VelmaStopLWR - RCPRG-ros-pkg/velma_robot GitHub Wiki

both panels:

• Stop the program
• Push "FRI" button (on the left).
• Push "FRISTOP" button (in the bottom). FRI is now in "Monitor Mode".

On PC, in deployer's terminal:

• Kill Orocos' component (velma_controler) in console with "Ctrl+C".
• Switch off Kuka Controllers (not KCP) from "I" to "O".
• Switch off Orocos PC (lwr-controller) with button on the case (do NOT hold).
• Switch off GN4 fuse.