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.
3.0 KiB
Extra menu
In addition to the main functional areas under Station, 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.
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.
Motion mode
The Motion mode panel controls how the Start button works and how the robot approaches frames.
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.
!!! 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.
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.
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.