Kuka - penn-figueroa-lab/lab_wiki GitHub Wiki

Code to use: https://github.com/penn-figueroa-lab/iiwa_ros

Private KUKA-FRI: https://github.com/penn-figueroa-lab/kuka_fri

Update with any crucial instruction and changes...

TODO: Install KUKA Sunrise Workbench software and upload new control application to control box.

For setting up IP address, refer to the diagram in this issue

Basic Usage:

Make sure the KUKA-FRI is installed properly on the SmartPad.

  1. Turn on the controller box (with the green switch)
  2. Activate AUT mode (turn the key right, select AUT, turn the key left)
  3. In the Application tab, select FRIOverlay
  4. catkin build
  5. source devel/setup.bash
  6. Within ten seconds, perform the next two steps
    a. roslaunch iiwa_driver iiwa_bringup.launch
    b. Press the Play button on the SmartPad
  7. Select the control mode (Hold the robot first if you are planning to use the torque mode, it will drop)

Safety Notice:

Position Referencing

It happens often to iiwa 14. If you see a yellow light on the safety tab, and it says "axis position not referencing", etc., do the following steps to calibrate:

  1. Activate AUT mode (turn the key right, select AUT, turn the key left)
  2. In the Application tab, select PositionAndGMSReferencing
  3. Press the Play button on the SmartPad
  4. Let the robot runs by itself for a while until it reaches the straight up home position

Recovery from Joint/Safety Limits

If the robot reaches the joint limits or safety limits, do the following steps to recover:

  1. Activate KRF mode (turn the key right, select KRF, turn the key left)
  2. Hold the enabling switch and manually control the joint back to normal position
  3. Activate back to the original mode
  • If KRF doesn't appear for the IIWA 14, unmaster the joint to trigger KRF.
  • Password for touch-pad is ARGUS.

KRC Recovery

Sometimes, the robot could enter serious software errors that cannot be recovered easily. One option to fix this is to reinstall a clean OS for the controller box (warning: this will remove everything installed on the controller box).

The steps are generally the same for iiwa7 and iiwa14 (with different versions for the software):

  1. Get the KUKA recovery USB 4.0 (it is stored in the KUKA package box in the lab)
  2. Download the recovery images on Google Drive (please ask for access about this)
  3. Place the recovery images in the KUKA recovery USB Image folder
  4. Configure the recovery USB by running the recovery.exe
    • Set to "silent" mode for the recovery
    • Choose the Restore option
    • Specify the image name (e.g. ImageC.wim (Do not change (Just have ImageC.wim))
  5. Save the configuration
  6. Plug the recovery USB into the controller box
  7. Start the controller box, it should boot with the recovery USB
  8. After finishing, you will get a barebone SunriseOS.basisImage. You will need to install the software with the Sunrise Workbench software (1.11 for iiwa7 and 1.17 for iiwa14).
  9. Done

Sunrise Software Installation (IIWA7)

p.s. If you are using ros2 stack, you can follow the direction here: https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/hardware_setup.html . However, some instruction may be unclear, you can cross reference the instruction below.

  1. Install Sunrise Workbench software (1.11). It is available on the lab's Google Drive, or ask Tianyu
  2. Plug the Ethernet to Windows PC (use x66 and not the KONI port)
  3. In Sunrise Workbench, open a Sunrise Workspace. You can use our default workspaces for iiwa7/14 (the applications we usually use are already added). You can find them on the Windows PC in the lab's Google Drive.
  4. In the Workspace, go to StationSetup.cat
    • Add everything you need
    • But you must check all the FRI items, Safe Operation, and Human Robot Collaboration (this allows you to have more instances when adding joint limits in the next step)

image

  1. In SafetyConfiguration.sconf, go to Customer PSM
    • remove every default safety measure,
    • add soft joint limits for each axis,
    • add max cartesian velocity

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  1. Go to configuration and set the IP (by default, you don't have to change anything)

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  1. Go to installation, press install, when it ask to reboot, press ok. The controller will shut down and reboot. Wait until it complete before synchronizing (press synchronize button on the top of the sunrise workbench app, just below the search button).

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  1. Done