Posts by matteopantano
-
-
I would suggest to follow the kiiwa example. You should pass to the second robot application the robot object that was
initialized before. So A (extends Robotics application) calls B (that does not extend robotic application) but when it calls B it passes
the robot object. -
I suggest you to transfer the whole project from the kuka controller on your PC and save it in some folder (look at the manual on how to synchronize Sunrise projects). Once you need it just upload it back on the controller and you should be fine.
-
I have a similar problem. Any update?
I have also opened a post: https://www.robot-forum.com/robotforum/cob…cation-sunrise/
-
Hi,
I would like to run as background application a socket client and once a certain command is received it should start a Sunrise application. The idea is that I will be able to launch several of these applications according to the input that I read through the socket communication.
As of now I did developed a normal application that starts the socket as a thread and then upon the received command it will start/pause or stop a certain function that contains a motion command. However, if the motion command starts to be more complex I should move to an implementation as described above.
What do you think? Is that possible with Kuka Sunrise? If yes what do you suggest to do?
Sunrise version: 1.14.1.15
WoV version: 5.0.2Best regards,
Matteo
-
Great! Thanks panic mode. This was the information I was missing. Basically the MF is connected internally to X48 and that's why on the WoV it shows under X48. Then the X42 on media flange is addressed through the Sunrise I/O.
-
So I have a GEP1406 from Zimmer Group. It is controlled with their own controller called ELEGR04. According to my understanding it is a simple gripper with no EtherCAT connection and just an M8 connector to the socket x42 (see attachment).
-
Hi,
I have a MF I/O electrical with and electric gripper in my KUKA iiwa. My WoV conf is as the attachment, I have obtained this configuration with the method: "try and error".
The electrical gripper (attached to X42 of the MF) shows on the SmartPad I/O with a green LED meaning that my I/O conf should be correct. And I can open and close thre gripper through the SmartPad,
What I do not understand is why in WoV the MF is under X48 (Kuka System Bus) instead of X42 (Kuka Operator Panel Interface). I tried to configure to add MF to X42 but I get the error "No safe connection to SmartPad". Could someone clear this situation and why the configuration is as shown?
Thanks
Matteo
-
-
-
Solved, it was a problem with firewall rules.
For the sake of clarity someone should or disable firewall or create an inbound policy that allows communication from iiwa port to the port of the laptop.
-
Thanks kiiwa. However, the problem is still not solved.
My code is the following:
Code
Display Morepublic void socketConnection() // Connecting to server at 172.31.1.50 Port:30001 { System.out.println("Connecting to server at 172.31.1.50 Port:30001"); while (true){ try{ skt = new Socket("172.31.1.50", 30001); BufferedReader inFromServer = new BufferedReader(new InputStreamReader(skt.getInputStream())); System.out.println("FROM SERVER: " + inFromServer.readLine()); System.out.println("KUKA iiwa is connected to the server."); break; } catch(IOException e){ System.out.println("ERROR connecting to the server!"); e.printStackTrace(); } } try{ outputStream = new PrintWriter(skt.getOutputStream(), true); inputStream = new BufferedReader(new InputStreamReader(skt.getInputStream())); RUN = true; } catch(IOException e) { System.out.println("Error creating inPort and outPort"); e.printStackTrace(); } }
The code then throws the first exception.
In attachment a Wireshark capture of the network.
KUKA IP: 172.31.1.147
PC IP: 172.31.1.50BR,
Matteo
-
I have the same issue. Did you solve?