grabardm/lightweight-cobot
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 1 Wiki Activity

Add documentation for KUKA Sunrise features and programs

Browse Source 
- 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.
This commit is contained in:
Даниил Грабарь
2026-08-13 18:01:59 +03:00
parent 08ebd40671
commit 79d88db930
42 changed files with 2973 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/lwc-doc/docs/sunrise/kuka/features/extra-menu.en.md
+84
View File
@@ -0,0 +1,84 @@
# Extra menu
In addition to the main functional areas under [Station](station.md), smartHMI provides additional robot control parameters through the smartPAD side panel. These panels open over the current view without navigating to another section.
## Manual control method
The **Manual method options** panel configures manual motion: the active tool, control point (TCP), base coordinate system, and motion frame.
![Manual method options](../../assets/kuka/extra-menu/move_method.jpg)
### Selecting the tool and TCP
| Parameter | Description |
|---|---|
| Tool | Active tool attached to the flange. Default: `Flange` |
| TCP | Tool control point. Default: `Flange (Root)` |
### Selecting the base
The base coordinate system relative to which manual motion is performed. Select it from the frames defined in the project, for example `P1`.
### Motion frame
Determines the coordinate system used by the A1–A7 axis buttons:
| Mode | Description |
|---|---|
| Axes | Joint-by-joint control. Each button moves its corresponding axis independently. |
| World | Motion in the universal (world) coordinate system. |
| Base | Motion in the selected base coordinate system. |
| Tool | Motion in the coordinate system of the active tool (TCP). |
## Control speed
The **Speed** panel sets the percentage limit for manual motion and program execution speed.
![Speed panel](../../assets/kuka/extra-menu/speedmenu.jpg)
## Motion mode
The **Motion mode** panel controls how the **Start** button works and how the robot approaches frames.
![Motion mode](../../assets/kuka/extra-menu/viewmove.jpg)
### Application mode
| Mode | Description |
|---|---|
| Start — continuous | The Start button runs the application continuously (default). |
| Step execution | The Start button executes one program step at a time. Used for debugging. |
### Approaching a frame
| Type | Description |
|---|---|
| PTP approach | Motion along the shortest path in joint space (Point-to-Point). |
| LIN approach | Straight-line TCP motion in Cartesian space (Linear). |
The **Open frame view** button opens the Frames section.
## Clock
Clicking the clock icon displays the controller's current system time and date.
![Clock](../../assets/kuka/extra-menu/clock.jpg)
!!! note
System time is synchronized with the KUKA Sunrise Cabinet controller clock. Change it in the controller operating system settings.
## User group
The **Log on** dialog changes the active user group and the corresponding HMI access level.
![User group](../../assets/kuka/extra-menu/groupusers.jpg)
The access level determines which operations are available, including editing frames, managing Safety settings, and changing the project configuration.
## Changing the language
The **Language selection** dialog changes the smartHMI interface language.
![Changing the language](../../assets/kuka/extra-menu/changelang.jpg)
The change takes effect immediately without restarting the system. The current interface locale appears in the lower-left corner of smartHMI, for example `ru-RU`.