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.
2.3 KiB
Creating a new project
This section explains how to create a SunriseWorkbench project and perform the initial configuration for a KUKA LBR IIWA 7.
!!! note "Prerequisite" Before creating a project, make sure that SunriseWorkbench is installed. See the Windows and Linux installation guides.
Starting the new-project wizard
In the main SunriseWorkbench window, click New Sunrise Project.
Configuring the controller connection
Enter the IP address of the KUKA Sunrise Cabinet controller in the dialog.
!!! warning "Controller IP address"
The default controller IP address is 172.31.1.147. If your configuration uses a different address, replace it with the current value.
Project name
Enter the project name in the corresponding field.
Selecting the robot model
Select the robot model from the drop-down list. For a KUKA LBR IIWA 7, choose LBR iiwa 7 R800.
Selecting the flange
Select the flange type that matches your robot configuration.
!!! warning "Flange selection" 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°.
Reviewing the configuration
Review all parameters in the summary window. If they are correct, click Finish.
Selecting an application template
After the project is created, the template selection dialog opens. Select one of the examples and click Finish.
Main editor window
After the wizard completes successfully, SunriseWorkbench opens the new project in its main editor window.
!!! tip "Next step" All required libraries must be installed for full robot operation. See Installing libraries.