Hi All,
I have a KUKA LBR iiwa. I accidentally set the KUKA IP address to 192.168.0.1. Now any time I boot, I get error: "No connection to KRC possible".
I have tried to change the IP on the smartPAD network options.
I have connected a monitor and changed the IP address in local area connections settings.
Can anyone help, please?
OK fixed - required $ORI_TYPE = #CONSTANT all caps!
Awesome, I just tried this, but I got error: Name expected ***$ori_type=#const
Wow thats great thank you! I will try this. Will this addition go in the same line as the CIRC midpos,endpos line? as in:
CIRC midpos,endpos $circ_type=#path and $ori_type=#const ?
Many thanks
Hi All,
I am trying to scan around a cylindrical shape with the KUKA. I have written a program which follows a circ motion around the cylinder, then steps down in z and repeats the reverse of the circ motion. When I do this I feed the robot a start position, mid position and end position. I want to fix the end piece of the robot, so it is always parallel with the barrel. The euler angles rotate however, such that this is not the case on my code. How can I fix two of the euler angles and just rotate in A for example?
Ok thats great! Thank you I will try!
Thanks Fubini - so it would be: "CIRC mid_pos,end_pos c_vel"?
Hi everyone!
I have programmed a circular motion that does an arc in the x-y plane, then steps in z and repeats this arc. Everytime it approaches the end of the circ motion it stops, how can I make this continuous, please?
LOOP
CIRC mid_pos,end_pos
start_pos.z = start_pos.z - Zstep
end_pos.z = end_pos.z - Zstep
mid_pos.z = mid_pos.z - Zstep
LIN end_pos
CIRC mid_pos,start_pos
start_pos.z = start_pos.z - Zstep
end_pos.z = end_pos.z - Zstep
mid_pos.z = mid_pos.z - Zstep
LIN start_pos
ENDLOOP
Thanks MOM, thats very helpful
Ok, thats fixed my problem. Thank you for your help everyone!! Much appreciated
Aha, this might be the defining factor, I think its with respect to the flange. Could you give me the answer to both please?
Ok that is excellent knowledge, thank you very much! Using this I have managed to calculate the rotation matrix, but what do I act this on to give my direction vector?
That's great, thank you for the info! So to compute the direction vector I need rot.Z(A)*rot.Y(B)*rot.X(C), then act that on [0,0,1]?
Hi,
Thanks for your reply! I would like the vector that points out of the flange piece if that makes sense. For example if you had a sword on the end of the robot arm, the direction of the sword.
Ok, so the ABC angles are euler angles - does this mean one can compute a rotation matrix and multiply by a unit vector to generate a direction vector? If so in what order should the rotations occur?
Hi,
I have a list of x,y,z,a,b,c coordinates from my KUKA. I'd like to know the direction vector of the flange piece. How can I use the ABC angles to compute a direction vector? I have investigated rotation matrices and quaternions, but none of these methods seem to return the correct direction vector.
Hi, can anyone help me with my code please?
I get 62 errors and I have no idea why. Many are "type actual/formal parameter incompatible" seems to effect err=ST_ETHERNET.
&ACCESS RVP
&REL 3
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF parametricRasterRsiV5( )
DECL POS start_pos, next_pos
DECL AXIS PATH_HOME
DECL INT II
DECL REAL maxY, maxX, maxZ, Xstep, Ystep, Zstep
DECL BOOL dirX, dirY
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD SPOTTECH INI
USERSPOT(#INIT)
;ENDFOLD (SPOTTECH INI)
;FOLD GRIPPERTECH INI
USER_GRP(0,DUMMY,DUMMY,GDEFAULT)
;ENDFOLD (GRIPPERTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
HALT
; The current position will be used as SAK movement!
PTP $POS_ACT
; !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
; Create RSI Object ST_Ethernet, read object configuration .../INIT/ERXConfig.xml
err = ST_ETHERNET(hEthernet,0,"RSIethernet.xml")
IF (err <> #RSIOK) THEN
HALT
ENDIF
; err = ST_SETPARAM(hEthernet,eERXmaxLatePackages,1) ; after "value" to late packages the robot stopps
; err = ST_SETPARAM(hEthernet,eERXmaxLateInPercent,10) ; RSIWARNING if the limit reached
; err = ST_SETPARAM(hEthernet,eERXmaxFieldOfView,1000) ;reset every 'value' statistics.
; err = ST_SETPARAM(hEthernet, eERXFastCycle, 1) ; FALSE: Time to answer 11ms / TRUE: Fast cycle: answer <2ms necessary!
; err = ST_SETPARAM(hEthernet, eERXerrorFlag, 1) ; $FLAG[1] will be set in case off errors
;FOLD RSI-Objects to link in ST_Ethernet
; read $IN[1-16]
err = ST_DIGIN(hDin,0,1,2,0)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_NEWLINK(hDin,1,hEthernet,1)
IF (err <> #RSIOK) THEN
HALT
ENDIF
; read $OUT[1-3]
err = ST_DIGOUT(hDout1,0,1,0,0)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_DIGOUT(hDout2,0,2,0,0)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_DIGOUT(hDout3,0,3,0,0)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_NEWLINK(hDout1,1,hEthernet,2)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_NEWLINK(hDout2,1,hEthernet,3)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_NEWLINK(hDout3,1,hEthernet,4)
IF (err <> #RSIOK) THEN
HALT
ENDIF
; make sine signal
UNIT_RSI = 3601
err = ST_SOURCE(hsource,0,UNIT_RSI)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_SETPARAM(hsource,1,1)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_SETPARAM(hsource,3,50)
IF (err <> #RSIOK) THEN
HALT
ENDIF
err = ST_NEWLINK(hsource,1,hEthernet,5)
IF (err <> #RSIOK) THEN
HALT
ENDIF
;ENDFOLD
IF (err <> #RSIOK) THEN
HALT
ENDIF
;**************************************
;*** DEFINITION OF INPUT PARAMETERS ***
;**************************************
;*** DEFINE VELOCITY, HOME POSITION, BASE AND TOOL FOR PROGRAM HERE ***
$VEL.CP = 0.04 ; VELOCITY
PATH_HOME = {AXIS: A1 0,A2 -60,A3 120,A4 0,A5 30,A6 0} ; HOME POSITION
$base = BASE_DATA[0] ; BASE
$tool = TOOL_DATA[0] ; TOOL
;*** DEFINE START/END POSITIONS ***
maxY = 1
maxX = 750
maxZ = 800
Xstep = 10
Ystep = 1038
Zstep = 50
start_pos = {POS: X 1485,Y -1038,Z 210,A -180,B 0,C 0}
;****************************
;*** INITIALIZE TOOL-PATH ***
;****************************
FOR II=1 TO 6
$VEL_AXIS[II]=20
$ACC_AXIS[II]=100
ENDFOR
; To set 'Tool On Robot' Mode
$IPO_MODE = #BASE
; Set smoothing value
$APO.CDIS = 10
; Set $ADVANCE value (number of points read in advance)
$ADVANCE = 0
PTP PATH_HOME ; Go to HOME position
LIN start_pos
dirX = false
dirY = false
next_pos=start_pos
LIN start_pos
WAIT SEC 1
LOOP
IF dirX == false THEN
LOOP
IF dirY == false THEN
LOOP
IF next_pos.y < start_pos.y + maxY THEN
next_pos.y = next_pos.y + Ystep
LIN next_pos
ELSE
EXIT
ENDIF
ENDLOOP
dirY = true
ELSE
LOOP
IF next_pos.y > start_pos.y THEN
next_pos.y = next_pos.y - Ystep
LIN next_pos
ELSE
EXIT
ENDIF
ENDLOOP
dirY = false
ENDIF
IF next_pos.x < start_pos.x + maxX THEN
next_pos.x = next_pos.x + Xstep
LIN next_pos
ELSE
EXIT
ENDIF
ENDLOOP
dirX = true
ELSE
LOOP
IF dirY == false THEN
LOOP
IF next_pos.y < start_pos.y + maxY THEN
next_pos.y = next_pos.y + Ystep
LIN next_pos
ELSE
EXIT
ENDIF
ENDLOOP
dirY = true
ELSE
LOOP
IF next_pos.y > start_pos.y THEN
next_pos.y = next_pos.y - Ystep
LIN next_pos
ELSE
EXIT
ENDIF
ENDLOOP
dirY = false
ENDIF
IF next_pos.x > start_pos.x THEN
next_pos.x = next_pos.x - Xstep
LIN next_pos
ELSE
EXIT
ENDIF
ENDLOOP
dirX = false
ENDIF
IF next_pos.z < start_pos.z + maxZ THEN
next_pos.z = next_pos.z + Zstep
LIN next_pos
ELSE
EXIT
ENDIF
ENDLOOP;
*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=**=*=*=*=*=*=*=*=*=*=*
ST_SKIPSENS() ;Hold on - until RSI-Break reason occur
; *=*=*=*=*=*=*=*=*=*=*=*=*=*=*=*=**=*=*=*=*=*=*=*=*=*=*
PTP PATH_HOME
ENDHi, I have an unmastered kuka kr150. I think axis 4 is upside down. Which direction should I turn in to master it? I am frightened of breaking the joint.
Best regards,
Sam
Thats great. Thank you everyone. I will master it crudely and look into purchasing a proper tool asap!
I have a KRC2 KR150 KUKA robot. I had an issue with software limits and while trying to change them I unmastered the robot. I have no mastering tool. Is there a way I can return the robot to previous master settings?
Best regards,
Sam
