KUKA::FRI Namespace Reference

Classes
class	ClientApplication
	FRI client application class. More...
struct	ClientData
class	CommandMessageEncoder
class	FRIException
	Standard exception for the FRI Client. More...
class	IClient
	FRI client interface. More...
class	IConnection
	FRI connection interface. More...
class	LBRClient
	Implementation of the IClient interface for the KUKA LBR (lightweight) robots. More...
class	LBRCommand
	Wrapper class for the FRI command message for a KUKA LBR (leightweight) robot. More...
class	LBRState
	Wrapper class for the FRI monitoring message for a KUKA LBR (leightweight) robot. More...
class	MonitoringMessageDecoder
class	TransformationClient
	Abstract FRI transformation client. More...
class	UdpConnection
	This class implements the IConnection interface using UDP sockets. More...

Enumerations
enum	ESessionState {   IDLE = 0 , MONITORING_WAIT = 1 , MONITORING_READY = 2 , COMMANDING_WAIT = 3 ,   COMMANDING_ACTIVE = 4 }
	Enumeration of the FRI session state. More...
enum	EConnectionQuality { POOR = 0 , FAIR = 1 , GOOD = 2 , EXCELLENT = 3 }
	Enumeration of the FRI connection quality. More...
enum	ESafetyState { NORMAL_OPERATION = 0 , SAFETY_STOP_LEVEL_0 = 1 , SAFETY_STOP_LEVEL_1 = 2 , SAFETY_STOP_LEVEL_2 = 3 }
	Enumeration of the controller's safety state. More...
enum	EOperationMode { TEST_MODE_1 = 0 , TEST_MODE_2 = 1 , AUTOMATIC_MODE = 2 }
	Enumeration of the controller's current mode of operation. More...
enum	EDriveState { OFF = 0 , TRANSITIONING = 1 , ACTIVE = 2 }
	Enumeration of a drive's state. More...
enum	EControlMode { POSITION_CONTROL_MODE = 0 , CART_IMP_CONTROL_MODE = 1 , JOINT_IMP_CONTROL_MODE = 2 , NO_CONTROL = 3 }
	Enumeration of control mode. More...
enum	EClientCommandMode { NO_COMMAND_MODE = 0 , POSITION = 1 , WRENCH = 2 , TORQUE = 3 }
	Enumeration of the client command mode. More...
enum	EOverlayType { NO_OVERLAY = 0 , JOINT = 1 , CARTESIAN = 2 }
	Enumeration of the overlay type. More...

Detailed Description

Fast Robot Interface (FRI) namespace

Enumeration Type Documentation

EClientCommandMode

enum KUKA::FRI::EClientCommandMode

Enumeration of the client command mode.

Enumerator
NO_COMMAND_MODE	no client command mode available
POSITION	commanding joint positions by the client
WRENCH	commanding wrenches and joint positions by the client
TORQUE	commanding joint torques and joint positions by the client

EConnectionQuality

enum KUKA::FRI::EConnectionQuality

Enumeration of the FRI connection quality.

Enumerator
POOR	poor connection quality
FAIR	connection quality insufficient for command mode
GOOD	connection quality sufficient for command mode
EXCELLENT	excellent connection quality

EControlMode

enum KUKA::FRI::EControlMode

Enumeration of control mode.

Enumerator
POSITION_CONTROL_MODE	position control mode
CART_IMP_CONTROL_MODE	cartesian impedance control mode
JOINT_IMP_CONTROL_MODE	joint impedance control mode
NO_CONTROL	drives are not used

EDriveState

enum KUKA::FRI::EDriveState

Enumeration of a drive's state.

Enumerator
OFF	drive is not being used
TRANSITIONING	drive is in a transitioning state (before or after motion)
ACTIVE	drive is being actively commanded

EOperationMode

enum KUKA::FRI::EOperationMode

Enumeration of the controller's current mode of operation.

Enumerator
TEST_MODE_1	test mode 1 with reduced speed (T1)
TEST_MODE_2	test mode 2 (T2)
AUTOMATIC_MODE	automatic operation mode (AUT)

EOverlayType

enum KUKA::FRI::EOverlayType

Enumeration of the overlay type.

Enumerator
NO_OVERLAY	no overlay type available
JOINT	joint overlay
CARTESIAN	cartesian overlay

ESafetyState

enum KUKA::FRI::ESafetyState

Enumeration of the controller's safety state.

Enumerator
NORMAL_OPERATION	No safety stop request present.
SAFETY_STOP_LEVEL_0	Safety stop request STOP0 or STOP1 present.
SAFETY_STOP_LEVEL_1	Safety stop request STOP1 (on-path) present.
SAFETY_STOP_LEVEL_2	Safety stop request STOP2 present.

ESessionState

enum KUKA::FRI::ESessionState

Enumeration of the FRI session state.

Enumerator
IDLE	no session available
MONITORING_WAIT	monitoring mode with insufficient connection quality
MONITORING_READY	monitoring mode with connection quality sufficient for command mode
COMMANDING_WAIT	command mode about to start (overlay motion queued)
COMMANDING_ACTIVE	command mode active