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.
5.8 KiB
Station
The Station section is the main navigation level of KUKA smartHMI. Open it by pressing Station in the smartPAD navigation bar. It provides access to the primary robot-cell control functions.
Menu structure
The Station interface contains four functional areas:
| Area | Description |
|---|---|
| Navigation menu | Station, Applications, Robot menu, and IO Group menu |
| Station menu | Process data, Safety, Frames, KUKA_Sunrise_cabinet, HMI status, Information, and Log |
| Extra menu | Motion mode, clock, and user buttons |
| smartPAD function buttons | Program and motion control |
Process data
Process data displays the current state of the active application, for example Ok. Use it to monitor parameters of the running program in real time.
Safety
The Safety section provides access to robot safety-system settings and status.
Safety functions
| Function | Description |
|---|---|
| Status | Displays the current safety configuration state |
| Activation | Activates or deactivates the safety configuration |
Actions on the Activation page
| Action | Description |
|---|---|
| Activate | Apply and activate the current safety configuration |
| Deactivate | Disable the active safety configuration |
| Reset | Restore the previous safety configuration state |
The Safety configuration ID field displays the unique identifier of the loaded configuration, for example 2BCAB6DD.
Frames
The Frames section opens the coordinate-system editor.
It lists all frames defined in the Sunrise project and lets you inspect, correct, and navigate their hierarchy.
Frame table structure
| Column | Description |
|---|---|
| Frame name | Frame name in the project |
| X, Y, Z | Axis offsets in millimeters |
| A, B, C | Orientation in degrees |
Frame data is also available in SunriseWorkbench.
Navigation and correction
To open child frames, press > next to the required frame. The breadcrumb path updates automatically. Select an item in the breadcrumb to return to a previous level.
Press Correct to open a dialog that compares current and new values. Press Save to confirm or Cancel to discard the changes.
Frames support multiple nesting levels. The navigation bar displays the complete hierarchy path, for example World > grant_RNF > P4.
KUKA_Sunrise_cabinet
KUKA_Sunrise_Cabinet displays the status of the controller hardware components.
| Component | Description |
|---|---|
| Boot status | Controller boot status |
| Fieldbuses | EtherCAT bus status |
HMI status
HMI status displays the connection state between smartHMI and the Sunrise Cabinet controller.
Log
The Log section opens the system event log.
Log filters
| Filter | Description |
|---|---|
| Source(s) | Station, LBR_iiwa_7_R800, or both |
| Level | Information, warning, or error |
| Time period | Time range to display |
Each entry contains a severity icon, event date and time, source, name, and description.
Information
The Information section contains detailed system information about the controller and connected robot.
smartPAD function buttons
The physical smartPAD buttons are divided into three groups: program control buttons on the left, manual axis control buttons on the right, and user buttons.
Program control buttons
| Button | Description |
|---|---|
| Edit | Enters Teach mode and enables manual modification of program points |
| Stop | Stops program execution or robot motion |
| Backward step | Executes one program step in reverse; used for debugging |
| Start | Starts the selected application or resumes a stopped program; in T1/T2, the enabling device must be held |
!!! note Editing from the smartPAD is not used in this project. Programs are written in Java and changed only in SunriseWorkbench.
Axis control buttons (T1 and T2)
| Button | Description |
|---|---|
| A1 − / A1 + | Move axis 1 in the negative or positive direction |
| A2 − / A2 + | Move axis 2 in the negative or positive direction |
| A3 − / A3 + | Move axis 3 in the negative or positive direction |
| A4 − / A4 + | Move axis 4 in the negative or positive direction |
| A5 − / A5 + | Move axis 5 in the negative or positive direction |
| A6 − / A6 + | Move axis 6 in the negative or positive direction |
| A7 − / A7 + | Move axis 7 in the negative or positive direction |
In Cartesian control mode, the same buttons move the TCP along X, Y, and Z and rotate it around A, B, and C.
Speed control (Override)
| Button | Description |
|---|---|
| 0 | Decrease manual motion speed |
| 100 | Increase manual motion speed |
The value is displayed as a percentage of maximum speed. In T1 mode, TCP speed is hardware-limited to 250 mm/s.
User buttons
Four white round buttons are located at the bottom of the left panel. Their behavior is programmed through the Sunrise project API. They are unassigned by default.
Operating modes
| Mode | Description |
|---|---|
| T1 | Manual control with TCP speed limited to 250 mm/s; the enabling device must be held |
| T2 | Manual control at normal speed; the enabling device must be held |
| AUT | Automatic mode; axis buttons are unavailable and Start/Stop buttons control execution |
!!! tip "Extra menu" See Extra menu for additional control parameters.