KUKA LWR FRI/Simulink Real Time communication issues at 100 ms sample rate

    Hi there,


    Has anyone here tried to set the FRI sample rate at 100 ms?
    For me the robot doesn't seem to receive updated commands nor send measurements to my PC when I try to run it at a sample rate as low as 100 ms.


    My situation:


    I'm working with an older version of the LWR, the LWR IV. Communication with the robot works via running a Real Time Simulink Model on a dedicated target PC. The PC in turn communicates with the robot via UDP, sending commands and receiving data from the robot. In the past, this has worked just fine (commanding torques and angles and collecting data using the impedance control mode 03). The FRI was initialized with FRIOPEN(5), and my Simulink model had a sample time of 1 ms.


    Now I'm trying to run both the FRI and the Simulink Model at 100 ms. Everything works, I can open the FRI and start the Simulink Model, but nothing happens. Any idea why this could be? Do I need to set the Simulink sample rate a little lower than that of the UDP communication?


    Thanks!

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