Isios questions

Question 1

what is out_remoteIsios?

Answer 1

log of remote Isios

Question 2

where do I check the output of remoteIsios?

Answer 2

in out_remoteIsios

Question 3

how do I test my rob.txt files?

Answer 3

With simple kinematics test

Question 4

Which ways are there to connect remotely with the IEPC?

Answer 4

• LAN cable to router
• connection sharing
• usb tethering
• wifi stick
• reverse tunnel

Question 5

create Reverse series

Answer 5

Either: Robot->Measurement, tick reverse and run, saves reverse file
Or: Measurement Editor -> More -> Sort -> Reverse, then save

Question 6

problems with copying on public or transfer

Answer 6

log in as user@ instead of sgerstberger@

Question 7

What happens if a GN comes loose?

Answer 7

It needs to be documented with timestamp (preferrably in the Jira Ticket). All meas of this GN after that need another TPT group from then on.
Failing to do so should be visible in the parid result of that GN

Question 8

What happens if the tracker was moved during/in between mea series?

Answer 8

It needs to be documented with timestamp (preferrably in the Jira Ticket). Alle meas after this need to be put in a seperate tracker group. If moved during a mea series, the mea series needs to be stopped, and a new one started starting from the next mea. Both meas need to be in different tracker groups

Question 9

How does one figure out the repeatability of the linear axis?

Answer 9

Same as for the robot: run meas across the rail forward an reverse, check MDR (which actually is BiDR)

Question 10

What to do if accCheckTest says that the comp value is exceeded?

Answer 10

If only few poses: They are probably too close to a singularity -> delete these poses
many poses: possible kinematics problem -> run simple kinematics test

Question 11

What does one use Accchectests for? And why?

Answer 11

To test a compensation file (-r flag)
or to test a series in combination with a rob file if it is fit for accchecks

Question 12

What are the peculiarities with a multi mass system? What are R-Parameters?

Answer 12

There needs to be a gripper for each tool, that contains the mass data. The .cfg needs to include the right gripper being chosen through preprocessor defines.
On customer side, whenever the tool is changed, the correct R-Parameters need to be set. It is best to have the customer just add those to his tool changing .mpf

Question 13

Are the R-Params in Isios- or in Flange-CS?

Answer 13

In Isios CS, i.e. exactly the values from the gripper file

Question 14

What are tool mass bounds?

Answer 14

params in the .rob.txt, that give the range of tool masses, for which our model uses the given tool mass for compensation. If the tool mass is outside of this range, we still use a mass within that range.

Question 15

For USB Sensors, what is the difference between gray and black cables

Answer 15

gray cables only transfer power, black cables power and data

Question 16

where does one find the mapping of USB sensor number to IDs?

Answer 16

data/prototypen/10-isios.rules

Question 17

what is the problem with TIRORO and EXT_AXIS_VECTOR_1?

Answer 17

If one wants to change the orientaiton of the BKS (i.e. world CS), both TIRORO and EXT_AXIS_VECTOR need to be changed, since both depend on BKS

Question 18

how many comservers run on the IEPC and what do they do?

Answer 18

there are two:
1. normal linux comserver
2. windows wine comserver to communicate with trackers, which only run on windows

Question 19

what ports can one connect to comservers with?

Answer 19

5022: tracker through local windows comserver (e.g. on IEPC)
5021: local Sim Tracker
5522: tunnel to tracker on remote windows comserver
5521: tunnel to Sim tracker on remote linux comserver

Question 20

how does one run an acccheck test?

Answer 20

~/dev/acccheck_test (-r) “rob_path” “series_path”

Question 21

how does one run the simple kinematics test?

Answer 21

~/dev/simple_kinematics_test “rob_path”

Question 22

What is the simple kinematics test? Where is it documented?

Answer 22

Short test to check integrity of rob file or changes in CKinematics. Documented in src/calib/simple_kinematics_test.cpp

Question 23

when shall an axes mastering be performed?

Answer 23

calibration axes mastering always needs to be done as part of recalsys.

Question 24

what is the slackness test workflow?

Answer 24

Generate poses with similarity filter of 10, Base magnitude of 60
narrow down to 2-4 poses
add gravitation free pose if possible, otherwise two
save poses in text file seperated by semicolons
run Robot -> Slackness Test with all poses

Question 25

what are sensor grid actions? How do they work?

Answer 25

In LS systems, the robot points to a point which is not in the middle. Thus the sensor rotation can be identified.
When added in robot->measurement, as many SGAs are added to the meas as specified, always continuing to circle around the middle in 8 different positions

Question 26

what is a peculiarity with an INITTRAC mea series in a recalsys?

Answer 26

it can’t have an initial home pos, so that it stops at the first pose

Question 27

what is GN_UPDATE?

Answer 27

A recal step that runs before everything else, that measures the GNs once. It is used for either updating the GNs or showing, where they need to be glued to.

Question 28

How does the FKE preprocessor define work?

Answer 28

It loads a second scene in the background, which is only there for simulating the measurement values. Non of this can be seen in the bgui whatsoever.

Question 29

How do mea devices simulate mea values?

Answer 29

two ways:
1. if FKE is given:
through simulating a world with the FKE objects
2. if not:
they basically just return zeros/dummy values

Question 30

How are GNs handeled in multi rob systems?

Answer 30

GNs need to be fixed (STD-110)
Both robots reference to those fixed GNs and check it with process frame
Warns, if GNs not within threshold anymore

Question 31

what port does remote_isios run on by default?

Answer 31

6666

Question 32

How does one activate automatic FKE paths?

Answer 32

In cfg:
[FKE]
AutoReadFKEFiles = 1

Question 33

How do I set iepc_at_client to an IEPC i am directly connected to via Newtork cable?

Answer 33

iepc sl (sl =set local)

Question 34

what is the recovery mode?

Answer 34

A mode for LS to regenerate all series after a major event such as the reassembly of the lasers/sensors. It requires an own par8.txt in the recalsys

Question 35

is remote_isios quicker, than remote_isios_with_visualization?

Answer 35

Not really, it still runs a “realtime” simulation in the background

Question 36

what is the difference between
RobotInitString = TCP:localhost,5555
and
RobotInitString = SIM
in the cfg?

Answer 36

SIM simulates the robot in the comserver. This works only for 6-axis robots and drives to home automatically
localhost:5555 is the robot test server. This can be executed with the lightspeed option, does not drive to home and needs to be done for non-6axis robots. It is standard in cfgs.

Question 37

what do you need to think of when running the robot_test_server?

Answer 37

chosing the correct robot type (6- or 7-axes)

Question 38

Why does sometimes, if FKE is switched on, no scene window appear during testing?

Answer 38

feature for FKE + TRAC: meas are generated instantly
alternatively: remote_isios without visualization

Question 39

when shall a code in a PR be rebased?

Answer 39

Only after it is approved!