FRI example app - help

  • Hello,

    I am a newbie and all I want to do is to try out an app that uses KUKA's FRI. I know that there are some example applications in KUKA's connectivity suite but I don't know how to start them. I followed the manual and so far I have

    • installed FRI extensions to the controller.
    • created a Java project exactly how the manual described it
    • built the C++ solution that has been provided

    But now what? Do I somehow run the Java project? How do I utilize all the previous things? Any further information (or a guide) would be helpful! Thanks.

  • HawkME

    Approved the thread.
  • Assuming you built the project in VS Code or some similar IDE, you should be able to simply run it in debug mode.

    A compiled C++ application should be startable simply by calling it from the command line, or double-clicking the .exe file in the File Explorer. Java I can't speak to, not having any experience with it.

  • Thank you. Do I understand it correctly that only one of those is needed? (Either C++ client application OR Java client application)?

    • New
    • Helpful

    FRI is a rare beast, and I've never used it. I'm assuming that KUKA provided two different example applications that do the same thing in two different popular programming languages for the convenience of the end user. Typically, KUKA applications that communicate with "servers" only communicate with one at a time.

  • not that rare... seem to be used a lot in research labs. from what i know it is basically an Sunrise-OS equivalent of RSI.

    it works as server and external client connects to it. connection can be over KLI or KONI. since this is real time product, dedicated connection is recommended, preferably with nothing else going on. this is why KONI is suggested as much better choice - there is a lot going on on KLI.

    so you need to know a bit about networking to set this right.

    and you should already know that this like any ethernet connection only works between client and server, and of course server must already be running before client connects. also this also means that you probably must have the robot in auto mode.

    so yes you only need one client (either one).

    and since this is IIWA robot, this is wrong forum so I am moving this to the LBR forum section.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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