Hello,
I am controlling a KUKA LBR 7 R800 through Fast Robot Interface (FRI) C++ client running on a remote real-time OS machine. I can overlay position/torques commands using FRI, but cannot figure out if it's possible to access media flange IOs through FRI or a C++ application that can talk to Sunrise controller in real time. I contacted KUKA tech support, and they say it's not possible to access media flange IOs through the standard FRI SDK provided by KUKA.
However, I was wondering if it's possible to write a simple JAVA client that runs on Sunrise controller and can send/receive messages from a C++ server application over UDP (basically exactly same principle as FRI communication) and calls corresponding JAVA setters/getters to access media flange IOs. I wrote a JAVA client application as a roboticsApplication and downloaded it on the controller. I was able to send packets from this JAVA client and receive them on a C++ server running on the real-time machine, however the packets seemed to be coming from 192.168.0.1 (the windows virtual network adaptor IP on Sunrise controller) and not the real time OS IP (VxWorks, 192.170.10.2) as they do when receiving packets during FRI overlay. So, when the C++ server tries to reply back to the JAVA client, the packets don't go through since packets addressed back to the sender (192.168.0.1) don't reach the JAVA client, which I presume is running on VxWorks side with IP 192.170.10.2. I also tried manually changing the return IP to 192.170.10.2 but still was not able to receive the packets in my JAVA client. I am connecting the Sunrise controller and the real-time OS machine directly using a cross-over ethernet cable and KONI port.
Long story short, my question is: Is there a workaround to access the media flange IO through FRI client? The workaround I described above is allowing me to do one-way communication from Sunrise controller to FRI client (so I can read the IO channels, but not set them). I welcome any suggestions that will allow my workaround to do two-way communication.
Thanks in advance, and apologies for the long post!
-Vinay