08-04-2022, 10:57 AM
I have been working with the developer of C3 Bridge to develop a version of his software to allow me to communicate with an old Win95 version of the the KRC2 controller (The Cross 3 OLE architecture is not compatible with the current kukavarproxy interface)
We have this communicating correctly however I have an issue with the robodk apikuka interface and the release of the C3 Bridge software that I am trying to debug as I am unable to "Get Position" and am struggling to understand what the problem is?
I have tried two methods to get the current position:
1) clicking the "Get Position" button in the connect to robot screen
2) running the robot.Joints() commend from within the robolink python library
when showing the logs in the connect to robot screen I get the following:
192.168.178.85:7000...
Ready
Sending command...
JNTS 0 -90 90 0 0 0 0 0 0 0 0 -nan
Invalid joints
Ready
Sending command...
JNTS 0 -90 90 0 0 0 0 0 0 0 0 -nan
Invalid joints
Ready
Sending command...
Disconnected
On the C3 Bridge log I get the following:
[08/04/09 16:05:35] [INFO] Client <20> connected from '192.168.137.10'.
[08/04/09 16:05:35] [DEBUG] Client <20> WriteVariableAscii: = <0>.
[08/04/09 16:05:35] [DEBUG] Client <20> WriteVariableAscii: = <0>.
[08/04/09 16:05:35] [DEBUG] Client <20> ReadVariableAscii: = <0>.
[08/04/09 16:05:37] [DEBUG] Client <20> ReadVariableAscii: <$AXIS_ACT> = <{E6AXIS: A1 0.0, A2 -90.00000, A3 90.00000, A4 0.0, A5 0.0, A6 0.0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}>.
[08/04/09 16:06:01] [DEBUG] Client <20> ReadVariableAscii: <$AXIS_ACT> = <{E6AXIS: A1 0.0, A2 -90.00000, A3 90.00000, A4 0.0, A5 0.0, A6 0.0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}>.
[08/04/09 16:06:08] [INFO] Client <20> disconnected.
Why am I getting an "Invalid joints" message in connect to robot log, have I got a configuration problem?
Is there some additional debugging that I can turn on with the apikuka driver (this would be useful)?
I notice that when I am attempting to run move operations the api is able to workout where the current robot position is even don't have the robodksync542 program running on the controller.
欢呼声伊万
We have this communicating correctly however I have an issue with the robodk apikuka interface and the release of the C3 Bridge software that I am trying to debug as I am unable to "Get Position" and am struggling to understand what the problem is?
I have tried two methods to get the current position:
1) clicking the "Get Position" button in the connect to robot screen
2) running the robot.Joints() commend from within the robolink python library
when showing the logs in the connect to robot screen I get the following:
192.168.178.85:7000...
Ready
Sending command...
JNTS 0 -90 90 0 0 0 0 0 0 0 0 -nan
Invalid joints
Ready
Sending command...
JNTS 0 -90 90 0 0 0 0 0 0 0 0 -nan
Invalid joints
Ready
Sending command...
Disconnected
On the C3 Bridge log I get the following:
[08/04/09 16:05:35] [INFO] Client <20> connected from '192.168.137.10'.
[08/04/09 16:05:35] [DEBUG] Client <20> WriteVariableAscii:
[08/04/09 16:05:35] [DEBUG] Client <20> WriteVariableAscii:
[08/04/09 16:05:35] [DEBUG] Client <20> ReadVariableAscii:
[08/04/09 16:05:37] [DEBUG] Client <20> ReadVariableAscii: <$AXIS_ACT> = <{E6AXIS: A1 0.0, A2 -90.00000, A3 90.00000, A4 0.0, A5 0.0, A6 0.0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}>.
[08/04/09 16:06:01] [DEBUG] Client <20> ReadVariableAscii: <$AXIS_ACT> = <{E6AXIS: A1 0.0, A2 -90.00000, A3 90.00000, A4 0.0, A5 0.0, A6 0.0, E1 0.0, E2 0.0, E3 0.0, E4 0.0, E5 0.0, E6 0.0}>.
[08/04/09 16:06:08] [INFO] Client <20> disconnected.
Why am I getting an "Invalid joints" message in connect to robot log, have I got a configuration problem?
Is there some additional debugging that I can turn on with the apikuka driver (this would be useful)?
I notice that when I am attempting to run move operations the api is able to workout where the current robot position is even don't have the robodksync542 program running on the controller.
欢呼声伊万