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KINOVA

Gripper adapter kit

Installation Guide

Control

Action

down / up

pitch down / up

bumpers

left / right

roll left / right

left / right

open / close

gripper fingers

D-pad

up / down

increase / decrease

gripper speed

button

Menu (held)

arm + gripper init

home / retract

Figure 12: robot base reference controls diagram

Go to position control mode

Go to position control mode allows you to save a position or command the gripper to go to a
saved position. This mode can be activated by pressing the A button.

Table 4: Go to position control mode mapping

Control

Action

left stick

Hold down one second

save position 1

right stick

Hold down one second

save position 2

bumpers

left / right

saved position 1 /

saved position 2

go to position

button

Menu (held)

go to shipping case pose (for ease of putting the

robot back in the shipping case for transport)

Содержание Gripper adapter KR11703-01

Страница 1: ...Installation Guide KINOVA Gripper adapter kit ...

Страница 2: ...16 Installation 17 Kinova gripper removal 17 Installing the gripper adapter 17 Install a Robotiq gripper on the gripper adapter 18 Installing the video adapter 20 Viewing the video adapter output 20 Adjusting the laser angle 21 Controlling gripper and gripper adapter 23 Controlling the gripper and gripper adapter with KINOVA Communication system gamepad Optional 23 Controlling the gripper and grip...

Страница 3: ...Electromagnetic interference from RF sources 31 Disposal considerations 32 Contacting support 33 ...

Страница 4: ...Read all instructions before using this product Read all warnings on the product and in this guide Follow all instructions Keep these instructions 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 ...

Страница 5: ...KINOVA Gripper adapter kit Installation Guide 5 Symbols and definitions Important information regarding product safety Direct current Compliance with WEEE2 directive Compliance with ROHS3 directive ...

Страница 6: ...eviations fps frames per second IR Infrared LED Light emitting diode NTSC National Television System Committee PAL Phase Alternating Line ROHS3 Restriction of Hazardous Substances Directive 2015 863 EU WEEE2 Waste Electrical Electronic Equipment Directive 2012 19 EU ...

Страница 7: ...Kinova trained and certified service professionals To avoid the possibility of serious damage to eyesight do not look directly at the gripper adapter laser beam Read the documentation from Robotiq for the gripper and observe all recommended safety precautions listed therein Ensure that the ground connector of the video adapter is connected to ground ...

Страница 8: ...cident 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 f...

Страница 9: ...nt 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 impr...

Страница 10: ...s the contents of the KINOVA Gripper adapter kit The KINOVA Gripper adapter kit ships with the following items gripper adapter module º p n KR11703 01 PAL or º p n KR11703 02 NTSC video adapter p n KR11716 monitor RCA RCA video cable p n 008177 robot to video adapter cable p n EH 01M8 0006 ...

Страница 11: ...kit to expand the capabilities of the Gen2 Ultra lightweight robot This gripper adapter kit augments the robot with the ability to integrate a 2 finger 85 mm Robotiq Gripper sold separately p n KR ROB 0085 as end effector The gripper adapter also incorporates an integrated video camera LED lights and positioning laser When combined with a communication network KINOVA Communica on system sold separ...

Страница 12: ...r Camera module overview This section outlines the features of the camera module The camera module has the following features PAL or NTSC composite video output using video adapter wide field of view 100 Laser overview This section explains the features of the integrated tilting laser The pupose of the laser is to provide positioning guidance for any gripper held tool The tilting laser improves us...

Страница 13: ... white light 9000 K color temperature two IR LEDs infrared spectrum 860 nm wavelength The light sources can be controlled using the gamepad in the KINOVA Communica on system Using the gamepad the IR LEDs and white light LED intensities can be adjusted in steps from off up to full intensity Video adapter This section describes the features of the video adapter The video adapter converts the camera ...

Страница 14: ... connects to the robot via the joystick expansion connector on the arm This connector can also used for connecting the Kinova joystick controller that comes with the KINOVA Gen2 Ultra lightweight robot If you want to control the robot using the Kinova joystick while the video adapter is connected this is possible using an optional splitter cable Sold separately from the robot P N EH 0M15 0001 R1 2...

Страница 15: ...Robotiq gripper The positioning laser and light sources will NOT be controllable using the Kinova joystick alone Note The separate KINOVA Communica on system allows the arm gripper and gripper adapter devices to be controlled using an Xbox One gamepad and communication adapter This includes the option of tele operation Contact your Kinova representative for more details about the KINOVA Communica ...

Страница 16: ... lightweight robot The gripper is integrated mechanically and electronically with the robot via the gripper adapter Figure 6 Robotiq 2 finger 85 mm gripper When combined with the KINOVA Communica on System the two gripper fingers can be controlled along with the robot and devices on the gripper adapter using a single controller device and adapter This allows for grasping of objects gripper opening...

Страница 17: ...per later on Note Removing the screws on the other input side of the actuator will detach the last actuator from the arm shell This is not necessary for removal of the gripper 4 Gently pull the gripper away from the wrist Note Do not pull too hard There is a flex cable connecting the last actuator to the gripper and you might break the cable if you pull too hard 5 Detach the flex cable from the Ki...

Страница 18: ...onnector If the cable is inserted the wrong way you may damage the gripper and gripper adapter 5 With the flex cable connected slide the shell on the bottom of the gripper adapter over the exposed end of the last actuator Note Be careful not to pinch the flex cable 6 The shell of the gripper adapter has six holes going around in a circle corresponding to the threaded holes on the actuator Align th...

Страница 19: ...ce of the Robotiq gripper with the interface surface of the gripper adapter such that the holes are aligned with the correct reference orientation Figure 7 Gripper adapter interface Figure 8 Robotiq gripper inner face Note There is a positioning hole on the gripper adapter interface which corresponds to a positioning pin on the gripper Ensure that the pin lines up properly with the hole for the co...

Страница 20: ...screws to a flat surface through pre drilled holes on the mounting flanges of the adapter Procedure 1 Drill four holes in a flat mounting surface using the mounting hole pattern of the video adapter mounting flanges as a guide Figure 9 Video adapter flange mounting holes measurements in mm 2 Secure the video adapter to the surface using four M5 screws and nuts if applicable 3 One of the mounting h...

Страница 21: ...rity arm system using the power switch on the base of the robotic arm 2 Connect one end of a RCA composite video cable to the RCA out connector on the video adapter 3 Connect the other end of the RCA composite video cable to the RCA composite input of the monitor television 4 Power on the monitor television and select the RCA composite video input for display Results You should be able to view the...

Страница 22: ...he screw clockwise will move the screw inward and tilt the laser beam downward Turning the screw counterclockwise will move the screw outward and raise the laser beam upward Note While the screw will stop at the forward limit of the laser in the clockwise direction there is no limit in the counterclockwise direction Be careful not to turn the screw too far counterclockwise or the screw will come o...

Страница 23: ...g the gripper and gripper adapter using Xbox gamepad This section describes how to control the gripper and the gripper adapter using an Xbox gamepad Introduction The gripper and gripper adapter are operated using an Xbox One gamepad There are several actions that can be taken related to the gripper and gripper adapter These actions are mapped to the controls selection of the control mode movement ...

Страница 24: ... the gripper fingers 3 Go to position Save a position or command the gripper to move to a defined position 4 Laser control mode Control the intensity level for white and IR LEDs and toggle the laser Changing control mode In all control modes the A B X and Y buttons on the gamepad are set aside for the purpose of selecting changing the control mode Table 1 Mode Select control mapping Control Mode A...

Страница 25: ... gripper speed button Menu held arm gripper init home retract Figure 11 Camera reference controls diagram Robot base reference control mode Robot base reference control mode controls the motion of the gripper in Cartesian coordinates with respect to the perspective of the view from the back of the robot base looking forward This mode can be activated by pressing the Y button Table 3 Robot base ref...

Страница 26: ...tion control mode Go to position control mode allows you to save a position or command the gripper to go to a saved position This mode can be activated by pressing the A button Table 4 Go to position control mode mapping Control Action left stick Hold down one second save position 1 right stick Hold down one second save position 2 bumpers left right saved position 1 saved position 2 go to position...

Страница 27: ...the LEDs for illumination This mode can be activated by pressing the B button Table 5 LED laser control mode mapping Control Action bumper left cycle white LED intensity 0 1 2 3 4 bumper right cycle IR LED intensity 0 1 2 3 4 button Menu toggle laser on off Figure 14 LED laser controls diagram Figure 13 Go to position controls diagram ...

Страница 28: ...and access the video stream at the same time a splitter cable is required Controlling the Robotiq gripper and gripper adapter using the Kinova robot C API This section describes how to control the gripper and gripper adapter using the Kinova API While the Robotiq gripper can be controlled using the Kinova joystick the only way to control the LEDs and positioning laser without the Kinova communicat...

Страница 29: ...D on the communication adapter will be solid yellow This is a warning If this warning indication appears put down any object in the gripper as soon as possible bring back the robot to the HOME or RETRACTED positions and wait until the warning goes away before continuing to use the arm Note During normal operation the joints undergo heating They are normally covered with plastic rings which protect...

Страница 30: ...scribes 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 ...

Страница 31: ...ng unit including CB citizens band walkie talkie security fire police transceivers cellular 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 m...

Страница 32: ...duct 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 regulati...

Страница 33: ...514 277 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 ...

Страница 34: ...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 013_2018 12 R01 ...

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