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KINOVA

®

Communication system

User Guide

29

•

power-on-self-test

- displays results of power-on-self-tests (POST)

•

status_LED

- displays a real-time simulation of the status LEDs displayed on the adapter

Advanced menu options

The section describes the

advanced

menu for the CLI application.

The

advanced

menu offers low level detailed configuration for the communication system. This

allows for advanced customizations, including network interface IP settings for connecting to a
local area network.

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Summary of Contents for Communication system

Page 1: ...User Guide KINOVA Communication system ...

Page 2: ...ting up the communication system 34 Mounting a communication adapter 34 Installing the Operator Adapter OA 35 Installing the Remote Adapter RA 35 Establishing a communication link 35 Communication system configuration 37 Opening a secure shell session between a PC and a communication adapter 37 Set a communication adapter to Single Adapter mode 40 Pairing a new communication adapter for wired comm...

Page 3: ...6 Updating communication adapter firmware 46 Communication system troubleshooting 48 Using the CLI Diagnostic menu 48 Communication Adapter status LED indications 48 Markings and labels 51 Electromagnetic interference from RF sources 52 Disposal considerations 53 Contacting support 54 ...

Page 4: ...unication system Read all instructions and warnings before using this product Follow all instructions and retain this document for future reference This document contains information regarding product setup and operation It is intended for Kinova product end users Field service customer support and sales employees of authorized Kinova distributors ...

Page 5: ... User Guide 5 Symbols and definitions Important information regarding product safety Direct current power supply Gamepad connector Robot connector Network connector Compliance with WEEE2 directive Compliance with ROHS3 directive ...

Page 6: ...adapter communication protocols Wired Ethernet Radio option Communication adapter radio frequencies 902 928 MHz Communication Adapter range radio link Communication Adapter range wired link 100 m without repeater Communication Adapter power requirements 11 29 VDC Communication Adapter indicators 4 LED indicators 5 colors blue green yellow red white up to 300 m line of sight ...

Page 7: ...ischarge IR Infrared LED Light emitting diode NTSC National Television System Committee PAL Phase Alternating Line PC Personal Computer ROHS3 Restriction of Hazardous Substances Directive 2015 863 EU USB Universal Serial Bus WEEE2 Waste Electrical Electronic Equipment Directive 2012 19 EU ...

Page 8: ...nt or damage caused by excessive current or used with incompatible parts 4 the End User is not in default under any of its obligations under this Agreement 5 replacement Products must have the benefit of the applicable warranty for the remainder of the applicable warranty period If Kinova diligently repairs or replaces the Products in accordance with this section it will be deemed to have no furth...

Page 9: ...r The adapters should only be opened by Kinova trained and certified service professionals Ensure that the ground connector of each communication adapter used is connected to ground The USB connector on communication adapters is only designed to accept an Xbox One gamepad or a USB key It is not intended for connecting any other types of USB devices and doing so may cause damage to the device ...

Page 10: ...of this manual is furnished for informational use only and is subject to change without notice It should not be construed as a commitment by Kinova Kinova assumes no responsibility or liability for any errors or inaccuracies that may appear in this document Changes are periodically made to the information herein and will be incorporated into new editions of this publication Kinova may make improve...

Page 11: ...on system The KINOVA Communica on system ships with the following items communication adapter s qty 1 or 2 º without radio or antenna p n KR11708 01 or º with radio and antenna p n KR11708 02 Xbox One gamepad USB cable p n 008054 communication adapter power cables qty 1 or 2 p n KR6109 Ethernet cable qty 2 or 3 p n 008052 ...

Page 12: ...from an operator station to the remote robot over an adapter mediated communication network The Communication system consists of the following components two communication adapters and cables Xbox One gamepad and cable micro USB to USB type A Figure 1 Communication System components The communication adapters each have identical hardware and firmware but are configurable for different modes of use...

Page 13: ...epad and the robot are both connected to the same adapter In this case the adapter is configured as a Single Adapter There are two options here for connecting the single adapter to the robot Directly via an ethernet cable recommended approach for best results Indirectly via a small dedicated local network Note It is NOT recommended to run this through a large corporate or organizational network No...

Page 14: ... at two separate stations The operator adapter is installed at an operator station A wired Xbox One gamepad is connected to it to allow operation of a remote robot and any effector devices The remote adapter is located in the vicinity of the robot manipulator and connects to the robot Signals are transmitted between the two locations via one of two types of communications link radio based or wired...

Page 15: ...nts description Xbox One gamepad This page describes the Xbox One gamepad The communication system includes an Xbox One wired gamepad This controller is intended to be used to control the robot using a combination of button press and control stick movements There are different control mappings available allowing control in different modes Depending ...

Page 16: ...amepad is connected to a communication adapter via a USB cable Communication Adapter This section describes the communication adapters of the communication system The communication adapters are housed in flanged enclosures Communication adapters come in two models one with built in radio and antenna and one without Figure 6 Communication Adapter radio model p n KR COM R001 Figure 7 Communication A...

Page 17: ... connector Ethernet to enable connection to a KINOVA Gen2 Ultra lightweight robot USB connector to enable connection to the Xbox One gamepad internal radio and antenna radio model only status LEDs qty 4 mounting flanges Each communication adapter has a grounding connection on the right hand mounting flange beside the rear mounting hole closest to the antenna Note This grounding connection needs to...

Page 18: ...o connection to a Remote Adapter RA The OA facilitates remote control of a robot using an Xbox One controller Remote Adapter RA This section describes the Remote Adapter A communication adapter can be software configured as a Remote Adapter RA A RA provides an Ethernet RJ 45 connector for connection to a KINOVA Gen2 Ultra lightweight robot as well as a wired Ethernet or wireless radio connection t...

Page 19: ...o for communications between the adapters and one for communicating with the robot communications between the adapters º wired network interface º radio interface for radio model of adapter communications between a communication adapter and the robot º robot interface Figure 12 Network interfaces Each of these interfaces requires IP settings IP address subnet mask and gateway to be configured Thes...

Page 20: ...e robot Network interfaces default settings The default static network settings are as follows When the communication system is purchased with two paired communication adapters the adapters are factory configured to the following static IP settings A replacement unit will generally be configured by Kinova with default IP settings for the role it is to take on unless otherwise requested Communicati...

Page 21: ...CLI is used for a range of configuration setup and maintenance tasks configuring the mode of operation role of a communication adapter setting up a robot protection zone accessing diagnostic logs Using the Command Line Interface CLI This section describes the Command Line Interface CLI Introduction The CLI provides a convivial command line user interface for configuring the communication adapters ...

Page 22: ... backspace repeatedly Each branch ends with an action being performed after Enter Top level commands At the top level there are four options 1 Quickstart basic setup of the communication adapter to get started without detailed configuration 2 Configuration setting the communication transmission mode and basic robot configuration 3 Diagnostic access to diagnostic logs and status information 4 Advan...

Page 23: ...confirmation that this is what you want to do set_communication_system_mode takes you to the next menu where you can choose what mode to set for the communication adapter º OperatorAdapter º RemoteAdapter º SingleAdapter Configuration menu options The section describes the configuration menu for the CLI application The configuration menu offers configuration of the communication channel to be used...

Page 24: ...isplay current configurations for the gamepad look_inversion flip the y axis for the pitch up down control on the thumbstick for the gripper orientation control response swap_thumbsticks swap the control mappings of the left and right thumbsticks º protection_zones a protection zone defines a box shaped zone surrounding the robot where the gripper must not enter This is used for obstacle avoidance...

Page 25: ...ID that is currently in use Note Attempting to remove a zone ID that does not exist returns an error disable disable a given protection zone Specify a zone ID that is currently in use Note Attempting to disable a zone ID that does not exist returns an error enable enable an existing protection zone Specify a zone ID that is currently in use Note Attempting to disable a zone ID that does not exist ...

Page 26: ...point number For example configuration feature protection_zone write y 2 1 0 5 modifies zone 2 changing the y value of point 1 to 0 5 meters º z_top defines the z_top value of the specified zone ID For example configuration feature protection_zone write z_top 2 0 6 modifies zone 2 changing the value for z_top to 0 6 meters º z_bottom defines the z_bottom value of the specified zone ID For example ...

Page 27: ...KINOVA Communication system User Guide 27 communication_live_data real time view of low level statistics controller real time view of controller data including connectivity status and control inputs ...

Page 28: ...isable logging of debugging data enable_debug_print enable logging of debugging data get displays current settings for types of logs that are recorded º show display currently saved logs You have the option to include a positive integer command line argument to specify that you only want to see a certain number of lines E g show 50 shows the first 50 lines of the log ...

Page 29: ...ulation of the status LEDs displayed on the adapter Advanced menu options The section describes the advanced menu for the CLI application The advanced menu offers low level detailed configuration for the communication system This allows for advanced customizations including network interface IP settings for connecting to a local area network ...

Page 30: ... to return to factory defaults in the event of problems caused by modifying advanced configuration settings The advanced menu offers four options IP network allows you to configure IP addresses and other network communication settings for the adapter serial_link n a radio allows you to view radio settings and set the internal IP address and credentials for the radio º Z9 PC get_info get informatio...

Page 31: ...ption which should only be used as a last resort if a factory reset does not work IP network menu The section describes the IP_network menu for the CLI application The IP_network menu is for configuring IP network settings for the nodes on the communication network The menu offers three options Local configures the IP settings for the network interfaces of the communication adapter to which you ar...

Page 32: ... DHCP server Allows the DHCP server to assign an IP address automatically to the adapter when connected This option is made available for the flexibility of end users but it is not generally recommended to connect to a local area network Contact Kinova support if this is an option that your organization is interested in exploring address set the IP address individually subnet_mask set the subnet m...

Page 33: ... communication adapter radio available for radio model of adapter only º address º port º cyclic rate º async_delay º timeout wired_network_interface º address º port º cyclic rate º async_delay º timeout Note To perform this configuration you will need to first connect to the other communication adapter and obtain the IP address and port using quickstart get_system_info ...

Page 34: ...ount a communication adapter onto a flat surface About this task The communication adapters come with mounting flanges for mounting with screws to a stable surface Note When not in use the USB connectors on the communication adapters gamepad connectors must be plugged with the provided plug when not in use This is to guard against water ingress in the connectors Procedure 1 At the desired mounting...

Page 35: ...polarity 4 Connect the micro USB end of the supplied USB cable to the Xbox connector 5 Connect the Type A end of the supplied USB cable to the OA USB connector Installing the Remote Adapter RA This page describes the procedure to install and connect the remote adapter Before you begin You will need to choose a location whether fixed or mobile for the remote station where the robotic arm will also ...

Page 36: ...r adapter USB connector Establishing a wired link To establish a wired communication link 1 Connect one end of an RJ 45 Ethernet cable to the operator adapter network connector 2 Connect the other end of the same RJ 45 cable to the remote adapter network connector Establishing a radio communication link Following the general steps listed above In addition ensure that there is an unobstructed line ...

Page 37: ...enarios above with the assumption that you are reasonably familiar with command line interfaces and basics of network configuration If you have more complex configuration needs or require more specific guidance please contact Kinova support through the Kinova website www kinovarobotics com support Opening a secure shell session between a PC and a communication adapter This section describes how to...

Page 38: ...r Guide 38 4 Right click the Ethernet interface to be configured and select Properties to open the Local Area Connection Properties window Select Internet Protocol Version 4 TCP IPv4 ensuring that the corresponding checkbox is ticked ...

Page 39: ...atible IP address 192 168 100 10 and address mask 255 255 255 0 as indicated below When you are finished click OK 6 Using a terminal emulator which supports ssh open a secure shell session The instructions to do this using PuTTY are provided in the next few steps 7 Launch PuTTY to access the following dialog ...

Page 40: ...k Open and enter the password at the prompt default is user 12 The USER CLI prompt indicates that the CLI script is running and ready to accept commands Type TAB to display the available commands What to do next Once connected to the CLI you can perform various configurations on the communication adapter Set a communication adapter to Single Adapter mode This section describes how to set a communi...

Page 41: ... communication adapter for the changes to take effect Results The communication adapter mode is now set to Single Adapter What to do next You can now connect the robot and the Xbox gamepad to the Single Adapter and operate the robot using the gamepad Pairing a new communication adapter for wired communication This section describes how to pair a new communication adapter for wired communication Ab...

Page 42: ...s Enter the following IP 172 16 0 11 3 Set the Subnet Mask of the Wired interface CLI advanced ip_network local wired_network_interface subnet_mask Enter the following IP 255 255 255 0 4 Set remote wired IP CLI advanced ip_network remote wired address 172 16 0 10 5 Set wired Ethernet communication mode CLI configuration communication configure wired ethernet 6 Reboot the adapter CLI reboot 7 Close...

Page 43: ...e controller type to be a Remote Adapter CLI quickstart set_communication_system_mode RemoteAdapter 2 Set the IP of the Radio interface CLI advanced ip_network local radio_network_interface address Enter the following IP 192 168 111 11 3 Set the Subnet Mask of the Radio interface CLI advanced ip_network local radio_network_interface subnet_mask Enter the following mask 255 255 255 0 4 Reboot the c...

Page 44: ...rate a 256 bit key c Select Hex check box Note This will be the ENCRYPTION_KEY in this procedure Configuring both adapters with the same NETWORK_ID and ENCRYPTION_KEY will allow for secure communications between the two radios 17 Copy obtained key and save it for later Open a shell on the radio CLI advanced radio z9 pc configure 18 Set radio data rate to 1M RADIO CLI radioSettings rfDataRate RATE_...

Page 45: ...io CLI advanced radio z9 pc configure 11 Set radio data rate to 1M RADIO CLI radioSettings rfDataRate RATE_1M 12 Set radio in endpoint mode RADIO CLI radioSettings radioMode Endpoint 13 Enable hopping mode RADIO CLI radioHoppingMode Hopping_On 14 Set a unique network ID for the pair of radios using the network ID created earlier RADIO CLI radioSettings networkId PASTE_NETWORK_ID 15 Activate Encryp...

Page 46: ...o scheduled field servicing components are not field serviceable Unscheduled maintenance Refer all servicing to qualified service personnel Servicing is required when the apparatus has been damaged in any way for example if the power supply cord or plug is damaged if the product does not operate normally or if it has been dropped The product has no user serviceable parts Do not open Damaged or mal...

Page 47: ...he IP address is 172 16 0 10 enter 172 16 0 10 8080 This will take you to the web interface 2 Click the Choose File button This will open up a File Explorer window to browse for the swu for the new firmware 3 Once you have found the file select it The update will proceed immediately and you will see messages in the window below indicating progress 4 When the firmware finishes updating the communic...

Page 48: ...s with the controller Log allows you to read logs recorded by the communication adapter Power on self test will show the results of several tests for the communication adapter highlighting possible hardware issues with the communication adapter Status LED shows a real time simulation of what is displayed on the status LEDs of the communication adapter to which you are connected If you are connecte...

Page 49: ...continuous or blinking LED status information Table 5 Communication Adapter LED status interpretation LED Category Color State Description violet solid booting up solid go to position mode blue blinking robot controlled in LED laser control mode solid robot controlled in gripper reference Cartesian control mode 1 Robot control mode green blinking robot controlled in base reference Cartesian contro...

Page 50: ... OK yellow solid communication error latency 3 Communication status red blinking major communication problem green solid robot ready the robot is good to go yellow solid torque temperature voltage warning payload torque applied to the robot is too high temperature of one of the robot actuators is too high or the input voltage to the robot is too low or too high Lower the robot arm and release the ...

Page 51: ...bes markings and labels appearing on system components Please note that these labels may slightly differ from the ones accompanying your device depending of your country The following figure depicts the information about labels visible on components of the system Figure 15 Labeling ...

Page 52: ...lar phones and other personal communication devices Some cellular phones and similar devices transmit signals while they are switched on even if they are not actively being used 2 Medium range mobile transceivers such as those used in police cars fire trucks ambulances and taxis These usually have the antenna mounted on the outside of the vehicle 3 Long range transmitters and transceivers such as ...

Page 53: ... life For further information on recycling contact your local recycling authority or Kinova distributor In any case always dispose of product via a recognized agent Additional procedures will be required if the equipment has been contaminated with hazardous agents including chemical neurological biological and radiological agents Follow all decontamination and hazardous waste disposal regulations ...

Page 54: ... 277 3777 We value your comments To help us assist you more effectively with problem reports please have the following information ready when contacting Kinova or distributor support date and time the problem occurred environment where the problem occurred actions performed immediately before the problem occurred product serial number this will allow the support agent to access the information reg...

Page 55: ...rd de la Grande Allée Boisbriand QC J7H 1M7 Canada 1 514 277 3777 Kinova Europe GmbH Friedrich Ebert Allee 13 53113 Bonn Deutschland 49 0 228 9293 9148 Kinova Asia 4th Floor Building 5 Zizhu Cyberport No 555 Dongchuan Road Minhang District 200241 Shanghai P R China 86 1862 1111 822 UG 012_2018 12 R01 ...

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