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