Posts by Just Me

Just Me · May 5th 2021

Have you tried to recreate a new project and copy your programs to it?

Just Me · Apr 9th 2021

Well this is what I feared.

I will contact the support to know what i have to do so...

Thank you for your answer.

Just Me · Apr 8th 2021

Hello everyone, I think I made a big mistake today.

I am on a kuka iiwa r800 with the ellectric touch flange.

I was checking the voltages of the pins of the X3 port to be sure if everything was working the way it is suppose to.

Unfortunately I made contact several cables which created a spark... a little short circuit I think (or a big one).

Since the application button of the flange (the green button) no longer works ...

All the outputs of the X3 are working perfectly and the 24V power supply is fine.

I can not test the other entry ... but I suppose I broke something on the acquisition part.

Are the inputs protected by a security that should be reactivated or a part to be replaced?
Have I completely toasted part of the flange ?

Any ideas on the source of the problem are very welcome.

Just Me · Apr 8th 2021

I am still facing the problem with the right version of WOV.

Finally I chose to go on a digitally controlled gripper with open/close signals.

But I would still be interested to have the solution.

Let us know when you get the reply.

Just Me · Mar 29th 2021

The last solution is always to contact the support...

Just Me · Mar 29th 2021

Hello everyone,

I need to control an EGP-40-N-N-IOL, a gripper from SCHUNK with an IO Link master, the BNI ECT-527-005-Z040 from BALLUFF.

According to kuka support the master is compatible.

I plan to get the material but want to be sur it's possible before and i'm experimenting some problems.

The problem :

The .xml of the gripper is not accepted when i'm selecting it as EtherCAT ESI, the inside of the window is just grey...

When i'm choosing INTERBUS FDCML i got this this error : Error while editing device description files: Object reference not set to an instance object.

This ios where i found the .xml :

https://ioddfinder.io-link.com/productvariants/search/19376

Is the .xml bad ? or something?

Also, I saw in a thread (which I can not find any more) that it was necessary to add to the master the modules that it had to control ... right click, add but i can't, is it normal ?

Work Visual V5.0.10, i added the package sunrise 1.3.15.0
Sunrise 1.16

Many thanks in advance

Just Me · Mar 29th 2021

I had an equivalent problem I think. I simply unmastered the joint then moved the joint manually within the limits in KRF mode. Then i just remastered it.
I hope it will work for you.

Just Me · Jan 28th 2021

The first solution I found is to set the max speed of the joints very very low, so that when a joint is triggered, which requires a lot of pressure and creates a jolt, it instantly works to reduce its speed and counteract the jolt.

I finally avoided the problem by using a loop that retrieves the robot's current position and instructs it to go there with impedance.

In this way I can easily choose to block axes or rotation by putting a very strong impedance but especially by modifying only the values of the axes and authorized rotations.

Just Me · Dec 23rd 2020

Hello,

I use Cartesian Impedance mode to take landmarks and to perform classic movements in a more secure manner.

During movement, even with the strongest impedance (5000 for xyz and 300 for abc + all damping to 1), there is always a slight difference between the position I want to reach and the one the robot is trying to reach. Even pushing it with his hand to help him reach that point he tries to go back to the offset point.

I noticed that the offset is still on the base-head axis. It shifts towards the base when it goes down and away from it when it goes up.

I do have a tool on the robot and I defined it in the project.

I use the movement functions in the following way:

For the moment I regulate this offset by an offset of a few mm on the x and y axes.

Is this problem "normal", is it a physical problem of the robot?

Is there a solution to fix? Maybe an error in my code?

Many thanks in advance

Code

package application;


import static com.kuka.roboticsAPI.motionModel.BasicMotions.lin;

import javax.inject.Inject;
import javax.inject.Named;

import libraries.Impedance_Bank;
import libraries.Position_Bank;
import libraries.Security;

import com.kuka.common.ThreadUtil;
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.geometricModel.Frame;
import com.kuka.roboticsAPI.geometricModel.Tool;
import com.kuka.roboticsAPI.motionModel.HandGuidingMotion;
import com.kuka.roboticsAPI.uiModel.ApplicationDialogType;


/**
 * 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 Landmark_by_hand extends RoboticsAPIApplication {
    @Inject
    private LBR robot;
    private Security security = new Security();
    private Position_Bank positionBank = new Position_Bank();

    private Impedance_Bank impedanceBank = new Impedance_Bank();

    @Inject
    @Named("ToolTest1")
    private Tool ToolTest1;

    private HandGuidingMotion motion = new HandGuidingMotion().setCartVelocityLimit(100);
    private boolean handGuidingState = false;
    private int dialogWindow;

    @Override
    public void initialize() {
        // initialize your application here
        ToolTest1.attachTo(robot.getFlange());
        impedanceBank.initialize();
        motion.setJointLimitViolationFreezesAll(false);
    }

    @Override
    public void run() {

        security.Mode(robot,"slowMoov");
        getLogger().info("ESM is set for slowMoov");

        robot.move(positionBank.getHandGuidingStartPose().setJointVelocityRel(0.02));
        Frame frame2= robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP"));




        ToolTest1.detach();

        while (handGuidingState == false){

            security.Mode(robot,"handGuiding");;                // controller will only monitor the hand guiding switch
            getLogger().info("ESM is set for handGuiding");

            robot.move(motion);

            security.Mode(robot,"slowMoov");
            getLogger().info("ESM is set for slowMoov");

            dialogWindow = getApplicationUI().displayModalDialog(ApplicationDialogType.QUESTION, "Restart Hand Guiding ?", "Yes", "No");
            if (dialogWindow == 1)
            {
                handGuidingState = true;

            }
        }

        ToolTest1.attachTo(robot.getFlange());
        security.Mode(robot,"slowMoov");

        // Wait a little to reduce robot vibration after stop.
        ThreadUtil.milliSleep(1000);


        Frame holeFrame = robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP"));

        Frame frame=holeFrame.copy();

        getLogger().info("holeFrame : " + holeFrame);
        getLogger().info("frame : " + frame);


        getLogger().info("starting loop");

        int i =1;

        for (i=1;i<=4;i++){    
            getLogger().info("Going out of the hole");


            frame.setZ(frame.getZ()+30).setY(frame.getY()+5).setX(frame.getX()-10);
            getLogger().info("frame : " + frame);
            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(10).setMode(impedanceBank.getImpedanceForTouchMoov()));
            // Wait a little to reduce robot vibration after stop.
            ThreadUtil.milliSleep(500); 
            getLogger().info("OUT IMPEDANCE n°:" +(i)+ robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP")));
            getLogger().info("OUT IMPEDANCE n°:" +(i)+ robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP"),holeFrame));


            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(10));        
            // Wait a little to reduce robot vibration after stop.
            ThreadUtil.milliSleep(500); 
            getLogger().info("OUT NO IMPEDANCE n°:" +(i)+ robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP")));
            getLogger().info("OUT NO IMPEDANCE n°:" +(i)+ robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP"),holeFrame));


            frame.setZ(holeFrame.getZ()+100);
            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(10).setMode(impedanceBank.getImpedanceForSafeMoov()));
            
            frame2 = robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP"));
            frame2.setZ(150).setY(137);
            ToolTest1.getFrame("/TCP").move(lin(frame2).setCartVelocity(40).setMode(impedanceBank.getImpedanceForSafeMoov()));

            frame2.setX(584);
            ToolTest1.getFrame("/TCP").move(lin(frame2).setCartVelocity(40).setMode(impedanceBank.getImpedanceForSafeMoov()));

            frame2.setZ(50).setAlphaRad(Math.toRadians(90)).setBetaRad(Math.toRadians(0)).setGammaRad(Math.toRadians(180));
            ToolTest1.getFrame("/TCP").move(lin(frame2).setCartVelocity(40).setMode(impedanceBank.getImpedanceForSafeMoov()));
            
            
            frame2.setZ(15);
            ToolTest1.getFrame("/TCP").move(lin(frame2).setCartVelocity(40).setMode(impedanceBank.getImpedanceForSafeMoov()));

            // Wait a little to reduce robot vibration after stop.
            ThreadUtil.milliSleep(1000);

            frame2.setZ(150);
            ToolTest1.getFrame("/TCP").move(lin(frame2).setCartVelocity(40).setMode(impedanceBank.getImpedanceForSafeMoov()));

            frame.setZ(holeFrame.getZ()+100);
            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(40).setMode(impedanceBank.getImpedanceForSafeMoov()));
            
            frame.setZ(holeFrame.getZ()+25);
            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(40).setMode(impedanceBank.getImpedanceForSafeMoov()));

            frame.setZ(holeFrame.getZ()+15).setY(holeFrame.getY()-5).setX(holeFrame.getX()+5);

            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(10).setMode(impedanceBank.getImpedanceForSafeMoov()));

            frame.setZ(holeFrame.getZ()+9);
            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(10));

            frame.setZ(holeFrame.getZ()+8);
            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(10));

            frame.setZ(holeFrame.getZ()-5);
            ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(10).setMode(impedanceBank.getImpedanceForTouchMoov()));
            getLogger().info("IN n°:" +(i)+ robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP")));
            getLogger().info("IN n°:" +(i)+ robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP"),holeFrame));
        }



        frame.setZ(-20);
        ToolTest1.getFrame("/TCP").move(lin(frame).setCartVelocity(10).setMode(impedanceBank.getImpedanceForTouchMoov()));

        getLogger().info("OUT n°:" +(i)+ robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP")));
        getLogger().info("OUT  n°:" +(i)+ robot.getCurrentCartesianPosition(ToolTest1.getFrame("/TCP"),holeFrame));

    }
}

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Just Me · Dec 22nd 2020

Hello everyone,

I find manual guidance oddly difficult. I have to apply a lot of force to make it move and it is difficult to make small or precise movements. Sometimes I have to apply a sharp blow to trigger the activation of a joint.

I also specify that I have disabled the option that allows all joints to force against movement if a joint reaches its limit setJointLimitViolationFreezesAll (false).

When I say that I find it rather difficult, I compare it especially to a SAWYER from RETHINK ROBOTICS which I have access to and which has a very very soft 0G mode.

Is there a way to make the robot more responsive or more sensitive to the forces exerted during manual guidance ?

Many thanks in advance

Just Me · Dec 9th 2020

Hello JM212,

I am currently experiencing the same problem as you but I am new to kuka iiwa. I don't know how to retrieve the information of whether a program is running or not to change EMS.

Can you share your background task code?

I will be very grateful.

Posts by Just Me

Not a DIRC file

Application button of flange doesn't work anymore

Application button of flange doesn't work anymore

Work visual doesn't accept .xml

Joint Limit Exceeded Unable to Master

Work visual doesn't accept .xml

Joint Limit Exceeded Unable to Master

How to make manual guidance smoother ?

Cartesian impedance creating offset

How to make manual guidance smoother ?

Deactivating ESM??

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