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.
24 lines
1.0 KiB
Markdown
24 lines
1.0 KiB
Markdown
# FRI protocol
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!!! info "Work in progress"
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A detailed description of the FRI protocol is being prepared.
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**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.
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## Main characteristics
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- **Transport:** UDP (no delivery guarantee, which is important for real-time operation)
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- **Cycle period:** 5 ms (200 Hz) or 10 ms (100 Hz), configured in `cobot-setting.yaml` → `robot.fri_cycle_ms`
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- **Control modes:** position, torque, and impedance
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## Network requirements
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!!! warning "Important: a 5 ms cycle requires KONI"
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A **5 ms (200 Hz)** cycle requires the **KONI** port (KUKA Optional Network Interface).
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The KLI port supports only a 10 ms cycle. Set `fri_cycle_ms: 10` when using KLI.
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| Port | Minimum cycle | Purpose |
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| **KONI** | 5 ms | High-frequency control, recommended for FRI |
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| **KLI** | 10 ms | Standard control and programming |
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