This repository contains scripts and instructions for configuring and utilizing hand guiding on the robot. Follow the steps below to set up the system and ensure smooth operation.
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Configure ESM 1:
- Set up the Hand Guiding Device inactive AMF with a Stop 1 Reaction.
- Enable only the first enabling switch and use the input
CIB_SR.5in Safety Configuration. - This corresponds to pins 18/19 and 28/29 on x11 port (other pins can also be used as needed, refer sunrise documentation).
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Configure ESM 2:
- This state can be configured with any valid setting.
- Example: Set up Cartesian Velocity Monitoring at
x mm/s.
- Set up a two-channel switch to complete the circuit between the pins mentioned in Step 1.
- Alternatively, use two separate switches and press both simultaneously to activate hand guiding.
- Use a microcontroller and a relay.
- Jumper wires from the pin 18 and 19 go to normally open on one channel on the relay, and 28 and 29 go to the other channel, based on channel used INx and INy connected to the arduino digital port, connect ground and vcc on arduino to corresponding one on relay.
- Control the circuit using a Python script that provides high or low signals to activate or deactivate hand guiding.
- Ensure the robot is in Auto Mode for hand guiding to function correctly.
- Data Collection Script:
- The script in this repository is designed for data collection.
- Data is stored in the controller at
C:\KRC\Roboter\Log\DataRecorder. - Use remote desktop to connect to the controller, default password is 68kuka1secpw59.
- ROS2 Connection Limitation:
- Hand guiding and ROS2 connection cannot operate simultaneously.
- Python Script: Automates circuit activation for hand guiding.
- Configuration Guide: Step-by-step instructions for ESM and circuit setup.
- Hardware:
- Microcontroller
- Relay for switch setup.
- Jumper wires
- Software:
- Python environment for running the relay script.
- Sunrise for setting up hand guiding