Add documentation for KUKA Sunrise features and programs
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons. - Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller. - Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. - Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording. - Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux. - Created a section on installing a Windows compatibility tool (PortProton) on Linux. - Documented the installation process for SunriseWorkbench on Linux using PortProton. - Added installation instructions for SunriseWorkbench on Windows. - Created troubleshooting documentation for configuration errors and SSL errors during installation. - Implemented a hook to generate the shared PDF only during the default-language build.
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Даниил Грабарь
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# Installing libraries
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Additional libraries distributed as `.zip` archives must be installed for the SunriseWorkbench project to work fully.
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!!! note "Prerequisite"
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Before installing the libraries, make sure that the project has been created or loaded. See [Creating a new project](new-project.md) or [Loading an existing project](load-project.md).
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## Opening the settings
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In the SunriseWorkbench main menu, select **Window → Preferences**. In the window that opens, go to **Install/Update → Available Software Sites**.
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## Adding library archives
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Click **Add**. In the dialog, click **Archive...** and add a library `.zip` archive.
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### Windows users
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Use the standard file-selection dialog to locate and select the archive.
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### Linux users
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Because SunriseWorkbench runs in an emulated Windows environment, use the following procedure to access the Linux file system:
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1. In the file-selection dialog, click **Look in:** and select **My Computer**.
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2. A list of mounted drives appears. It may contain more entries than the number of physical drives because of how the compatibility environment works.
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3. Check each drive in turn. One of them contains the Linux file system (drive H in this example).
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4. Open the directory containing the libraries, select one of the `.zip` archives, and click **OK**.
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5. Confirm the selected archive by clicking **OK** in the next window.
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## Adding the remaining archives
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The archive appears in the **Available Software Sites** list. Repeat the procedure for every remaining library `.zip` file.
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After adding all archives, click **OK** to save the settings.
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## Installing the libraries
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Select **Help → Install New Software...** from the menu. In the **Work with** field, select **All Available Sites**. Components from all added archives appear in the list.
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Select every available component and click **Next**. Review the installation summary and click **Next** again.
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Accept the license agreements and click **Finish** to begin installation.
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!!! warning "Installation duration"
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Installing the libraries may take a significant amount of time. Do not interrupt the process.
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## Restarting the application
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When installation finishes, SunriseWorkbench prompts you to restart. Click **Restart Now**.
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After the restart, the interface switches to Russian and all installed libraries appear in `StationSetup.cat`.
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!!! tip "Next step"
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If the project has not yet been configured, see [Creating a new project](new-project.md) or [Loading an existing project](load-project.md).
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# Loading a project from the controller
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This section explains how to import an existing project directly from the KUKA controller into SunriseWorkbench.
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!!! note "Prerequisite"
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Make sure that SunriseWorkbench is installed and running. See the [Windows](../sun_install/windows.md) and [Linux](../sun_install/linux/linux.md) installation guides.
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## Starting the project import wizard
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In the main SunriseWorkbench window, click **New Sunrise Project**.
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In the dialog that opens, select **Load project from controller** and enter the IP address of the KUKA Sunrise Cabinet controller.
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!!! info "Controller IP address"
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The default controller IP address is `172.31.1.147`. If the controller has been reconfigured, enter its current address. This configuration uses `192.168.21.147`. To find the current address, see [Station configuration](../kuka/features/station.md).
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Click **Next** to begin downloading the project from the controller.
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When the download is complete, the imported project appears in the SunriseWorkbench project tree. In this example, the project is named `SunriseProject`.
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!!! tip "Next step"
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All required libraries must be installed for full robot operation. See [Installing libraries](libraries.md).
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В данном разделе описана процедура импорта существующего проекта непосредственно с контроллера KUKA в среду SunriseWorkbench.
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!!! note "Предварительное требование"
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Убедитесь, что SunriseWorkbench установлен и запущен. Инструкции по установке приведены в разделах [Windows](../install/windows.md) и [Linux](../install/linux/linux.md).
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Убедитесь, что SunriseWorkbench установлен и запущен. Инструкции по установке приведены в разделах [Windows](../sun_install/windows.md) и [Linux](../sun_install/linux/linux.md).
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## Запуск мастера импорта проекта
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!!! tip "Следующий шаг"
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Для полноценной работы с роботом необходимо установить все требуемые библиотеки. Инструкции приведены в разделе [Установка библиотек](libraries.md).
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Для полноценной работы с роботом необходимо установить все требуемые библиотеки. Инструкции приведены в разделе [Установка библиотек](libraries.md).
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# Creating a new project
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This section explains how to create a SunriseWorkbench project and perform the initial configuration for a KUKA LBR IIWA 7.
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!!! note "Prerequisite"
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Before creating a project, make sure that SunriseWorkbench is installed. See the [Windows](../sun_install/windows.md) and [Linux](../sun_install/linux/linux.md) installation guides.
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## Starting the new-project wizard
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In the main SunriseWorkbench window, click **New Sunrise Project**.
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## Configuring the controller connection
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Enter the IP address of the KUKA Sunrise Cabinet controller in the dialog.
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!!! warning "Controller IP address"
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The default controller IP address is `172.31.1.147`. If your configuration uses a different address, replace it with the current value.
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## Project name
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Enter the project name in the corresponding field.
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## Selecting the robot model
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Select the robot model from the drop-down list. For a KUKA LBR IIWA 7, choose **LBR iiwa 7 R800**.
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## Selecting the flange
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Select the flange type that matches your robot configuration.
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!!! warning "Flange selection"
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The flange type must exactly match the physical robot configuration. This setup uses **Medien-Flansch elektrisch**. Leave its orientation at the default value of 0°.
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## Reviewing the configuration
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Review all parameters in the summary window. If they are correct, click **Finish**.
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## Selecting an application template
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After the project is created, the template selection dialog opens. Select one of the examples and click **Finish**.
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## Main editor window
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After the wizard completes successfully, SunriseWorkbench opens the new project in its main editor window.
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!!! tip "Next step"
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All required libraries must be installed for full robot operation. See [Installing libraries](libraries.md).
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В данном разделе описан процесс создания нового проекта в SunriseWorkbench и его первоначальная конфигурация для работы с роботом KUKA LBR IIWA 7.
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!!! note "Предварительное требование"
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Перед созданием проекта убедитесь, что SunriseWorkbench установлен. Инструкции по установке приведены в разделах [Windows](../install/windows.md) и [Linux](../install/linux/linux.md).
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Перед созданием проекта убедитесь, что SunriseWorkbench установлен. Инструкции по установке приведены в разделах [Windows](../sun_install/windows.md) и [Linux](../sun_install/linux/linux.md).
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## Запуск мастера создания проекта
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