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  2. Heriberto Tianjero

    Banner configure IO

    Hello everybody I am looking to make a configuration to the banner module to be able to resume task. Has anyone done this? I already made a connection with the module via usb connection, and i configure an external Stop Emergency, but I don't understand how to connect the inputs IN11, IN12, IN13 and the sawyer can be activated like show This is the "program" I appreciate the help you can give me. Best regards!
  3. Padiolleau Guillaume

    Limb's IK Request when changing endpoint tool in URDF

    Edit: [Solved] - The arm stopped to go crazy. I made a mistake in units for inertial part of links definition in URDF file. Make sure you have kg/m² and not kg/mm² (output of some CAD software). - I solve the Segmentation Fault bug. It came from the ROS parameter tip_name and gravity_tip_name that were trying to reach an unexisting link (but it was defined in my URDF file). To solve this : - compile your xacro file in URDF using the ros script xacro "$ rosrun xacro xacro my_file.urdf.xacro > my_file.urdf" and check if the resulting URDF file is correct - compile your URDF file in SDF format using Gazebo "$ gzsdf -p my_file.urdf > my_file.sdf" and check if you can find all of your links. Because of the lumping in Gazebo, some of your link will "disappear", combined in one more global link, if they are connected through fixed joints. For example, my third joint in the chain was a "revolute" joint, however it followed 2 fixed joint and because of the lumping the third (even a revolute) disappeared and the last link (my tip) disappeared with. Then ROS was trying to get this link as tip and causes gzserver to crash. Not obvious at all, I was going crazy... To solve my chain, I add a "fake" link between 1st and 2nd links. I fixed the 1st one with the right_hand, and the fake_link. Then I fixed 2nd link and fake_link, and my 3rd link with fake_link too. I must do that, because I have a FT_sensor between 2nd and 3rd links that needed to be attached on a joint. But this FT_feedback joint must NOT disappear in SDF else the ft_plugin will crash. So you have to tell Gazebo to disableFixedJointLumping on this joint, however if there is a more-than-1-joint chain of fixed joint this does not work properly... So, the fake_link enable to disable the lumping by attaching 2 links on one fake_links. Tricky, but it works. I any of you faces similar issues, feel free to ask here I could probably help you. Guillaume Padiolleau
  4. Padiolleau Guillaume

    Limb's IK Request when changing endpoint tool in URDF

    Edit: I think I sovled the second part: I had the wrong gravity_tip_name and tip_name for rosparam in launch file. BUT, I now cannot add my full tool chain (hand_interface + sensor + tool). I can just add the hand_interface and the sensor without the plugin. If I add the tool (without plugin) gzserver run into SegFault Core Dump and the tool (specifically, idk why) does not appear or not spawn. If I add the ft plugin, it don't find the sensor joint and same scenario tool does not appear and gzserver fall inot SegFault...Any Idea ? In the second hand, the arm goes really crazy when attempting to compensate gravity as you can see in the attached video ... Thanks for your help. gazebo-2020-09-03_15.48.28
  5. Padiolleau Guillaume

    Limb's IK Request when changing endpoint tool in URDF

    Hello, I'm working on Sawyer arm in simulation & with real one in SDK mode, and have Intera 5.3. I added new tools we developed in robot description URDF file. When I launch a simulation through Gazebo, I can see the tool I selected. This part is ok. But, I have 2 problems in Gazebo simulation: - First, when no command is sent to the robot in simulation, the arm constantly moves. It seems that the gravity compensation cannot compute right commands to get the arm not moving. I may have missed something in my URDF files. (I set inertial and mass part) - Second, using the Limb class IK_request function seems not working with new endpoint tool. If I try running an IK request without modifying the end_point arg (default is "right_hand") it says it cannot find a kinematic chain between base and this endpoint. Which normal, since it is not my endpoint tool link name in URDF file. But if is set it to the right link name (say "ttt_tool" as defined in my URDF file) then the IK solver can never find a solution whatever is the given position/orientation point requested. I must have missed somthing in configuration ? I also have another question: Since in Gazebo simulation we have to specify the endpoint in Limb()._ik_request function which refers to the link name in urdf file, do we have anything to specify for real world robot when changing the endpoint tool ? Thank you for reading and for future help. (I recreated the topic because I cannot edit the first one with no reason since I had a Gateway Time-out when editing it first time, the forum crashed down) Guillaume Padiolleau, PhD student
  6. klemikaze

    Time to full halt after e-stop

    Hello. For purpose of documentation, our customer has requested information I wasn't able to find anywhere. How long does it take for the robot to go to full halt after emergency stop button is pressed? The information is requested with milisecond precision. Can anyone answer me please?
  7. Has anyone come across this issue? I have tried reinstalling 5.3 on the sawyer. I am not able to resolve this issues and connect to the robot IO. This poses some issues as I can not receive/send signals from the Moxa controller.
  8. Hi, I need help in doing a simple pick and place task with the Sawyer robot in the Gazebo simulator. I tried the IK pick and place script which was provided but the gripper always used to miss pick the cube. Is there a way to integrate the OpenCV with the IK pick and place script so that the robot can detect the objects kept on a table and perform the operation in the right manner. Also, is there a way that the edge detection algorithm can be used for the pick and place operation? Please let me know of the resources, methodologies or scripts available for testing purposes. I also want to know if its possible to use a kinect sensor to help the robot in the pick and place operation. Thanks!
  9. Sheldon

    TCP coomand when task starts

    Does anyone know if it's possible to use the SDK to program a TCP command to be sent any time a task is run?
  10. SmartID

    J5 Joint Error

    But mine is J4
  11. SmartID

    J5 Joint Error

    Hello Sheldon, I have the same error on my Sawyer, it might be from Series elastic actuators, it goes all the way till reach the stopping point. I have this error only using the Zero- mode... But still await for an answer back... BR ~Florin
  12. I could download and install to my safety relay, using the Banner Safety Controller Software (I have installed), but I don't have the firmware used by Rethink Robotics in newers version of Cobots (March 2017 until now), I have tried to contact Rethink Robotics, but I didn't get response from them yet, and my distributor doesn't knows how to do it or how to consult it.
  13. Who (from Rethink Robotics) supported you on it? Who (from Rethink Robotics) supported you on it?
  14. I could download and install to my safety relay, using the Banner Safety Controller Software (I have installed), but I don't have the firmware used by Rethink Robotics in newers version of Cobots (March 2017 until now), I have tried to contact Rethink Robotics, but I didn't get response from them yet, and my distributor doesn't knows how to do it or how to consult it.
  15. Do you have this firmware?
  16. Hi Eric, Yes, I did after a bit of a challenge from the Techsupport. Upon robot delivery, the safety PLC is not configured for external PLC control. You need to ask for a safety PLC software upgrade file and steps on how to load it on the Banner safety PLC from your local support, and this will solve everything if the sawyer is running the latest firmware. Depending on your external safety devices you can then choose appropriate signals. Shame there is no option to pause/stop the main task externally. It has to be through software logic triggered on a digital input signal or Comms through a PLC. I hope this helps. Regards Ash
  17. Can anyone help with this?
  18. I want to do the same, did you solved it?
  19. Eric Prieto

    Sawyer velocity controller parameters

  20. Ray

    Robot Booting Problem

    in case anyone else has the same problem. figured out what the problem is. the connection cable between the arm and the control box is a deficit. replacing the cable fixed the problem.
  21. Ray

    Robot Booting Problem

    Hi, All, I just purchased a sawyer robot and it is not functional. When I boot it, it shows configuration failures, as shown in the photo 1 attached. and when I run a diagnosis, I think it finds JCB configuration errors, as shown in photo 2 and 3. any help will be very appreciated! thank you in advance!
  22. Raphael

    J5 Joint Error

    Hi, Sheldon, I'm sorry to hear that. There seems to be a mechanical problem / defect. Please send us a detailed description of the error, with videos / pictures to We will find a solution. BR Rethink
  23. Sheldon

    J5 Joint Error

    The J5 joint on my Sawyer is having issues. Upon startup the joint rotates all the way to the stopping point. Even when using Intera studio to articulate the arm it says it cannot articulate to the position. I can't seem to figure out what could cause this. Any thoughts?
  24. Hi I was reading another, older thread here that suggested it is not possible to use scripts like 'go to cartesian pose', or anything requiring the motion planner server, with the simulated robot. Is this correct? I am asking because before I spend time troubleshooting my error ("Timed out waiting for Motion Controller Server to connect") I wanted to make sure it is presently possible with the current SDK! My application: I want to send very basic zig zag patterns to the robot, starting from the top left corner of a 2D plane in front of the robot, and moving left to right and down the plane. We do have the robot but I need the convenience of using gazebo for now. Many thanks Ross

    How to shutdown sawyer robot

    What is the correct process (to follow) to shutdown correctly the robot in SDK mode?
  26. Hi There, I'm new to sawyer robot and i must say integrating external safety devices and controlling the sawyer remotely from a PLC via a simple start, stop and safety reset is not straight forward as compared to the other robots I have integrated to PLC and safety system. I'm trying to use a three push-button - Start/Resume, Stop and Safety reset which are controlled through a PLC. I found there are only non-safety signals that go through SC26 safety relay! The three non-safety IN11, IN12, and IN13 do not come with Nonsafety robot stop or pause. Any of the external safety inputs - IN 15-16 and IN17-18 act as safety stop which is not I want it to happen. Is there a way to stop/ pause the robot without tripping the safety through hardwire signals? For tripping the robot using a safety mat or Light curtain I simulated by sending control voltage as per the manual. The robot's safety trips but the SC26 goes into fault mode and the signal on IN13 has no impact. This is very odd and nothing is explained in the manual. Does the SC26 safety relay in the sawyer need re-programming? I'm surprised to see there are no jumpers in the safety input channel. Please, can anyone help? I have a tight deadline. Regards, Ash
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