dialup
4. open SMSC91181
5. look up the ip parameters from there. Mine are manually set to 192.168.0.1 and 255.255.0.0 which in my eyes does not make sense but maybe someone can confirm that?
EDIT: Long story short, this was getting over my head. I have backed up all important data and did a factory reset from the recovery USB so now I am back to vanilla sunrise however, the issue with the smartpad remains. So I hope this is my last post on this topic and then I can get back to work
EDIT 2: I do not know if this made it worse - the SmartHMI shortcut on sunrise's desktop leads to a non-existant folder (the smartHMI folder in C:\KRC does not exist anymore), I can not establish any connections...
How are you trying to communicate with it? Via "Synchronize" button?
Correct...
EDIT: http access and SAMBA file transfer don't work either
Thanks very much, I really appreciate your help!
I think I have successfully reset everything now. However, through workbench, I still get an error that communication with 172.31.1.147:8090 can not be established, even though an nmap portscan does find the IP address and confirms it is up and running.
Ultimately, I will have to change the IP to a static IP assigned by the network administrator as the robot will be on our LAN but excluded from dhcp but that's a challenge for future me
Thanks!
However, I find two network configuration options: One on the KCP in Network and one in the windows system settings of the sunrise cabinet. From how I understand it, the KCP changes the robot's internal IP whereas the sunrise cabinet changes... well, it's own IP. Am I getting this correctly?
On the sunrise, the IP is set to 192.168.0.1 which I have heard is an internally used IP address. Is that already a potential source of my problems?
Hi there,
I just got a new iiwa but someone had already messed up the network configuration. Now, the KCP does not find the Sunrise Cabinet, the robot is not detected, nothing. I am not an expert either.
Can you give me hints which IP addresses I have to check, which parts have to be on the same network? My main issue is that I don't fully understand the system architecture of the KCP, Cabinet, and iiwa which does not make life easier for me...
Thanks!