Posts by JM212

So one thing that I am wondering is the robot is in motion (being controlled via a motion controller through the RSI) and while the robot is in motion I try to set a Digital output on and another digital output off. Does the robot need to not be in motion while I set a digital output or can the robot be in motion and have the digital outputs changed concurrently?

Also, I read somewhere that the cause is: "Sensor error that requires ramp-down braking. Depends on the sensor concerned." How do I do ramp-down braking and on what do I do the ramp-down braking for.

When I click in on the error it says:

"SEN: {Sensor data1}{Sensor data2}{Sensor data3}"

Effect:

Ramp Stop

Input of active commands (robot motions, program start) is blocked.

KRC v8.3.8165

RSI v3.3.3

Hi,

So I am working on having a gripper state be controlled via the RSI communication. As soon as I added the SETDIGOUT object and RESETDIGOUT objects the program stopped and produces the error KSS01030 [SEN: RSI execution interrupted - RSI Stopped]. Was wondering if anyone has come across this or know of a way to avoid this from happening or fix the issue.

So when you say "fight" against each other, do you mean something on the lines of have the hand instruct poscorr no matter what, and then if the axis 5 is close to 0 degrees then also use axiscorr at the same time? I seem to get a gear torque error as soon as it reach that point where the axiscorr kicks in as it is telling the robot to go in the exact opposite direction that the poscorr is going in.

Quote from SkyeFire

I don't think there's a way to "handle" an RSI Timeout. RSI is built entirely around hard realtime data -- a packet timeout has to be treated as something only somewhat less dangerous than a safety fault.

Yeah okay, that makes sense. I guess I just need to make sure I am always sending a packet to the robot. Is it okay to send a packet of no corrections to any of the axes or rotations?

Quote from SkyeFire

Avoiding singularities and torque errors is entirely the responsibility of the RSI programmer. The price you pay for the power that RSI gives you is that you are working "below the safety nets" of the robot that prevent those kinds of things in regular KRL programming. For example, in KRL, if you program a motion for 2000mm/s when that is physically impossible to perform at anything faster than 1000mm/s, the robot will simply do 1000mm/s and keep going without a fault or warning. But in RSI, if you command an impossible speed, the robot will just keep accelerating until it faults out on an axis maximum.

Do you have any pointers or tips on where to begin with this? Like is there a way to send the velocity of each axis back to the PC over the RSI communication? Or will I need to be calculating that from the axes position over time? I have read through the RSI manuals and they don't really suggest anything about dealing with the singularities, and velocity. However, I did find that you can send the gear torque for each axis. So I'm assuming I can use that to somehow manage and avoid the torque errors.

The trouble is I am trying to have the robot follow an operators hand motions in real-time. So I am running into some issues when the operator moves their hand in a particular way or through a particular point - the robot either approaches a singularity, or the robot wants to crash into itself. The other issue is that at some points when the operators motion of their hand suddenly changes direction, the acceleration is through the roof.

yeah fair enough. Ill give it a go, and let you know. Also on another I am curious is there a way to error handle an RSITimout? and how can we avoid singularities or any of the other velocty, torque erros that may occur during PoseCorr

Yeah I noticed that, however I am still unable to correct multiple rotations with XYZ.

KRC v8.3.8165

RSI v3.3.3

Hi,

I am trying to send corrections for my A,B,C (X-rot,Y-rot,Z-rot). I sometimes can have these corrections work momentarily. But when it doesnt work, or stops working it sends a RSIBad error. I believe that is configuration error. Im not too sure what would be wrong in my configuration, it almost seem like I am not sending the right data across my UDP for the ABC. My XYZ corrections work perfectly fine and never run into this issue. If i try correct one A or B or C it seems to work, better than 2, and 3 barely works - all while also correcting XYZ. I just set corrections of XYZ to zero, and I was able to correct the A,B, and C all together for the first time for like 10 seconds before getting the RSIBad. Is there a particular parameter/s that I need to look out for when correcting ABC?

I know it doesnt show PosCorr, but what values should I be sending for that. It seems anything above 1 is too fast for the robot atleast in T1 Mode

Thanks Robonovak, and what is the format to send a packet via udp.

"b'<Sen Type=\"ImFree\"><EStr>Message from RSI Control Server - PPG !</EStr><AxisCorr A1=\"" + x_str + "\" A2=\"" + z_str + "\" A3=\"" + y_str + "\" A4=\"" + "0" + "\" A5=\"" + "0" + "\" A6=\"" + "0\"" + "/><RKorr X=\"0.00001\" Y=\"0.0000\" Z=\"0.0000\" A=\"0.0000\" B=\"0.0000\" C=\"0.0000\" /><IPOC>" + test2.c_str() + "</IPOC></Sen>\n'";

Or do I need to send it closer to this:

<root><Axis1>0.0</Axis1><Axis2>0.2</Axis2><Axis3>0.0</Axis3><Axis4>0.0</Axis4><Axis5>0.0</Axis5><Axis6>0.0</Axis6><Direction>1</Direction></root>

but filled in correctly

Edit:

This is what Im receiving and sending from PC side

okay thanks, So what if I have a motion controller that is sending poses that it would like the robot to mimic. ie tracking a hand, am I able to send real-time xyzabc pose?

KRC v8.3.8165

RSI v3.3.3

I am trying to send data from an external motion controller in real-time via the RSI option. I have set-up the RSI as per the manual and tried using the Example server application. It is very inconsistent for me. I have got communication between the two, sometimes I am able to use the example application - and only move it a few mm before it errors:

But most of the time I am receiving this error:

KSS29002

Signal flow(running): Object ETHERNET1 returns error RSITimeout.

I'm not too sure why it is timing out, or the solution to fix this issue.

My next question is, how do I send the motion controllers data from a C program I have written to the robot ( I get that I need to put it in some sort of XML file, but where does the RSI read that data?). I dont understand how the RSI Visual gets external data from the example application into the Ethernet1 object, and then I don't know how I could read that data sent from the PC on the robot to then make it move to that position. First time trying to use RSI, so my knowledge and understanding on it is very basic, minimal. Let me know if you need any more info.

I have written up a TCP/IP Background Task. The robot is acting as the server and I am trying to constantly listen to incoming clients. I am currently getting an error every time I synchronise the robot with the Kuka Sunrise Workbench. The error seems to be that when I reconnect I am unable to as the Socket is already Bound. This obviously means I am not closing the socket. But I am not too sure how to close the socket on an abrupt termination of the TCP/IP background task, especially when I hit the task to stop or when I go to synchronise.

Is there a way that I could attempt to close the socket before the background task is shutoff? OTherwise I have to power cycle after everytime I synchronise.

package application;


import javax.inject.Inject;

import java.io.DataInputStream;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.InputStream;
import java.io.OutputStream;
import java.net.ServerSocket;
import java.net.Socket;
import java.util.concurrent.TimeUnit;


import com.kuka.roboticsAPI.applicationModel.tasks.CycleBehavior;
import com.kuka.roboticsAPI.applicationModel.tasks.RoboticsAPICyclicBackgroundTask;

/**
 * Implementation of a cyclic background task.
 * <p>
 * It provides the {@link RoboticsAPICyclicBackgroundTask#runCyclic} method 
 * which will be called cyclically with the specified period.<br>
 * Cycle period and initial delay can be set by calling 
 * {@link RoboticsAPICyclicBackgroundTask#initializeCyclic} method in the 
 * {@link RoboticsAPIBackgroundTask#initialize()} method of the inheriting 
 * class.<br>
 * The cyclic background task can be terminated via 
 * {@link RoboticsAPICyclicBackgroundTask#getCyclicFuture()#cancel()} method or 
 * stopping of the task.
 * @see UseRoboticsAPIContext
 * 
 */
public class TCPServer extends RoboticsAPICyclicBackgroundTask {
    @Inject
    
      Socket Server;
      byte[] RXRawData = new byte[1024];
      private static String RXString = new String();
      ServerSocket serversocket;
        String delims = "[<>]+";     
        String tcpconnection = "CLOSED";
        private static boolean ServerConnected = false;
        private static boolean MessageReceived = false;
        private static boolean ApplicationClosed = false;
        private static String Test;
        @Inject

    @Override
    public void initialize() {

        try {

            serversocket = new ServerSocket(30001);    
            Server = serversocket.accept(); 
            } catch (IOException e) {
                e.printStackTrace();
            }
        initializeCyclic(0, 500, TimeUnit.MILLISECONDS,
                CycleBehavior.BestEffort);
    }

    @Override
    public void runCyclic() {

        // your task execution starts here
        try
        {
            if(ApplicationClosed == true)
            {
                ApplicationClosed = false;
            }
            
            
            if(Server.isClosed())
            {
                serversocket.close();
                serversocket = new ServerSocket(30001);    
                Server = serversocket.accept(); //Block Function, waits till it finds a client\
                ServerConnected = true;
            }
            else
                ServerConnected = false;
          
          
            InputStream input = Server.getInputStream();
            DataInputStream in = new DataInputStream(input);
            MessageReceived = false;
            in.read(RXRawData);
            MessageReceived = true;
              
              
            String RXRawString = new String(RXRawData);
            RXString = RXRawString.trim();
            //ServerTransfer_("What happend??");
            ServerTransfer_("/<MSGRCD><Test1><Test2><Test3><Test4><Test5><Test6>");
            String[] tokens = RXString.split(delims,0);
              
              
            if(tcpconnection.matches(tokens[1]) /*|| SignalTower.getApplicationState()*/)
            {
                ServerSocketClose_();
                ServerConnected = false;
                ApplicationClosed = true;
            }
            try {Thread.sleep(100);} catch (InterruptedException e) {e.printStackTrace();}
            } catch(IOException e) {
            try 
            {
                serversocket.close();
                serversocket = new ServerSocket(30001);                
                } catch (IOException e1) {
                    // TODO Auto-generated catch block
                    e1.printStackTrace();
                }
                  e.printStackTrace();
            }
    }


    //Will call this function in Robot Code when we want to send a message to the PC
    public boolean ServerTransfer_(String message)
    {
      OutputStream output;
    try {
        output = Server.getOutputStream();
        DataOutputStream out = new DataOutputStream(output);
        out.writeBytes(message);
        message = null;
        } catch (IOException e3) {
        // TODO Auto-generated catch block
        e3.printStackTrace();
        //Test = e.getMessage();
        }
    return true;
    }
    public static String getRXString()
    {
        return RXString;
    }
    public static boolean getRobotConnected()
    {
        return ServerConnected;
    }
    public static boolean getMessageReceived()
    {
        return MessageReceived;
    }
    public static boolean getApplicationClosed()
    {
        return ApplicationClosed;
    }
    //Will call this function when PC sends message wanting to close connection
    public void ServerSocketClose_()
    {
      try {
        Server.close();
      } catch (IOException e) {
        // TODO Auto-generated catch block
        e.printStackTrace();
      }
    }
}

This is my first time writing TCPIP. So I probably havent written it in the most ideal way either. But like I said Im trying to close the serverSocket before it is synchronised. I am not too familar with how a cyclic background task comes to an end or if there is a procedure/function I need to write that is called before it is abruptly closed.

yeah true ill give this a go, I think you may be right as from memory the workspace was working originally but I was only monitoring the tool. and then i changed to the robot aswell but may not have noticed it go out of bounds for a while without realiseing it was the change of the monitoring of both the tool and the robot

Yeah I did something similar I just created a new ESM that I call whenever there is no application running

Quote from kiiwa

Here's a simple example that works.

Client on Robot:

Java

package apps; 
 import java.io.BufferedReader;
import java.io.DataOutputStream;
import java.io.IOException;
import java.io.InputStreamReader;
import java.net.Socket; 
import javax.inject.Inject; 
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication; 
import com.kuka.roboticsAPI.controllerModel.Controller;


public class LBR_Client extends RoboticsAPIApplication {
	@Inject
	private Controller contoller;  
	Socket clientSocket = null;


	@Override
	public void initialize() { 
		contoller = (Controller) getContext().getControllers().toArray()[0]; 
	}


	@Override
	public void run() 
	{
		try {       
			String sentence;
			String modifiedSentence;
			BufferedReader inFromUser = new BufferedReader(new InputStreamReader(System.in));
			clientSocket = new Socket("172.31.1.135", 30000);
			DataOutputStream outToServer = new DataOutputStream(clientSocket.getOutputStream());
			BufferedReader inFromServer = new BufferedReader(new InputStreamReader(clientSocket.getInputStream()));
			sentence = "tcp message";
			outToServer.writeBytes(sentence + '\n');
			modifiedSentence = inFromServer.readLine();
			System.out.println("FROM SERVER: " + modifiedSentence);
			clientSocket.close(); 
		} catch (IOException e) {  
			e.printStackTrace();            
		}  
	}  
	// To liberate the port 
	@Override
	public void dispose()
	{
		try { 
			clientSocket.close();  
			System.out.println("Socket closed"); 
		}catch (Exception e)
		{ e.printStackTrace(); } 
		super.dispose(); 
	} 


}

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Server on PC:

Java

package tcp;


import java.io.BufferedReader;
import java.io.DataOutputStream;
import java.io.InputStreamReader;
import java.net.*;


class MyServer {
 public static void main(String argv[]) throws Exception {
  String clientSentence;
  String capitalizedSentence;
  ServerSocket welcomeSocket = new ServerSocket(30000);


  while (true) {
   Socket connectionSocket = welcomeSocket.accept();
   BufferedReader inFromClient =  new BufferedReader(new InputStreamReader(connectionSocket.getInputStream()));
   DataOutputStream outToClient = new DataOutputStream(connectionSocket.getOutputStream());
   clientSentence = inFromClient.readLine();
   System.out.println("Received: " + clientSentence);
   capitalizedSentence = clientSentence.toUpperCase() + '\n';
   outToClient.writeBytes(capitalizedSentence);
  }
 }
}

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Is it a safe assumption that the Client and server are interchangable on pc and robot?

So pretty much I should make an ESM that is appropriate for jogging and set it in a background application

Im working on an application with Kuka sunrise 1.16.

I have a few ESM functions that I activate in one of my applications. I got an error from that application so I tried to jog my Kuka iiwa 7 r800 back to its start position. However, it wouldnt allow me to as the ESM was still triggering - even after deselecting the application. I then go to try and run a different application - that doesnt consist of any ESMs to be activated however it is still triggering a stop of motion in that application which i believe is due to the ESM currently active.

Is there a way to deactive an ESM in a new application and is it possible to jog the robot without the ESM not being triggered.

Sunrise Controller

Robot: KUKA iiwa 7 R800

OS: Windows 10

Sunrise Workbench: 1.16.2.16

WorkVisual: 5.0.5/Build0600 (with Sunrise.kop: 1.3.15.0)

I am currently trying to configure a workspace monitoring AMF in the safety config. I am trying to the Z Origin to be -19mm (which was previously working), but can only go to about -90. When I jog the robot to -90 it is triggered. However, if I change the Z Origin to -80mm (not even -19) I get an error no matter where the robot is. Anyone else have this issue, or know what it could possibly be?

*My computer wouldn’t let me save a screenshot... so I had to take a photo of my pc screen with my phone 🤣

Sunrise Controller

Robot: KUKA iiwa 7 R800

OS: Windows 10

Sunrise Workbench: 1.16.2.16

WorkVisual: 5.0.5/Build0600 (with Sunrise.kop: 1.3.15.0)

Right now I am trying to set-up a signal tower, everything is configured and red light is flashing when an emergency stop is triggered, amber light is turning on when the robot is in automode.

However, I am trying to assign the blue to turn on when there is an application selected and running - not just the robot is in motion as the application could be running but the robot is at a waiting state. I also want to have the red light on (solid, not flashing) when the teach pendant/robot/controller error has occured without the e-stops being triggered.

So I guess my question is... does anyone know how I am able to read the error state of the robot as well as if there is a signal for the application is running.