Даниил Грабарь
79d88db930
- 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.
86 lines
2.9 KiB
Markdown
86 lines
2.9 KiB
Markdown
# SunriseWorkbench setup
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!!! info "Physical robot only"
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This section applies only when working with a physical KUKA LBR IIWA 7. For simulation, proceed to [Project installation](installation.md).
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---
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## Physical hardware setup
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### Ethernet connection
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Connect an Ethernet cable from your PC or control server to one of the KUKA controller's network ports:
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- **KLI** (KUKA Line Interface) — the primary port used for control and programming;
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- **KONI** (KUKA Optional Network Interface) — the additional port used for FRI.
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Both ports can be connected at the same time. You can select the interface when configuring the server.
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> Connect the KLI and KONI ports according to the KUKA controller wiring diagram.
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---
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## Synchronizing the SunriseWorkbench project
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### Checking for ServerFriRos2
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Make sure that your Sunrise project contains `ServerFriRos2.java`. If the file is missing, download it from the repository. Its path is `src/iiwa_sunrise/src/ServerFriRos2.java`.
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=== "curl"
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```bash
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curl -fsSL https://gitverse.ru/api/repos/daniel-robotics/lightweight-cobot/raw/branch/master/src/iiwa_sunrise/src/ServerFriRos2.java \
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-o ServerFriRos2.java
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```
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=== "wget"
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```bash
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wget -O ServerFriRos2.java \
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https://gitverse.ru/api/repos/daniel-robotics/lightweight-cobot/raw/branch/master/src/iiwa_sunrise/src/ServerFriRos2.java
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```
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After downloading it, add the file to the Sunrise project and synchronize the project with the controller.
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### Synchronizing with the controller
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Open **SunriseWorkbench** and click the project synchronization button:
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> In SunriseWorkbench, use the project synchronization button.
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Before synchronizing, make sure that the PC and KUKA controller are on the same network. The current controller network settings can be checked directly in SunriseWorkbench:
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> The controller network parameters are available in the SunriseWorkbench settings window.
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---
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## Configuring ServerFriRos2
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Open `ServerFriRos2.java` in SunriseWorkbench and change the following parameters to match your network configuration:
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```java
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// IP address of the KONI interface
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KONI_IP = "192.170.10.10";
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// IP address of the KLI interface
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KLI_IP = "192.168.21.31";
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// Zero position (all joints at 0°)
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ZERO_POSITION = {0, 0, 0, 0, 0, 0, 0};
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// Working position for monitoring
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MONITOR_WORKING_POSITION = {0, 0, 0, -1.57, 0, 1.57, 0};
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// Tool used by default
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@Named("tool1")
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```
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!!! warning "Important"
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`KONI_IP` and `KLI_IP` in the Java program are addresses of the ROS 2 computer that the controller can reach through the corresponding networks. Conversely, `robot.ip` in `cobot-setting.yaml` is the address of the KUKA controller as seen from the computer. Incorrect or swapped addresses prevent the FRI connection from being established.
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After making the changes, synchronize the project with the controller again.
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---
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**Next step:** [Connecting to the control server](remote-access.md)
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