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.
85 lines
3.0 KiB
Markdown
85 lines
3.0 KiB
Markdown
# 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.
|
||
|
||
|
||
|
||
### 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`.
|