Cannot Connect PC to Robot Controller's KONI Interface (FRI) - KUKA IIWA 14 R820

    Hi guys,

    I am trying to use Sunrise.FRI on the KUKA IIWA 14 R820 for my research project.

    After setting it up as prescribed by the manual, I am unable to get the example projects to work. I am consistently getting met with the "Timeout before FRI connection quality reached GOOD or EXCELLENT" error message when trying to run the example projects.

    After digging a bit deeper, I found that the external PC cannot "find" the controller's KONI interface, which may be the issue. I pinged the IP address set in Workbench (192.170.10.2) from my external PC and it says it cannot be reached.

    Here are some things I have already tried, as suggested in the manual and other posts in this forum:

    • Ensured that the PC (192.170.10.200) and KONI (192.170.10.2) IP addresses and subnet masks (255.255.255.0) are compatible. For reference, the IP addresses for the KLI connection are 172.31.1.147 (controller) and 172.31.1.1 (PC) with a subnet mask of 255.255.0.0
    • Direct point-to-point connection between the KONI interface and PC
    • Disabled the PC's firewall
    • Ensured the cables and ports are in good working condition
    • I have tried pinging the KONI interface using Windows and Linux

    If somebody here has experience with Sunrise.FRI, can they please provide some advice to overcome this issue?

    Thank you kindly in advance!

    Edited once, last by anseleon (October 25, 2024 at 9:37 PM).

  • Lemster68 October 25, 2024 at 9:15 PM

    Approved the thread.

    when i am working with devices that are on different subnets, i always make sure to make my computer network interface work on ALL of the needed subnets.

    IP 192.170.10.2 / Mask 255.255.255.0 - KONI
    IP 172.31.1.147 / Mask 255.255.0.0 - KLI


    so my computer would have both addresses:

    IP 192.170.10.100 / Mask 255.255.255.0 - for talking to KONI
    IP 172.31.1.100 / Mask 255.255.0.0 - for talking to KLI


    and sometimes several more....


    this can be done even if your computer only has a single LAN port (which is usually what i use), simply say Add ...


    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

    Hi Panic Mode,

    Thanks for your reply.

    I have resolved the problem with the help of KUKA technical support.

    It turned out there was an issue with the operating system. I verified this by swapping the hard drives between two KUKA IIWA controllers, my "faulty" one and another controller where pinging the KONI interface worked, and testing if I could successfully ping from the "faulty" controller after the swap. It worked, so we deduced it was an operating system issue and not a hardware one.

    The solution to this issue was to restore the operating software image using a KUKA.RecoverySoftware stick, which can be purchased from KUKA.

    Hope this helps someone in the future :smiling_face:

    Edited once, last by anseleon (November 8, 2024 at 8:36 PM).

    Hi Anseleon and Panic Mode,

    I am starting, after a break of a couple years, using FRI with iiwa 14 at my lab. I have installed Sunrise OS 1.16, but KUKA support has not provided me with a Connectivity package compatible with 1.16. I am about to roll back to Sunrise OS 1.11 in which I have had Connectivity (FRI and Servoing working..

    Which version of Sunrise OS you are using? (should I keep asking KUKA support for 1.16 version 🤔?

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