Hi everyone,
is it possible to get the current / voltage of joint 1-7 of an iiwa?
Thanks!
Best
B.
Hi everyone,
is it possible to get the current / voltage of joint 1-7 of an iiwa?
Thanks!
Best
B.
is It possible to get the current Velocity of an iiwa via backgroundTask?
Sorry, sure grab
package application;
import javax.inject.Inject;
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.*;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.sensorModel.DataRecorder;
import com.kuka.roboticsAPI.sensorModel.DataRecorder.AngleUnit;
/**
* Implementation of a robot application.
* <p>
* The application provides a {@link RoboticsAPITask#initialize()} and a
* {@link RoboticsAPITask#run()} method, which will be called successively in
* the application lifecycle. The application will terminate automatically after
* the {@link RoboticsAPITask#run()} method has finished or after stopping the
* task. The {@link RoboticsAPITask#dispose()} method will be called, even if an
* exception is thrown during initialization or run.
* <p>
* <b>It is imperative to call <code>super.dispose()</code> when overriding the
* {@link RoboticsAPITask#dispose()} method.</b>
*
* @see UseRoboticsAPIContext
* @see #initialize()
* @see #run()
* @see #dispose()
*/
public class DataExport extends RoboticsAPIApplication {
@Inject
private LBR lBR_iiwa_14_R820_1;
//@Override
//public void initialize() {
// initialize your application here
// }
//@Override
public void run() {
DataRecorder(); {
}
DataRecorder rec = new DataRecorder();
rec.setFileName("DataExport.log");
rec.setSampleInterval(10);
rec.addExternalJointTorque(lBR_iiwa_14_R820_1);
rec.addCurrentJointPosition(lBR_iiwa_14_R820_1, AngleUnit.Degree);
rec.addInternalJointTorque(lBR_iiwa_14_R820_1);
rec.enable();
rec.startRecording();
// your application execution starts here
lBR_iiwa_14_R820_1.move(ptpHome());
lBR_iiwa_14_R820_1.move(ptp(getFrame("/P12")));
rec.stopRecording();
}
private void DataRecorder() {
// TODO
}
}
-> This code is working, just for the next people with such issue
Hi People!
do you know any possiblities to grap the I/O of the SmartHMI via BackgroundTask?
Cheers!
Sorry!
I'm now one step further....I can see something on the testserver interface.... but with Delay D=100 .....according to the conig file "<!-- DEF_Delay count the late packages and send it back to server -->" and i'm getting the rsitimeout error now...my win 10 firewall allows testserver.exe to communicate...any other reasons for my loss of packages or late packages?
Sorry yes it is true, i have to be in the same adresse range. I did it one time before, but it didn't work..to be exactly im running the rsi_ethernet.scr and during the step, where rsi is excuted...i can not move the robo to x,y,z,.....
Hi people,
i have some issues about running the Testserver, which is provided by kuka. I can not move or do something with my robo via testserver.
I have the following network data:
Computer:
IP: 172.31.1.1
Subnet: 255.255.255.0
Gateway: 172.31.1.1
virtual5 KLI:
IP: 172.31.1.147
Subnet: 255.255.255.0
Gateway: 172.31.1.147
virtual6 RSI (mixture ip):
IP: 172.31.2.147
Subnet: 255.255.255.0
Does any one know how to deal with this problem? I added my computer ip to the config file, which is on my controller.
Pinging of my controller is possible, but the pinging of rsi is not possible.
Cheers!
DrG do you have any suggestion for me ? ?
It is selected at station....cat and i always looking for it on my krc (\\172.31.1.148\krc\Roboter\log\DataRecorder)
It is still not working...
do i have to create a class or import something? i feel pretty stupid..
package application;
//import java.util.concurrent.TimeUnit;
//import java.util.concurrent.TimeUnit;
import javax.inject.Inject;
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.*;
import com.kuka.roboticsAPI.deviceModel.LBR;
//import com.sun.org.omg.CORBA.InitializerHelper;
/**
* Implementation of a robot application.
* <p>
* The application provides a {@link RoboticsAPITask#initialize()} and a
* {@link RoboticsAPITask#run()} method, which will be called successively in
* the application lifecycle. The application will terminate automatically after
* the {@link RoboticsAPITask#run()} method has finished or after stopping the
* task. The {@link RoboticsAPITask#dispose()} method will be called, even if an
* exception is thrown during initialization or run.
* <p>
* <b>It is imperative to call <code>super.dispose()</code> when overriding the
* {@link RoboticsAPITask#dispose()} method.</b>
*
* @see UseRoboticsAPIContext
* @see #initialize()
* @see #run()
* @see #dispose()
*/
public class DataRecorder extends RoboticsAPIApplication {
@Inject
private LBR lBR_iiwa_14_R820_1;
//private rec_1;
@Override
public void initialize() {
// initialize your application here
}
@Override
public void run() {
// your application execution starts here
lBR_iiwa_14_R820_1.move(ptpHome());
lBR_iiwa_14_R820_1.move(ptp(0,Math.toRadians(15),0,Math.toRadians(15),Math.toRadians(15),0,0).setJointVelocityRel(0.2));
DataRecorder rec = new DataRecorder();
// ...
rec.enable();
rec.startRecording();
lBR_iiwa_14_R820_1.move(ptp(0,Math.toRadians(5),0,Math.toRadians(15),Math.toRadians(7),0,0).setJointVelocityRel(0.2));
//rec.setFileName("Recording.log");
//rec.setFileName("Recording.log");
//rec.setSampleRate(10);
//rec.addExternalJointTorque(lBR_iiwa_14_R820_1);
//StartRecordingAction startAction =new StartRecordingAction(rec);
lBR_iiwa_14_R820_1.move(ptpHome());
}
}
here is my code for the pre last one...
Dear pma07pg,
can you provide me corresponding sample of your code?
Thanks!
I did it and just copied the example but it did not write anything out...
Hi People,
few weeks ago i started to work with Sunrise Workbench. Currently I'm trying to apply the function of the Datarecorder, but I'm not abel to use it....i just added
DataRecorder rec_1 = new DataRecorder("Recording_1.log", 5,TimeUnit.SECONDS, 100);
but it is not giving something out...there is no file (Recording_1.log) on my iiwa.
Do you have any hints for me?
Best,
Beginner
I solve the problem by removing the external stop in sunrise workbench...
Especially the last suggestion would be interssting for me..
Thanks panic mode!
Sorry for posting my thread in the wrong forum.
Do have have any maybe detailed instruction ?
Hi Folks,
i have problem with my iiwa. I mentioned in my subject, i have a KC 4 iiwa 14 R820. And im getting the error "Emergency stop external is active." and "protective stop is activated". Do you have any suggestions to resovle my problem?
cheers!
the beginner