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.
2.9 KiB
RobotPowerControl
RobotPowerControl is a SunriseWorkbench background task for safely shutting down or quickly restarting the KUKA Sunrise Cabinet controller from the smartPAD. When the task starts, a System panel appears on the smartPAD with two user buttons: REBOOT and SHUTDOWN.
This is particularly useful when the controller battery is faulty, because pressing the physical power button may cause an abrupt shutdown. The task lets you shut down the controller correctly or restart it without going to the control cabinet.
!!! warning "Before shutdown or restart" Stop robot motion and make sure that the operation is safe for the entire robot cell. These buttons control power to the controller. After confirmation, the robot connection and running applications are interrupted.
Source code
The Java task class is located at src/iiwa_sunrise/src/RobotPowerControl.java. Open or download it from this link to add it to a Sunrise project.
The shutdown and restart scripts are already installed on the controller. The task calls them through cmd.exe at D:\Programme\reboot.cmd and D:\Programme\shutdown.cmd.
Starting the task
RobotPowerControl runs as a background application (backgroundTask). See smartHMI Applications for details.
The screenshot shows RobotPowerControl in the Background applications list with a green status indicator.
Using the smartPAD buttons
| Button | Action |
|---|---|
| REBOOT | Runs reboot.cmd and restarts the controller |
| SHUTDOWN | Runs shutdown.cmd and safely shuts down the controller |
Open the user buttons from the smartPAD side menu. See smartPAD function buttons for details. The System panel contains the REBOOT and SHUTDOWN buttons.
Each button requires confirmation to prevent accidental activation:
- Press REBOOT or SHUTDOWN. smartHMI displays a warning about the critical operation.
- Press the button again in the confirmation dialog only if you intend to perform the selected action.
- The corresponding script starts. The button indicator briefly turns yellow. If the script cannot be started, it turns red for two seconds and then returns to gray.
The image shows the dialog displayed after the first press. Press the button again to start the operation.
The task hands the script to the operating system and does not wait for it to finish. The controller begins shutdown or restart independently. If the indicator turns red, ask the controller administrator to check the system scripts.