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Hello again Johannes,

We are now trying to stream a robot program through the sunrise communicator to the LBR_iiwa. The program now contains LIN and DIGITAL OUT but at the controller an error shows. You have mentioned in a thread before that LIN should work and UDPReceiver.java has all the methods. I am attaching a screenshot of the controller error here.
Could you please tell me where I am making possible errors in sending the commands? I have named the tool, base and TCP similar to the setup through workbench. Do I need to setup anything more ?

Thank you

Thanks a lot ! Got it!

Hi Johannes,

I was trying both LBR IIWAs and just found, at given same AXIS values ( 0 Degree throughout). Both the IIWAs output a the same Z value: 1306mm where as the LBR800 should have given 1266mm. Is that for some reason or I am missing anything here ?

Attaching the GH file and the screen shot for your perusal.

Thanks
Avishek

Perfect! It works now!

:D :D

Hi again,

With the proper network configuration now I can see the incoming data packets in PacketSender in port 49152. But after stopping the UDP Listener in Packetsender, with Firewall turned off, I can not see the data from the grasshopper component ? Any tips there ?

Thanks a lot!

Hi,

I think now I know why I could not got it to work! Let me try this.

Thank you

Hi Johannes,
Thanks a lot for the reply.
If I have understood  it right : from computer the sent PRC commands are sent to port 30000 of the robot. On the robot side, robot data are being sent from the port 30001 of the robot. In the grasshopper component, "49152" is the local computer port where the robot should send the data.
I have reverted back to the original code now again. In the PRC_RunUDP I find this line:

Code Select Expand


try {
prc_udp.CORE_UDP(robot, kuka_Sunrise_Cabinet_1, getApplicationData().createFromTemplate(toolname), tcpname, baseFrame, enablellogging, getLogger(), getApplicationData(), iogrp, "172.31.1.149", 49152);

I am guessing that the string is the robot IP (which in my case is different) and 49152 is the port where the robot would send the data ?
Do I need to explicitly define the external port in the UDPSender.java file also?
Please bear with me may be.
Many Thanks

Hi Johannes,

Here at Aalborg University we are setting up two KUKA IIWAs (7 and 14 kg Payload). So far everything has gone smoothly following your tutorial (https://forum.robotsinarchitecture.org/index.php/topic,982.0.html). In the case of Sunrise Communicator, it is not giving any output. I have tried to follow your suggestions on this post (https://forum.robotsinarchitecture.org/index.php/topic,1118.msg3179.html). So far, the ports are rightly mentioned in java files: PRCUDP and UDPSender and Rhino has been exempted from firewall and I have tried with disabling the firewall.

I am attaching all the screenshots here. Is there anything I am doing wrong here ? I have not used Java before, so advanced debugging was not possible for me.

Could you please help in anyway ?

Thank you

Avishek
adas@create.aau.dk