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Thanks for your reply. What I mean by "work with Xenomai" is if the package would behave in a similar way that it would

realtime_tools and Xenomai Hello, Is it possible to use the realtime_tools package with Xenomai without any modificatio

Hello,

Our research group is considering to purchase a FANUC CR-35iA collaborative robot and we have been looking into FANUC software to determine if it suits our needs. We are planning to use fanuc package to communicate with the robot but we are also wondering if there are any limitations with it. It seems like FANUC does not publicly distribute their documentation so we will be grateful if you can give us your opinion on the questions below.

1. We found out that it is possible to update the joint and cartesian position values by updating corresponding registers from an external PC. Is updating registers enough to generate motion or will we need to create a KAREL script that will communicate with the external PC? What is the control loop frequency?
2. Is it possible to send joint or cartesian velocities from an external PC?
3. Will purchasing the robotic arm and its control box be sufficient to control the robot via TCP/IP? Is there any particular hardware/software (eg. PCDK) combination that we need to request from FANUC?
4. Will the collaborative features of the robot (eg. collision detection) be active when we are controlling the robot using the fanuc package?
5. Is there any documentation that you can share with us which can give us a better understanding of how FANUC's software works?

Thanks for your time and your contribution to the community. We are looking forward to hearing your comments.

Thank you @atas and @gvdhoorn for your detailed and insightful answers! Our research focuses on force-controlled metal f

Advice on FANUC CR-35iA and fanuc package Hello, Our research group is considering to purchase a FANUC CR-35iA collabor