Arm is not moving after cytonControlExample.exe is executed

[javi gonzález]

Hello everybody,

First of all I would like to present myself. I'm Javier González and
I'm currently studing Automatic and Electronic Engineer.

My team group have recently purchased the Robai Cyton V2 and I have
installed the software included in cyton2ViewerSetup_7LG-3.0.20110301-
msvc2008 package. I've playing around with the Cyton Viewer and I have
managed to move each joint separately executing the "bin
\cytonHardwareExample.exe". The problem comes when I try to launch "bin
\cytonControlExample.exe" or if try to launch the compiled version "bin
\controlExample.exe" with Visual Studio 2010. In the command window I
get all the lines printed like "p:285 Joint Angles: 0.0127957....."
but the arm actually does not move. I have also noticed that sometimes
the wires are not properly connected in between each servo so I have
to reset everything and check them. Is there any chance that the
problem comes from a not-so-well physical connection between the
motors?

Thank you in advance

[Chuck Seberino]

Javier,

There are a few suggestions that might help:

1.  Precompiled binaries vs. building yourself - You mention that you downloaded the Visual Studio 2008 version of the software (msvc2008), but then talk about running it within VS2010.  The precompiled binaries will run fine, but you will get strange runtime errors if you try to compile and link mixed 2008 and 2010 libraries.  Here is the link for the 2010 version: http://outgoing.energid.info/Installers/cyton2ViewerSetup_7LG-3.0.20110301-msvc2010.exe

2.  Behavior of executables - There are a few different applications utilizing a combination of libraries - ActinSE and cytonHardwareInterface.  Here is a quick summary:

a) controlExample.exe - ActinSE application showing how to convert from desired end-effector position to generate joint angles (inverse kinematics).

b) cytonControlExample.exe - Same as a), but also pushes joint angles through hardwareInterface to move robot.

c) cytonHardwareExample.exe - Basic joint testing for hardware.  Goes through a series of movements to exercise each joint on the robot.  No ActinSE component.

3.  Communication with hardware - When running the cytonViewer, on startup it will attempt to query the hardware and initialize the viewer to the current state of the robot.  If it fails for some reason (USB not connected, arm not powered on, etc), then it will popup a message indicating improper initialization.  The command-line executables are not GUI-based, and will indicate the error through the default output file (results.txt).  You can examine this file to make sure everything is working properly.  The arm will fail to initialize even when there is just a single servo not connected.  Output in the results.txt will look something like the message below when it fails.  The servo number will give a hint on where the problem originates.  Numbering for the servos starts at the base of the robot with servo 0 and finishes at the gripper (servo 6).

EcWarn : : expected 6 but read 0 bytes

EcWarn : read failed

EcWarn : FAILED setting some parameter for servo 0

EcWarn : FAILED configuring servos

EcWarn : Controller::init() failed

EcError: Unable to initialize plugin cytonPlugin

Hopefully this gives you enough information to go on.  Let me know if you have further questions.

Thanks

Chuck

--

Chuck Seberino

sebe...@energid.com

[javi gonzález]

Hello again Chuck,

Thank you so much for your rapid answer. Now I start to see some
light. I've been working around with the arm and I'm having the same
problem. It seems that a wire is loose or something. The thing is that
the problem that I read in results.txt is:
Plugin './cytonViewerPlugin.ecp' loaded successfully.
Plugin './cytonPlugin' loaded successfully.

EcWarn : : expected 6 but read 0 bytes
EcWarn : read failed

EcWarn : FAILED setting some parameter for servo 8
EcWarn : FAILED configuring servos

So the problem should be around the end-effector servo? How can I know
it for sure? How can I solve it if it's a hardware problem?

Thanks again.

Javier

On Dec 7, 3:42 pm, Chuck Seberino <seber...@energid.com> wrote:
> Javier,
>
> There are a few suggestions that might help:
>

> 1.  Precompiled binaries vs. building yourself - You mention that you downloaded the Visual Studio 2008 version of the software (msvc2008), but then talk about running it within VS2010.  The precompiled binaries will run fine, but you will get strange runtime errors if you try to compile and link mixed 2008 and 2010 libraries.  Here is the link for the 2010 version:http://outgoing.energid.info/Installers/cyton2ViewerSetup_7LG-3.0.201...

>
> 2.  Behavior of executables - There are a few different applications utilizing a combination of libraries - ActinSE and cytonHardwareInterface.  Here is a quick summary:
> a) controlExample.exe - ActinSE application showing how to convert from desired end-effector position to generate joint angles (inverse kinematics).
> b) cytonControlExample.exe - Same as a), but also pushes joint angles through hardwareInterface to move robot.
> c) cytonHardwareExample.exe - Basic joint testing for hardware.  Goes through a series of movements to exercise each joint on the robot.  No ActinSE component.
>
> 3.  Communication with hardware - When running the cytonViewer, on startup it will attempt to query the hardware and initialize the viewer to the current state of the robot.  If it fails for some reason (USB not connected, arm not powered on, etc), then it will popup a message indicating improper initialization.  The command-line executables are not GUI-based, and will indicate the error through the default output file (results.txt).  You can examine this file to make sure everything is working properly.  The arm will fail to initialize even when there is just a single servo not connected.  Output in the results.txt will look something like the message below when it fails.  The servo number will give a hint on where the problem originates.  Numbering for the servos starts at the base of the robot with servo 0 and finishes at the gripper (servo 6).
> EcWarn : : expected 6 but read 0 bytes
> EcWarn : read failed
> EcWarn : FAILED setting some parameter for servo 0
> EcWarn : FAILED configuring servos
> EcWarn : Controller::init() failed
> EcError: Unable to initialize plugin cytonPlugin
>
> Hopefully this gives you enough information to go on.  Let me know if you have further questions.
>
> Thanks
> Chuck
>
> --
> Chuck Seberino

> seber...@energid.com

[javi gonzález]

This is awkward... The thing is that if I run "Cyton 2
Viewer_3.0.20110301\bin\cytonViewer.exe" the arm could not get
connected, but if I run the version in "Cyton Viewer_3.0.20110301\bin
\cytonViewer.exe" The arm is ready to play with me. I do not connect
or disconnect any cable, and I've tried with another computer and the
same happens. Do I have to reinstall some drivers or any other
software?

[LentinJoseph]

Hi Javier

This issue is occuring when there is a mismatch b/w
cyton-software and cyton-hardware . Currently you are using the latest
cyton-V2 , but the installer is for old cyton-V2 .Here is the installer for
latest cyton-V2 model .Please verify whether its working .

http://outgoing.energid.info/Installers/cyton2ViewerSetup_7IG-3.0.20111126-msvc2008.exe

http://outgoing.energid.info/Installers/cyton2ViewerSetup_7IG-3.0.20111126-msvc2010.exe

Thanks
Lentin

[Zhenli]

Dear Lentin.
    I am Zhenli, a new user of cyton robai robotic arm. When I run cytonControlExample.exe, it does not move the arm, but with the following information:
Proble loading Cyton control system file.
   And I check the source code, it means that it can not find cyton.ecz file. while this file is also insides bin drectory, I did not know what is wrong.
   Best regards.
   Zhenli

在 2011年12月8日星期四UTC上午5时07分03秒，LentinJoseph写道：

[lenti...@energid.com]

Dear Zhenli

Please make sure that arm is properly working with cytonViewer. Which
arm are you using? If you are using cytonVeta, then you have to use
cytonViewer installer or if you are using cytonVeta2 you have to use
cyton2Veta installer. If arm is working good with viewer, you can test
it with cytonControlexample.exe. You can open a dos promt inside the bin
folder and execute

$ cytonControlExample.exe cyton.ecz

Then it will show messages of loading plugins and if any connection
issues exist it will show the error messages. If everything is ok
hardware will move


Regards
Lentin

On 26.11.2012 15:02, Zhenli wrote:
> Dear Lentin.
> I am Zhenli, a new user of cyton robai robotic arm. When I run
> cytonControlExample.exe, it does not move the arm, but with the
> following information:
> Proble loading Cyton control system file.
> And I check the source code, it means that it can not find cyton.ecz
> file. while this file is also insides bin drectory, I did not know
> what is wrong.
> Best regards.
> Zhenli
>
> 在 2011年12月8日星期四UTC上午5时07分03秒，LentinJoseph写道：
>
>> Hi Javier
>>
>> This issue is occuring when there is a mismatch b/w
>> cyton-software and cyton-hardware . Currently you are using the
>> latest
>> cyton-V2 , but the installer is for old cyton-V2 .Here is the
>> installer for
>> latest cyton-V2 model .Please verify whether its working .
>>
>>
>> http://outgoing.energid.info/Installers/cyton2ViewerSetup_7IG-3.0.20111126-msvc2008.exe

>> [1]
>>
>>
>> http://outgoing.energid.info/Installers/cyton2ViewerSetup_7IG-3.0.20111126-msvc2010.exe
>> [2]

>>
>> Thanks
>> Lentin
>>
>> -----Original Message-----
>> From: javi gonz�lez
>> Sent: Wednesday, December 07, 2011 11:23 PM
>> To: Cyton Robots
>> Subject: Re: Arm is not moving after cytonControlExample.exe is
>> executed
>>
>> This is awkward... The thing is that if I run "Cyton 2

>> Viewer_3.0.20110301bincytonViewer.exe" the arm could not get
>> connected, but if I run the version in "Cyton Viewer_3.0.20110301bin

>> cytonViewer.exe" The arm is ready to play with me. I do not connect
>> or disconnect any cable, and I've tried with another computer and
>> the
>> same happens. Do I have to reinstall some drivers or any other
>> software?
>
>

> Links:
> ------
> [1]
>
> http://outgoing.energid.info/Installers/cyton2ViewerSetup_7IG-3.0.20111126-msvc2008.exe
> [2]
>
> http://outgoing.energid.info/Installers/cyton2ViewerSetup_7IG-3.0.20111126-msvc2010.exe

[Zhenli Lu]

Dear All.
      In act, I am using cyton gamma 1500, it is a new bought robot in my lab, so I want to know is there an installer for 64 bit ubuntu?
      Best regards.
      Zhenli

在 2011年12月7日星期三UTC+8上午9时53分58秒，javi gonzález写道：