Posts by andoors2011

they didn't, i checked everything on the robot side and everything looks and seems normal but i can't even move the robot manually, when i try the move tab the robot moves on the teach pendant only but doesn't move physically.

So i did reinstall the image and UR sent me a calibration file. now the robot doesn't move even in manual and i can't find a way of importing the calibration file. I accessed the expert mode and i found kinematic calibration but when i import the calibration.conf file they sent me it say's it's not a valid plate configuration file. any idea why this is happening?

thanks

Do you have a recommendation for a recovery software? i mounted the usb in a linux virtual machine but it stills shows nothing. I can see the blocks does exist and there're data but i can't read it on the virtual machine neither the pc.

thanks

I think what happened is that the disk got corrupted when it was removed while the robot was running. I'm trying to search for some recovery options. I contacted universal and they told me to that i will need to reinstall the image since the usb drive is no longer operational. i even booted into the bios into universal and chose the usb but it still shows the same message and unable to boot. do you have any idea on how to download the program from the motherboard itself? or from the robot because the last program i uploaded to the robot was the latest version.

Hi,

i'm having an issue with universal robot UR10 not being able to boot. what i did was that i removed the usb drive to take a backup on my laptop but then when i put it back it shows unable to boot from device/choose boot device. is there a way i can get inside the bios and choose the boot device? is there a solution for this issue?
Also, when i connect the usb drive to the computer it doesn't open and it either asks to format the flash drive or it's inaccessible and it shows as a raw device. can someone please help with this issue, i have all my programs on this usb and i don't know how to mount/boot from the usb back.

thanks

Hi,

can someone please clarify the difference between kuka KSS and sunrise OS, for example i see this picture below on some posts but i don't understand what this is or if this is an update for the new operating system. is there a way to switch between both or is KSS not available on KRC4 sunrise cabinet?

HI,

I do have the recovery usb 3.0 for the LBR iiwa but i don't know how to take a complete backup from the robot, can someone please walk me through the process. Also i found online that the backup manager can be installed on the smart pad but i can't find the add on anywhere or any information on how to install it can someone please help me?

thanks

Can you please explain how to include a keyevent inside a breakwhen() somehow it doesn't accept any arguments.

thanks

Quote from kiiwa

If you're using Profinet/Ethercat you don't need additional IO cards, they are supported natively on IIWA. Now, you need to know what signals are you sending and interpret them on the PC side.

There's "breakwhen" that you can use with a ForceCondition or listeners for other events.

You can create only one point/frame using the smartPad. A motion isn't defined by its Start and End points, but by the end point as you can go to the point with different types of motions independently from your start positions. If you want to create a path from a set of points look up "Spline motion type" in the manual or use MoveAsync instead of Move.

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Thanks for the reply:

1 - the pc is third party and i don't have any access on it, i can't even modify the code. i did setup the inputs from the workvisual and sunrise but i don't have anything to receive them on or control them...like a .NET framework or something because it's a third party software so i wanted to use another IO card to be able to manipulate the IOs.

2- so i will have to add breakwhen to every move condition in order to shut the program or reset to point zero, i mean there's no go to begining for example like C++ or system.exit?

3 - so the smartpad doesn't allow continuous motion and a code has to be written in order to complete a frame am i right?

link not working.

thanks

Hi,

i do have a couple of questions if anyone can help me please:

1- currently i have an LBR iiwa 14 R820 connected through a profinet to a third party software and computer that monitors movement and reactions from the robot and errors as well. the problem is that i don't have the third party source code to control the output from the robot. what i'm trying to do is obtaining outputs for specific errors from the robot and outputting them directly to the PLC or another HMI. what kind of IO modules/card that i can buy to accomplish so and at the same time keep the existing IOs? note: i already setup the IO inside workvisual and setup the xml in sunrise.

2- i did define a user key to make the robot go home but the problem is that i don't know how to override the current running line of code so i can force the robot to go home, is there like a break command that stops the robot from what's it doing or stop the code then when i press home it will go home regardless?

3- does the smartpad for the iiwa lbr 14 r820 allow you to create a frame and an end frame? i can create frames easily but i can't create end frames or connect points together to make for example a complete movement, is there a way i can do so? i do see the magnifying glass that should points to the end frame but i don't see anything in the manual that shows how to create a complete movement like 2-3 points within one frame....like one frame that goes from point 1 to 2 then to 3 then back to 1 for example?

Thanks,

Appreciate your help

Can someone please look at what i did here and let me know what i did wrong, somehow i can't get the user defined keys to be published!
so i added the definition to a function and i'm trying to run it from the background application to make sure it runs all the time and i can access it at any time?

public class LiveByteBackgroundTask extends RoboticsAPICyclicBackgroundTask
{
@Inject
Controller kUKA_Sunrise_Cabinet_1;

@Override
public void initialize()
{
// initialize your task here
initializeCyclic(5000, 50, TimeUnit.MILLISECONDS, CycleBehavior.BestEffort);
}

protected EolIOGroup ioPLC;
protected AppControlIOGroup ioAppControl;
protected ObjectFrame BaseFrame;
protected ObjectFrame ToolFingerTCP;
protected boolean initialized;
String lastException = "";
boolean x = true;

@Override
public void runCyclic()
{

try
{
if (AppSingleton.getInstance().initialized)
{
ioPLC = AppSingleton.getInstance().ioPLC;
ioAppControl = AppSingleton.getInstance().ioAppControl;
BaseFrame = AppSingleton.getInstance().BaseFrame;
ToolFingerTCP = AppSingleton.getInstance().ToolFingerTCP;

ioAppControl.setOut_LiveByte(ioAppControl.getIn_LiveByte());

ioPLC.setOut_AtsPositionX((int) Math.round(BaseFrame.transformationTo(ToolFingerTCP).getX()));
ioPLC.setOut_AtsPositionY((int) Math.round(BaseFrame.transformationTo(ToolFingerTCP).getY()));
ioPLC.setOut_AtsPositionZ((int) Math.round(BaseFrame.transformationTo(ToolFingerTCP).getZ()));
}
}
catch (Exception ex)
{
if (!lastException.equals(ex.getClass().toString()))
{
StringWriter errors = new StringWriter();

ex.printStackTrace(new PrintWriter(errors));
getLogger().error(errors.toString());
}
lastException = ex.getClass().toString();
}
while (true)
{
userkeyss();
}

}
private void userkeyss()
{
IUserKeyBar functionbar = getApplicationUI().createUserKeyBar("funcbuttons");

IUserKeyListener clickfuncbuttonslistener = new IUserKeyListener()
{
@Override
public void onKeyEvent(IUserKey key, UserKeyEvent event)
{
// TODO Auto-generated method stub
//key.setLED(UserKeyAlignment.BottomMiddle, UserKeyLED.Green, UserKeyLEDSize.Small);
if (event == UserKeyEvent.KeyDown)
{
key.setText(UserKeyAlignment.TopMiddle, "Test");
}
}
};

IUserKey key = functionbar.addUserKey(0, clickfuncbuttonslistener, true);
key.setLED(UserKeyAlignment.BottomMiddle, UserKeyLED.Green, UserKeyLEDSize.Small);
functionbar.publish();
}

}

Can someone please look at what i did here and let me know what i did wrong, somehow i can't get the user defined keys to be published!
so i added the definition to a function and i'm trying to run it from the background application to make sure it runs all the time and i can access it at any time?

public class LiveByteBackgroundTask extends RoboticsAPICyclicBackgroundTask
{
@Inject
Controller kUKA_Sunrise_Cabinet_1;

@Override
public void initialize()
{
// initialize your task here
initializeCyclic(5000, 50, TimeUnit.MILLISECONDS, CycleBehavior.BestEffort);
}

protected EolIOGroup ioPLC;
protected AppControlIOGroup ioAppControl;
protected ObjectFrame BaseFrame;
protected ObjectFrame ToolFingerTCP;
protected boolean initialized;
String lastException = "";
boolean x = true;

@Override
public void runCyclic()
{

try
{
if (AppSingleton.getInstance().initialized)
{
ioPLC = AppSingleton.getInstance().ioPLC;
ioAppControl = AppSingleton.getInstance().ioAppControl;
BaseFrame = AppSingleton.getInstance().BaseFrame;
ToolFingerTCP = AppSingleton.getInstance().ToolFingerTCP;

ioAppControl.setOut_LiveByte(ioAppControl.getIn_LiveByte());

ioPLC.setOut_AtsPositionX((int) Math.round(BaseFrame.transformationTo(ToolFingerTCP).getX()));
ioPLC.setOut_AtsPositionY((int) Math.round(BaseFrame.transformationTo(ToolFingerTCP).getY()));
ioPLC.setOut_AtsPositionZ((int) Math.round(BaseFrame.transformationTo(ToolFingerTCP).getZ()));
}
}
catch (Exception ex)
{
if (!lastException.equals(ex.getClass().toString()))
{
StringWriter errors = new StringWriter();

ex.printStackTrace(new PrintWriter(errors));
getLogger().error(errors.toString());
}
lastException = ex.getClass().toString();
}
while (true)
{
userkeyss();
}

}
private void userkeyss()
{
IUserKeyBar functionbar = getApplicationUI().createUserKeyBar("funcbuttons");

IUserKeyListener clickfuncbuttonslistener = new IUserKeyListener()
{
@Override
public void onKeyEvent(IUserKey key, UserKeyEvent event)
{
// TODO Auto-generated method stub
//key.setLED(UserKeyAlignment.BottomMiddle, UserKeyLED.Green, UserKeyLEDSize.Small);
if (event == UserKeyEvent.KeyDown)
{
key.setText(UserKeyAlignment.TopMiddle, "Test");
}
}
};

IUserKey key = functionbar.addUserKey(0, clickfuncbuttonslistener, true);
key.setLED(UserKeyAlignment.BottomMiddle, UserKeyLED.Green, UserKeyLEDSize.Small);
functionbar.publish();
}

}

apologies, i'm new to the site and i was just seeking information. i will make sure i post in the right forum next time.

is there a way i can take a full backup of the robot/controller for LBR iiwa?
i can see a usb slot in the back of the smartpad but when i put it in it doesn't show any file manger or backup options?

also is there an application or software that controls the way the smartpad looks like or if i can add more buttons and features to the smartpad?

thanks

Can you please post this manual? i'm new to Kuka and i'm trying to reprogram the user keys and add some extra functions to make it easy to operators.

Also, if you know, is there a software where i can simulate and test LBR iiwa offline then upload the changes to the robot?

thanks.