Yeah, as I said, I am trying to import the device description files for the mentioned ethercat devices.
In WorkVisual >> File >> Import/Export >> Import device description file >> Browse
I select the file type to EtherCAT ESI and I look for the folder where the .xml for the devices are. I obtained them from the Beckhoff website.
Once I select the the .xml file, press open, and then press next, I get the following error: "object reference not set to an instance of an object"
Posts by rreype314
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Hello,
I am waiting to receive an EK1100 with EL1809 (input) and EL2809 (output) but I decided to start doing the configuration beforehand. I have followed the instructions to import the new device description files. The problem comes at the end of the import process where the wizard tells me that the "object reference not set to an instance of an object"
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Yes, thanks for the reply. I seemed to have missed the very first instruction in the manual. The Sunrise.kop file can be found in the Sunrise Workbench CD >> WorkVisualAddOns.
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Hello,
I am unable to locate the WorkVisual Option Package "Sunrise" needed to use WorkVisual in the Sunrise Workbench. Can anyone point me the right way?
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Take a look at DataRecorder objects to poll the sensors and save the data.
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I get a decent result without having to use a motion container. Increase the null space impedance though. However, in the video you posted the TCP is held at the same point with a REALLY GOOD accuracy. The video mentions using an observer. Have to look into it.
CartesianImpedanceControleMode impMode2 = new CartesianImpedanceControleMode ();
impMode2.Parametrize(CartDOF.X, CartDOF.Y, CartDOF.Z).setStifness(100);
impMode2.Parametrize(CartDOF.ROT).setStifness(40);
impMode2.setNullSpaceStifness(100); //greater than zeroTCP.move(positionHold(impMode2, -1, TimeUnit.SECONDS));
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The torque sensors are very sensitive. I have also found nonzero values in the external torque and force measurements. My solution so far is to poll the sensors before the start of the motion that you are actually interested in recording, and subtract it.