Даниил Грабарь
79d88db930
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons. - Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller. - Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. - Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording. - Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux. - Created a section on installing a Windows compatibility tool (PortProton) on Linux. - Documented the installation process for SunriseWorkbench on Linux using PortProton. - Added installation instructions for SunriseWorkbench on Windows. - Created troubleshooting documentation for configuration errors and SSL errors during installation. - Implemented a hook to generate the shared PDF only during the default-language build.
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FRI protocol
!!! info "Work in progress" A detailed description of the FRI protocol is being prepared.
FRI (Fast Robot Interface) is a UDP protocol for low-level real-time control of a KUKA robot. It runs over Ethernet and provides a deterministic data exchange cycle between an external PC and the KUKA controller.
Main characteristics
- Transport: UDP (no delivery guarantee, which is important for real-time operation)
- Cycle period: 5 ms (200 Hz) or 10 ms (100 Hz), configured in
cobot-setting.yaml→robot.fri_cycle_ms - Control modes: position, torque, and impedance
Network requirements
!!! warning "Important: a 5 ms cycle requires KONI"
A 5 ms (200 Hz) cycle requires the KONI port (KUKA Optional Network Interface).
The KLI port supports only a 10 ms cycle. Set fri_cycle_ms: 10 when using KLI.
| Port | Minimum cycle | Purpose |
|---|---|---|
| KONI | 5 ms | High-frequency control, recommended for FRI |
| KLI | 10 ms | Standard control and programming |