KUKA Sunrise.FRI 1.16

KUKA Sunrise.FRI 1.16
1 Introduction
1.1 Target group
1.2 Industrial robot documentation
1.3 Representation of warnings and notes
1.4 Terms used
1.5 Trademarks
2 Product description
2.1 Overview of Sunrise.FRI
2.1.1 Funktionality of the FRI
2.1.2 Quality of the FRI connection
2.1.3 Connection quality characteristics
2.1.4 Interaction between Monitor mode and Command mode
2.1.5 FRI in the robot controller
2.1.6 Application development in the FRI client
2.1.7 Communication between the robot controller and FRI client
2.1.8 app.step() method
2.2 Intended use
3 Safety
4 Installation
4.1 System requirements
4.2 Installing FRI in Sunrise.Workbench
4.3 Installing FRI for a station
5 Configuration
5.1 Ethernet interfaces for the network connection
5.2 Network settings in Sunrise.Workbench
6 Programming
6.1 Programming the robot application
6.1.1 Configuring the FRI connection
6.1.2 Initializing and opening the FRI connection
6.1.3 Path superposition with the FRI client
6.1.4 Synchronization with the FRI client
6.1.4.1 Polling connection quality and FRI state
6.1.4.2 Monitoring connection quality and FRI state
6.1.4.3 Wait function for switching to Command mode
6.1.5 Closing the FRI connection
6.2 Programming the FRI client application
6.2.1 Monitor mode application phase
6.2.2 Command mode application phase
6.2.3 Methods of the class LBRState (polling runtime data)
6.2.4 Methods of the class LBRCommand (modifying runtime data)
6.2.5 Methods of the class LBRClient (creating real-time functionalities)
6.2.5.1 Integrating real-time functionalities into the FRI client application
6.3 Motion programming
6.3.1 Asynchronous motion programming
6.3.2 Synchronous motion programming
6.3.3 Pause behavior in Command mode
6.3.4 Machine protection and tracking performance
6.4 Creating the FRI client application (C++)
6.4.1 Build process with Visual Studio (Windows)
6.4.2 Build process with GNUMake (Linux)
6.4.3 Build process for further platforms
6.5 Creating an FRI client application (Java)
6.6 Field buses
6.6.1 Field bus in the robot application
6.6.2 Field bus in the FRI client application
7 Troubleshooting
7.1 Problems with connection quality and real-time capability
7.2 Runtime problems in Command mode
7.3 Runtime problems in the field bus
7.4 Exceptions
7.5 Errors in the FRI client C++ application
8 KUKA Service
8.1 Requesting support
8.2 KUKA Customer Support
Index
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