diff --git a/kuka_rsi_hw_interface/krl/KR_C4/README.md b/kuka_rsi_hw_interface/krl/KR_C4/README.md index 206454eb4..68a35fec4 100644 --- a/kuka_rsi_hw_interface/krl/KR_C4/README.md +++ b/kuka_rsi_hw_interface/krl/KR_C4/README.md @@ -36,7 +36,8 @@ The files included in this folder specifies the data transferred via RSI. Some o Note that the `rsi/listen_address` and `rsi/listen_port` parameters of the `kuka_rsi_hw_interface` must correspond to the `IP_NUMBER`and `PORT` set in these KRL files. -##### ros_rsi.rsi.xml +##### ros_rsi.rsi.xml for RSI 3.x OR ros_rsi.rsix for RSI 4.x +Note: from KSS 8.5 the version of RSI is changed to 4.x and the format of the file is a little changed. The new file extension on RSI 4.x is .rsix. So to use this driver on KSS 8.5 and above use ros_rsi.rsix instead of ros_rsi.rsi.xml This file may be edited with application specific joint limits in degrees. * Edit the parameters within the RSIObject `AXISCORR` to specify joint limits such as **LowerLimA1**, **UpperLimA1** etc. Note that these limits are in reference to the start position of the robot. * Edit the parameters within `AXISCORRMON` to specify the overall correction limitation. If this limit is exceeded in either of the joint directions, RSI is stopped. The values of **MaxA1**, **MaxA2** etc. may be large to allow free movement within the specified joint limits in `AXISCORR`. @@ -58,6 +59,8 @@ The files **ros_rsi.rsi** and **ros_rsi.rsi.diagram** should not be edited. All 3. Log in as **Expert** or **Administrator**. 4. Copy the `ros_rsi.src` file to `KRC:\R1\Program`. 5. Copy the rest of the files to `C:\KRC\ROBOTER\Config\User\Common\SensorInterface`. + - for RSI 3.x : Copy ros_rsi.rsi.xml to the above folder + - for RSI 4.x : Copy ros_rsi.rsix to the above folder ## 3. Configure the kuka_rsi_hw_interface The **kuka_rsi_hardware_interface** needs to be configured in order to successfully communicate with RSI. Inside `/kuka_rsi_hw_interface/test` and `/kuka_rsi_hw_interface/config` in this repository is a set of `*.yaml` files. These configuration files may be loaded into a launch-file used to start the **kuka_rsi_hardware_interface** with correct parameters, such as: diff --git a/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsix b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsix new file mode 100644 index 000000000..a07094703 --- /dev/null +++ b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsix @@ -0,0 +1,81 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.src b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.src index 9df9f6d6e..ddfbc672e 100644 --- a/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.src +++ b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.src @@ -25,7 +25,7 @@ DEF RSI_AxisCorr( ) ; Technology, nor the names of its contributors may be used to ; endorse or promote products derived from this software without ; specific prior written permission. -; +; ; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS ; "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT ; LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS @@ -42,9 +42,9 @@ DEF RSI_AxisCorr( ) ; ============================================= ; ============================================= -; +; ; ROS INDUSTRIAL: KUKA RSI HW INTERFACE -; Realtime UDP data exchange with +; Realtime UDP data exchange with ; kuka_rsi_hw_interface ; ; ============================================= @@ -56,7 +56,7 @@ DECL INT CONTID ; ContainerID ;FOLD INI ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) - INTERRUPT ON 3 + INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;FOLD USER INI @@ -68,8 +68,8 @@ DECL INT CONTID ; ContainerID ; Move to start position PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0} -; Create RSI Context -ret = RSI_CREATE("ros_rsi.rsi",CONTID,TRUE) +; Create RSI Context +ret = RSI_CREATE("ros_rsi",CONTID,TRUE) IF (ret <> RSIOK) THEN HALT ENDIF @@ -83,7 +83,7 @@ ENDIF ; Sensor guided movement RSI_MOVECORR() -; Turn off RSI +; Turn off RSI ret = RSI_OFF() IF (ret <> RSIOK) THEN HALT