Official Documentation

Software

The KUKA iiwa comes with 3 different software packages:

• Sunrise OS, the industrial interface. It corresponds to the KRL of the previous LWR models. Predefined motions are programmed in a java applicatio, which is then synchronized with the control box and started through the Control Panel.
• Connectivity, soft real time control in Cartesian and configuration space. The control loop is also programmed using a Java API and synchronized to the control box.
• FRI, hard real time control up to 1 kHz. Allows to build a control client in C++, which communicates via ethernet to the control box. An UDP connection is setup beforehand via the Java API.

For the official KUKA documentation refer to the NYU wiki.