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--- tutorials:how_to_turn_the_kuka_arms_on [2016/05/12 00:00] – [Using the arms from a Linux Computer] dgarcia
+++ tutorials:how_to_turn_the_kuka_arms_on [2022/09/20 00:08] (current) – external edit 127.0.0.1
@@ Line 26: / Line 26: @@
 Para apagar el robot, liibere el botón de emergencia y luego mueva el switch de controlador de la posición de encendido hacia apagado, hacia izquierda. Esto provoca el inicio de la acción de apagado del sistema operativo. Espere unos minutos a que la computadora se apague totalmente y finalmente desconecte el cable de alimentación principal.
-==== Using the arms from a Linux Computer ====
+Cuando se conecta el puerto ethernet, debe ser en la tarjeta de red externa.
-First you have to set up your computer. So download FRI for linux from: [[http://cs.stanford.edu/people/tkr/fri/download/fril.zip]]. Once has been downloaded, create a directory named FRI at your home directory. And copy the .zip file you just downloaded to this directory. Unzip the .zip
-  mkdir ~/FRI
-  mv ~/Downloads/fril.zip ~/FRI/
-  cd ~/FRI
-  unzip fril.zip
-If you are using a 64 bit computer go to ExternalTargets.global and uncomment the lines for 64 bit architecture. (If you have emacs installed use:)
-  emacs ~/FRI/FRILibrary/Linux/ExternalTrgets.global
-Save your changes. Then we will have to change some source code. We are going to explain the proces only for FastResearchLibraryTest.cpp . If you want to use any other program, you yust change the same lines. If you have emacs, you can follow:
-  cd ~/FRI/FRILibrary/src/FastResearchInterfaceTest/
-  emacs FastResearchInterfaceTest.cpp
-Find the following line:
-  FRI = new FastResearchInterface("/home/torsten/etc/980039-FRI-Driver.init");
-And replace it with:
-  FRI = new FastResearchInterface("/home/**USER**/FRI/FRILibrary/etc/980039-FRI-Driver.init");
-This is because in our case, we have that .ini file in that location. FRI developer leaved the code he used in his computer. This same change has to be done in other .cpp is you want to run them.
-Now We can compile.
-  cd ~/FRI/FRILibrary/Linux/
-  make clean
-  make all_release_x64
-If you are using 32 bit architecture, then you must replace the 64 with 86. 64 bit users have problems if they do not install first libc6-dev-i386.