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user_interface-ntb [2019/08/09 16:16] – visentinuser_interface-ntb [2019/08/09 16:25] – visentin
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 ===== User Interface ===== ===== User Interface =====
  
-The red button triggers an emergency.+Following buttons are available: 
 +  * Emergency: red 
 +  * Start: green 
 +  * Stop: blue
  
-The blue and green buttons cause the following actions. +Start 'auto moving' when the robot is ready, i.e. after initializing:  
-  * Start button (green): This button is active in safety level ''slSystemReady''. Pressing it will fire an ''doAutoMoving'' event and the robot will go into safety level ''slAutoMoving''. Further, it is also active in ''slEmergency''. If pressed there, it will fire ''doControlStart'' which causes the robot to go into safety level ''slControlStarting'' from where the main sequence will restart.+  * Press the green button
  
-  * Stop button (blue): Press while being in auto moving state or in mouse moving state. It will fire an ''stopMoving'' event which causes the safety system to switch to level ''slSystemReady''. +Trigger an emergency:  
 +  * Press the red button
  
-  * Stop button: Press three times while in safety level ''slSystemReady'' and the application will park the tool center point and terminate subsequently.+Initialize robot after an emergency:  
 +  * Press the green button
  
 +Stop 'auto moving' or 'mouse' sequence: 
 +  * Press the blue button 
 +
 +Park the robot, stop application and shut down:
 +  * Press the blue button three times or for more than three seconds
 +
 +TODO
   * Stop button: Press while in the ''CalibrateBlockSequence'' to continue to the next step.   * Stop button: Press while in the ''CalibrateBlockSequence'' to continue to the next step.
  
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 Each of the three buttons contain a LED giving the buttons its color.  Each of the three buttons contain a LED giving the buttons its color. 
   * The red emergency button lights up as soon as the robot goes into emergency state. It will switch off upon leaving this state.   * The red emergency button lights up as soon as the robot goes into emergency state. It will switch off upon leaving this state.
- 
   * The green and blue LED indicates that the associated button can be pressed, see above.   * The green and blue LED indicates that the associated button can be pressed, see above.