there were some classes missing to run the code.
It's now fixed and up and running.
Thanks anyway for your effort - won't be the last time I have questions
there were some classes missing to run the code.
It's now fixed and up and running.
Thanks anyway for your effort - won't be the last time I have questions
razzo
no. I want to run this code with a sunrise robot:
<?xml version="1.0" encoding="utf-8"?>
<KUKAprc>
<PRC_Settings>
<BASE>
<FRAME>
<X>0</X>
<Y>0</Y>
<Z>0</Z>
<A>0</A>
<B>0</B>
<C>0</C>
</FRAME>
</BASE>
<INITTOOL>
<FRAME>
<X>0</X>
<Y>0</Y>
<Z>132.99</Z>
<A>0</A>
<B>-1.5707963267948966</B>
<C>0</C>
</FRAME>
</INITTOOL>
<LININT>4</LININT>
<PTPINT>50</PTPINT>
<LINACC>1</LINACC>
<PTPACC>100</PTPACC>
</PRC_Settings>
<PRC_CommandData>
<PRC_CMD>
<TYPE>AXIS</TYPE>
<AXIS>
<AXIS>
<A01>0</A01>
<A02>0</A02>
<A03>0</A03>
<A04>-1.5707963267948966</A04>
<A05>0</A05>
<A06>0.78539816339744828</A06>
<A07>-0.78539816339744828</A07>
</AXIS>
</AXIS>
<KMRX>0</KMRX>
<KMRY>0</KMRY>
<KMRTHETA>0</KMRTHETA>
<VEL>0.15</VEL>
<INT>C_PTP</INT>
</PRC_CMD>
<PRC_CMD>
<TYPE>PTP</TYPE>
<FRAME>
<FRAME>
<X>501.59714454671735</X>
<Y>-134.69615760017064</Y>
<Z>160</Z>
<A>0</A>
<B>1.5707963267948966</B>
<C>-0</C>
</FRAME>
</FRAME>
<VEL>0.15</VEL>
<STATUS>010</STATUS>
<TURN></TURN>
<E1VAL>0</E1VAL>
<KMRX>0</KMRX>
<KMRY>0</KMRY>
<KMRTHETA>0</KMRTHETA>
<INT>C_PTP</INT>
</PRC_CMD>
<PRC_CMD>
<TYPE>LIN</TYPE>
<FRAME>
<FRAME>
<X>501.59714454671735</X>
<Y>-134.69615760017064</Y>
<Z>160</Z>
<A>0</A>
<B>1.5707963267948966</B>
<C>-0</C>
</FRAME>
</FRAME>
<VEL>250</VEL>
<E1VAL>0</E1VAL>
<KMRX>0</KMRX>
<KMRY>0</KMRY>
<KMRTHETA>0</KMRTHETA>
<INT>C_ORI</INT>
</PRC_CMD>
<PRC_CMD>
<TYPE>AXIS</TYPE>
<AXIS>
<AXIS>
<A01>0</A01>
<A02>0</A02>
<A03>0</A03>
<A04>-1.5707963267948966</A04>
<A05>0</A05>
<A06>0.78539816339744828</A06>
<A07>-0.78539816339744828</A07>
</AXIS>
</AXIS>
<KMRX>0</KMRX>
<KMRY>0</KMRY>
<KMRTHETA>0</KMRTHETA>
<VEL>0.15</VEL>
<INT>C_PTP</INT>
</PRC_CMD>
</PRC_CommandData>
</KUKAprc>
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In sunrise, only applications written in java (see image in the tree structure under 'package') show up on the teach pendant as applications after syncing and are executable..
the program actually generates an xml that is similar to the RoboticsAPIData.
How do I get this running since it's not an exececutable robot application that can be started with the play buton on the smart pad?
<?xml version="1.0" encoding="utf-8"?>
<RoboticsAPIData>
<version>3</version>
<world>
<frame name="PTP ">
<transformation x="501.59714454671735" y="-134.69615760017064" z="160" a="0" b="1.5707963267948966" c="-0" />
<redundancyData>
<redundancy transformationProviderName="legacy" type="com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy">
<info type="com.kuka.roboticsAPI.deviceModel.StatusTurnRedundancy$StatusParameter" value="2" valueType="java.lang.Integer" />
<info type="com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy$E1Parameter" value="0" valueType="java.lang.Double" />
</redundancy>
</redundancyData>
</frame>
<frame name="LIN ">
<transformation x="501.59714454671735" y="-134.69615760017064" z="160" a="0" b="1.5707963267948966" c="-0" />
<redundancyData>
<redundancy transformationProviderName="legacy" type="com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy">
<info type="com.kuka.roboticsAPI.deviceModel.LBRE1Redundancy$E1Parameter" value="0" valueType="java.lang.Double" />
</redundancy>
</redundancyData>
</frame>
</world>
</RoboticsAPIData>
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Hello,
I am currently setting up an iiwa 7 with sunrise OS 1.11. Everything is looking good so far, jogging works fine and the test programs run in T1. Network connection is set up via X66. I also installed Sunrise Workbench and made sense of AMF PSM and PSM and how to synchronize the Project.
Now I am asking myself how to make a Robot Application out of an *.xml file that was generated by another software (kuka|p rc) . Can someone post a general workflow how to proceed with the data? Do I need to parse the *.xml in the java code?
Help is very much appreciated