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EN UG-020 Link 6 user guide r1.0

35

Label

Purpose

0V_OUT

0V output of the internal

I/O

power supply.

Use only to jump with the terminal 0V_IN.
If an external power supply is used to connect on the 0V_IN

terminal, leave the terminal unconnected.

There are specific times when you can use the external power supply for general purpose

I/O

s.

• The total output current of the I/O panel exceeds 2 A.
• The general purpose

I/O

s must be supplied from the same power supply as the rest of the

industry floor.

• The general purpose I/Os are tied to an external reference point, with up to 2000 V electrical

isolation from the rest of the controller.

Figure 30: Internal power supply terminal

connections

Figure 31: External power supply terminal

connections

General-purpose digital inputs

There are no common points between channels. Each input has its own associated 24 V wetting

port.
The panel may not work properly when there is a miswired condition coming from any other

location on the panel; this type of miswired condition does not lead to any permanent damage.

When the miswired condition is fixed, the panel starts working.

Important:

The panel may be damaged if the miswiring comes from an external device.

Important:

Miswiring issues does not apply to the 24 V power supply output.

There are isolation potentials between a channel and other circuits, including earth, as well as

between channels under normal operation.
There is no hardware state indicator for general-purpose digital points.
There are side effects when you withdraw or insert an input module that is under power.
There is an additional external load when interconnecting inputs and outputs.

+1 514-277-3777

kinovarobotics.com

© 2022 Kinova inc. All rights reserved.

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Содержание Link 6

Страница 1: ...Link 6 user guide Optional gripper shown ...

Страница 2: ...echanical interface 20 Electrical interface 20 Wrist interface compatibility 23 Controller overview 24 Controller mounting interface 27 Controller electrical and communications interface 28 Teach pendant overview 31 Industrial I O panel overview 32 Industrial I O power supply 34 General purpose digital inputs 35 General purpose digital outputs 36 Analog inputs 38 Analog outputs 38 Emergency stop i...

Страница 3: ...ored stop timeline 62 SF06 Protection zone monitoring timeline 63 SF07 TCP and Elbow speed monitoring timeline 65 Robot safety protections and limits 66 Joint limits 67 Tool center point limits 68 Elbow limits 69 Protection zones 69 Tool sphere 71 Zones pane 71 Zone shapes 74 Exporting or importing all zones into one ﬁle 76 Visualization pane 77 Safety I O 78 Safety inputs 79 Safety outputs 81 Sta...

Страница 4: ...ntroller 118 Installing the teach pendant mount 118 Connecting the teach pendant to the controller 120 Connecting power to the controller 120 Connecting a computer to the controller 121 Connecting a network to the controller 122 Initial software setup 123 Supported client devices 123 Logging in 124 Repositioning the arm to use it for the ﬁrst time 126 Kortex Web App layout 127 Menu pages 128 Indic...

Страница 5: ...le parameters 187 Basic Condition tile parameters 187 Basic Loop tile parameters 189 Basic Message tile parameters 189 Robot Waypoints tile parameters 190 Waypoint parameters 190 Constraint parameters 195 Custom Frame parameters 200 Debug tools for waypoints 201 Robot Matrix tile parameters 203 Industrial I O tiles 206 Industrial I O Read Input tile parameters 207 Industrial I O Set Output tile pa...

Страница 6: ...52 Controller wall mount 252 Installing the Kinova wall mount 254 Gigabit Ethernet adapter 255 Dimensions of the Gigabit Ethernet adapter 255 Installing the Gigabit Ethernet adapter 256 External emergency stop station 257 Installing an external emergency stop station 257 External 3 position enabling device 258 Installing the external 3 position enabling device 259 Maintenance 260 Consumables 260 P...

Страница 7: ...dustrial I Os 272 Issues related to programs and programming 272 Why can I not assign a variable to a ﬁeld 272 Why are tiles missing in the visual programming interface 273 Why can I not ﬁnd a program in the list of programs 273 Why do some of the tiles of an imported program show a question mark 274 Issues related to Kortex Web App 274 Why is the robot not going to the programmed position 274 Why...

Страница 8: ......

Страница 9: ...nd as such no part may be reproduced in part or in whole or transmitted in any form or by any means electronically or mechanically including photocopying recording or any information or storage retrieval system without prior permission in writing from Kinova 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 10: ...n of their products However Kinova does not take responsibility for any erroneous or missing information The images in this document may appear differently from what is installed in your environment If this arises make sure you have the correct guide for the robot that you have installed Note The user guide may be updated from time to time Please make sure to look at the latest version on our webs...

Страница 11: ...T EMI electromagnetic interference ESD electrostatic discharge E stop emergency stop FCCU Fault Collection and Control Unit FPU floating point unit FRAM Ferroelectric Random Access Memory FT Force Torque GPU graphics processing unit GUI Graphical User Interface HMI human machine interface IEC International Electrotechnical Commission I O input output LSB Least Significant Bit LOTO Lockout Tagout M...

Страница 12: ...em Basis Chip SC stop category SCCR Short circuit Current Rating SCU Safety Control Unit SPI Serial Peripheral Interface SWU a file format used by Kinova to package firmware updates TCP Tool Center Point TCP IP Transmission Control Protocol Internet Protocol UL Underwriters Laboratories USB Universal Serial Bus 2V5 2 5 V 3V3 3 3 V VDS Drain source voltage VMON Voltage Monitor VREF Voltage Referenc...

Страница 13: ...s Also Kinova offers a variety of optional parts Kinova wall mount kit attaches the controller to walls Graphics card kit is required in some cases for cameras and the vision module Robotiq Adapter attaches directly to the wrist and is compatible with multiple tools by Robotiq Gigabit Ethernet Adapter flange attaches directly to the wrist and is compatible with third party Vision adapters The flan...

Страница 14: ...ber indicates the level of protection from water Therefore an IP rating of 54 indicates two things about Link 6 The robot is designed to have limited protection against dust and other small objects It is limited because some small particles may still enter the robot However the robot can still operate with some particles in it The robot is designed to be protected from splashes of water from all d...

Страница 15: ...ion from Kinova within thirty 30 days of the defect becoming apparent 3 the Products have not been altered modified or subject to misuse incorrect installation or maintenance neglect accident or damage caused by excessive current or having been used with incompatible parts 4 the End User is not in default under any of its obligations under this Agreement 5 replaced Products must have the benefit o...

Страница 16: ...apply to your installation To upgrade firmware and software download the packages from the product technical resource page on the Kinova website and install them from the Kortex Web App Upgrade page Table 1 Firmware associated with the guide r1 0 Software Version Firmware 3 1 0 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 17: ...VAC SCCR 5 kA Recommended overcurrent protection device rating opens in less than 400 ms Ingress protection rating arm and controller IP54 Ambient operating temperature 0 C to 40 C Arm weight with 5 m cable 23 45 kg Arm materials Aluminum ABS plastic Installation orientation All Acoustic noise level 70 dBA Robot base footprint diameter 149 mm Lifetime 35000 hrs Table 3 Integrated force torque sens...

Страница 18: ...otrusions 454 mm x 208 mm x 395 mm Controller dimensions with covers without feet and protrusions Controller weight approx 17 6 kg Processor Intel Core i7 processor 1 Optional GPU Up to NVIDIA RTX 3090 RAM 8 GB DDR4 Memory Storage 128 GB SSD Table 7 Teach pendant General 12 1 touch capacitive IP54 Weight approx 2 kg Table 8 Safety Notice All safety specifications are currently in progress Certific...

Страница 19: ...egration purposes The arm must be placed such that it can perform the desired task safely Remember Add the height of the end effector and its required workspace to Link 6 as well as the height of the surface on which the base is installed for an accurate assessment of the amount of space required to install a robot Each joint can turn as much as 360 and 360 Trying to turn more than that when manua...

Страница 20: ...1 70 Figure 2 Arm dimensions in millimeters The controller is a box that sits on a table floor wall or in a cabinet near the arm Note To install the controller in a cabinet or on a wall use the Kinova wall mount The wall mount is an optional accessory 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 21: ...k optimally without interference from other equipment and people when it is being integrated The workspace is limited when the robot is used in a restricted environment by using protection zones in the Kortex Web App The robot uses an three dimensional 3D oval space Take the capsule shaped aspect of the recommended reach and maximum working area into account when integrating the robot so that Link...

Страница 22: ...ink 6 user guide r1 0 14 Figure 4 Recommended reach and maximum working area vertical and horizontal Related topics Protection zones on page 69 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 23: ...nly a mounting interface for the arm It also is an electrical and mechanical interface for the first actuator The base has a cable that comes out of it that is used to connect it to the controller Attention Never disconnect the cable between the controller and the arm when the controller is switched on Figure 5 The base component Speciﬁcations and dimensions of the base of the arm The base of the ...

Страница 24: ...ators come in two sizes Three are large three are small The Size 110 actuators have more load capacity than the Size 80 actuators The Size 110 actuators are in the first three joints when counting joints from the base upward The Size 80 actuators have more speed capacity than the Size 110 actuators All actuators include dual microcontrollers and various sensors to satisfy the Safety architecture c...

Страница 25: ...ons for the user to control the robot manually buttons for the user to interact with Kortex Web App and LED status indicators on the wrist ring to indicate the current state of the robot The wrist also has a built in force torque sensor The sensor is used in different applications such as Cartesian Hand Guiding The sensor ensures the correct amount of force and torque is used with the tool The wri...

Страница 26: ...Figure 9 Top of wrist 5 0 and 180 dowel pin positions 6 Connector A M8 8 pin male connector 1 RS 485 for Modbus RTU and 1 digital I O 24 V Connector B M8 8 pin male connector 2 analog I O and digital I O configuration Figure 10 Bottom of wrist M8 connectors 7 24 V 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 27: ...pshot of the current location of the arm when you are editing a waypoint block during visual programming 3 Wrist enabling device Press and hold while moving the arm to teach it the trajectory Figure 12 Buttons on the wrist 4 End effector actions Press and as a way of using the actions of the end effectors as defined by the plugin of the end effector For example can close grippers and can open grip...

Страница 28: ...rs Its interface complies to ISO 9409 1 50 4 M6 Figure 13 Mechanical interface of the wrist Electrical interface The wrist can connect electrically with end effectors through any combination of M8 8 pin connectors central pogo pin or all central pogo pins Each of these methods is considered an interface Important Accessories that connect to the wrist may or may not use the central connection of po...

Страница 29: ...nector A has two analog I Os and four digital I Os Connector B has an RS 485 interface and four digital I Os The digital I Os of connector A and connector B can be configured independently so that you can have as many as eight different configurations Figure 15 M8 connectors when facing the connector Table 10 M8 Connectors Connector A Connector B Pin Signal Signal 1 AIO_1 RS_485_P 1 514 277 3777 k...

Страница 30: ...nce loads Output 4 mA 20 mA for high impedance loads Each digital I O can be configured in three different ways Table 12 Digital interface configurations Input or Output Bottom Range Upper Range Maximum Input low signal 3 VDC 15 VDC 15 mA Input high signal 15 VDC 30 VDC 15 mA Output 0 24 V 24V 600 mA Pogo pins In the center of the front of the wrist is an interface for pogo pins It is supplied wit...

Страница 31: ...f one M8 connector is using 1 A there is only 4 A left for the other interfaces Table 14 Power limitations Electrical interface Maximum continuous current M8 8 24 V pin 1 5 A Single pogo pin in center 2 A All pins in center 5 A Related topics Wrist I O on page 43 Wrist interface compatibility The wrist must be compatible with the end effector and other peripherals attached to it Link 6 is compatib...

Страница 32: ...ected to the teach pendant or an external computer that runs Kortex Web App The controller sends commands to actuators that translate the commands into movements in the joints of the arm The controller can be placed on a table or floor It also can be mounted on a wall mail The front of the controller has switches buttons and I O ports Figure 17 Front of controller and its parts Power knob 1 A ligh...

Страница 33: ...the controller such as an exported program TP connector 5 Plug the teach pendant into the connector marked TP to connect to the controller ARM connector 6 Plug the arm into the connector marked ARM to connect it to the controller It also has a panel on the side to access I O wiring to connect to the arm of the robot Inside the panel there is a map of the location of each type of input and output F...

Страница 34: ... Back of controller 1 Fan powered air exhaust Electrical input for alternating current AC power 2 Unplug the AC power cord from the controller and use the brackets around the input to lock access to the power input whenever you perform maintenance on the robot 3 Fanless air intake RJ45 Ethernet connector 4 Use the Ethernet connector at the back of the controller to connect to the network Note Alte...

Страница 35: ...location to install the controller satisfies certain conditions The underside of the installation surface is accessible There is enough space to hold the controller There is ample space around the controller for the airflow and access Figure 22 Mounting points of the controller Related topics Considerations before installing the controller on page 115 Installing the controller on a flat surface on...

Страница 36: ...e is an access panel on the controller with a mapping of all the inputs and outputs listed directly on the back The access panel is on the side of the controller It is held closed by two camlocks Lock and unlock directions are indicated on the front of the side panel A bent lip on the door aids in guiding the door on and off the rest of the box 1 514 277 3777 kinovarobotics com 2022 Kinova inc All...

Страница 37: ...Use 8 mm hex key to unlock and lock On the inside of the panel is a mapping of the location of each input and output See Figure 19 Map of input and output connectors is on the inside of the side panel on page 25 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 38: ...EN UG 020 Link 6 user guide r1 0 30 Figure 25 Inputs and outputs map on the back of the panel 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 39: ...ef mounting plate used to tie wrap and secure cables ensures not too much strain is applied to the terminal Teach pendant overview The teach pendant is a hand held device used by integrators to configure and program the motions of a robot and by operators to select a program to run A cable connects the teach pendant to the controller The controller saves the information coming from the teach penda...

Страница 40: ...ts in a safe location out of sight to prevent confusion between active and inactive emergency stops Attention Never disconnect the cable from the teach pendant when the controller is switched on Related topics Installing the teach pendant mount on page 118 Industrial I O panel overview The controller provides general purpose electrical inputs and outputs from the Industrial I O panel It also provi...

Страница 41: ...se digital outputs are designed for accordance with IEC 61131 2 Type 1 and Type 3 electrostatic discharge ESD surge and Electrical Fast Transient EFT are designed for accordance with IEC 62326 3 1 Positive logic which is current sinking input and current sourcing output is supported on the panel Negative logic NPN is not supported on the panel Figure 29 Default factory setting with internal supply...

Страница 42: ...t generates and E stop event on all external devices connected to this terminal All inputs are not read Table 16 Internal power Internal 24 V power supply Min Typical Max Unit Voltage 23 5 24 24 5 V Current total 2 A Table 17 External power External 24 V input requirements Min Typical Max Unit Note Voltage 20 24 28 V Designed for IEC 61131 2 Current total 5 A Fused internally at 10 A The external ...

Страница 43: ...digital inputs There are no common points between channels Each input has its own associated 24 V wetting port The panel may not work properly when there is a miswired condition coming from any other location on the panel this type of miswired condition does not lead to any permanent damage When the miswired condition is fixed the panel starts working Important The panel may be damaged if the misw...

Страница 44: ... PURPOSE terminal group Table 20 Digital input terminal connections Label Purpose DI_n n 0 7 Terminal points for digital input 24_o Wetting port for each digital input Each input has its own wetting port Figure 32 Digital input terminal connections General purpose digital outputs All 0 V ports are common although each output has its own 0 V terminal All the digital outputs are short circuit protec...

Страница 45: ...0 mA Voltage drop V At maximum current Leakage current mA For low state Type Positive logic current sourcing Each output can drain up to a maximum of 500 mA If many outputs are connected and are high the maximum current available from the internal power supply could be exceeded an external power supply must be used The terminal connections belong to the GENERAL PURPOSE terminal group Table 22 Digi...

Страница 46: ...age 24 V Resolution 16 Bits Table 24 Analog inputs in voltage mode Analog inputs Min Typical Max Unit Note Voltage 0 10 V Current mA Resolution 16 Bits The terminal connections belong to the GENERAL PURPOSE terminal group Table 25 Analog input general purpose terminal connections Label Purpose AIO_n n 0 7 Terminal points for analog input 0V 0 V input to supply the analog I Os Figure 34 Analog term...

Страница 47: ...nary Coded Decimal BCD and so on The value of the data is in the Least Significant Bit LSB Table 26 Analog outputs in current mode Analog outputs Min Typical Max Unit Note Current 0 10 mA Resistance 760 ohm Resolution 13 Bits Table 27 Analog outputs in voltage mode Analog outputs Min Typical Max Unit Note Voltage 0 10 V Current 29 mA Resolution 13 Bits The terminal connections belong to the GENERA...

Страница 48: ...al connections Label Purpose AI 24 V wetting port A2 Channel A digital input B1 24 V output B2 Channel B digital input A typical installation involves a teach pendant that is connected on the front panel The emergency stop is an integrated part of the teach pendant The only thing to do is to install a jumper wire on A1 A2 B1 and B2 Figure 36 Terminal connections with jumper on A1 A2 B1 and B2 when...

Страница 49: ...u bypass teach pendant inputs If a teach pendant is connected on the front panel leave TP_A1 TP_B1 and TP_B2 open Remove any jumper wires that are installed If a teach pendant is not connected on the front panel connect TP_A1 to TP_A1 and TP_B1 to TP_B2 The terminal connections belong to the SAFETY ESTOP terminal group Table 30 Teach pendant bypass inputs terminal connections Label Purpose TP_A1 2...

Страница 50: ... an enabling device All safety rated inputs are expected to be NC when both redundant contacts are in a fault state A fault is triggered when there is a disagreement between the status of the tied redundant signals The terminal connections belong to the SAFETY DIGITAL IO terminal group Table 31 Safety rated digital inputs terminal connections Label Purpose AI_n n 0 7 Safety rated Bank A digital in...

Страница 51: ...nit RTU with an RS 485 interface and four 4 digital I Os The digital I Os of connector A and of connector B can be configured independently Figure 40 M8 connectors when facing the connector Table 32 M8 Connectors Connector A Connector B Pin Label Purpose Label Purpose 1 AOL_1 Analog In Out RS_485_P RS 485 D B 2 AOL_2 Analog In Out RS_485_N RS 485 D A 3 DIGITAL_IO1 Digital In Out DIGITAL_IO5 Digita...

Страница 52: ...ral purpose inputs and outputs for the wrist Unless otherwise specified all general purpose digital and analog inputs and outputs have the same specifications as the Industrial I Os Related topics General purpose digital inputs on page 35 General purpose digital outputs on page 36 Analog inputs on page 38 Analog outputs on page 38 Wrist RS 485 RS 485 on the wrist is used only for Modbus RTU when i...

Страница 53: ...ure 41 Plug in side Table 35 Gigabit Ethernet pins M12 X coded pin Label T568B color 1 DA white orange 2 DA orange 3 DB white green 4 DC blue 5 DC white blue 6 DB green 7 DD white brown 8 DD brown For 100BASE TX Fast Ethernet and for devices that are compatible with 4 pole D coded M12 Ethernet connect pins 1 2 3 and 6 only Single pair 1000BASE T1 is not supported Related topics Gigabit Ethernet ad...

Страница 54: ...essment and to know how to train users Use the robot as it is intended to be used Perform a risk assessment not only on Link 6 but on the entire robot system Make sure in the risk assessment that the international safety standard for robotic systems ISO 10218 1 2 is respected as well as all territory specific standards for your area when applicable Perform a Lockout Tagout LOTO procedure so that n...

Страница 55: ...rator in the risk assessment Include specific precautions with respect to earthquakes when the robot is installed in an earthquake zone Design the robot cell so that it is optimally ergonomic Install the arm and the controller such that they are easily accessible for maintenance purposes Install the arm and the controller such that they do not impede on the ergonomics of the entire robotic environ...

Страница 56: ...rained Note Training requirements are determined by the integrator s risk analysis Either warm or cool the environment before storing the robot Do not store the robot in an environment that is below 0 C Do not store the robot in an environment that is above 65 C Do not power the robot in an environment that is below 0 C the robot may malfunction Do not power the robot in an environment that is abo...

Страница 57: ...n a third party adapter plate on page 114 Risk assessment Before installing Link 6 determine all potential risks in using the robot according to applicable standards ISO 10218 ISO 12100 for robot and machine safety There are several different steps in determining all potential risks Hazard identification Identify all hazard and risk factors that can potentially cause harm Risk analysis Analyze and...

Страница 58: ...he exact number of required emergency stop buttons is determined by the layout of the system and the application of the robot One enabling device Some equipment may be useful depending on the environment standards and risk analysis Examples of optional yet useful equipment Fencing Dividers One or more light curtains to detect when something is entering the working area of the robot One or more sca...

Страница 59: ...ncy arises during the operation of Link 6 or any other part of the robot system press the E stop button Pressing the button triggers a stop category 1 which stops the movement of the robot before removing power from the arm Whenever the E stop is pressed the light behind the ACK button on the controller and the light around the wrist wring switches off Re arm the E stop button and reset the robot ...

Страница 60: ...fety functions They rely on the hardware firmware the SCU electronics sensors and other elements of the robot List of safety functions Safety functions are built into Link 6 to minimize hazards in the robot system Table 37 List of safety functions Number Name Triggers stop category Level of performance SF01 Emergency stop SC1 PLd SF02 Protective stop SC2 PLd SF03 Joint position SC2 PLd SF04 Joint ...

Страница 61: ...oes SF02 monitor SF02 monitors protective stop signals sent to the robot Protective stops interrupt the robot motion but it does not remove power from the robot It is a stop category 2 Cause of the trigger 1 Internal processes of the main processing unit MPU are avoiding a category 0 stop before safety thresholds are exceeded Remedy for trigger 1 Tap Diagnostics Notifications or tap VIEW ALL to id...

Страница 62: ...s before it reaches the limit Related topics Joint limits on page 67 Operating modes on page 99 Mode Manual Jog on page 100 List of safety functions on page 52 Status of safety functions on page 222 SF04 Joint speed monitoring What does SF04 monitor SF04 monitors the speed of each joint and compares the speeds with the limits set in the Joint Limits Speed Limits page Cause of the trigger Unforesee...

Страница 63: ...t Related topics List of safety functions on page 52 Status of safety functions on page 222 SF06 Protection zone monitoring What does SF06 monitor SF06 monitors the robot to make sure no part of the robot including the user defined tool sphere comes in contact with any of the user defined protection zones that are enabled Cause of the trigger The robot touches an enabled protection zone when opera...

Страница 64: ...ach high velocities Related topics Mode Hand Guiding on page 102 Tool center point limits on page 68 Elbow limits on page 69 List of safety functions on page 52 Status of safety functions on page 222 Stopping time and distance Stopping times and distances in accordance with ISO 10218 1 2011 are available upon request from Kinova Support Diagnostic coverage Link 6 continually monitors itself and al...

Страница 65: ...ator to set all normal and reduced speeds with respect to the risk assessment Also all reduced speeds must be configured to be less than the corresponding normal speed Reduced mode can be selected from Kortex Web App Related topics Mode Manual Jog on page 100 Mode Hand Guiding on page 102 Mode Hold to Run on page 103 List of safety functions on page 52 Robot safety protections and limits on page 6...

Страница 66: ...fety Functions Diagnostics Status SCU Emergency stop button signals disagreement Diagnostics Status SCU Teach pendant emergency stop button signals disagreement Table 39 SF01 trigger and action timeline Monitor frequency of trigger 0 01 s Trigger One of two channels of the Emergency stop safety input sends the signal to the controller The E stop button on the teach pendant is pressed Trigger resul...

Страница 67: ...y function is knowing where to find the current safety function status For the status of SF02 Protective stop function there is one place to look in Kortex Web App Diagnostics Status Safety Functions Table 40 SF02 trigger and action timeline Monitor frequency of trigger 0 01 s Trigger One of two channels of the Protective stop safety input sends the signal to the controller Trigger results stop ca...

Страница 68: ...iggered SF03 Joint position monitoring timeline Each safety function enters one of two states during operations it depends on the current state of the arm and the current mode of operation Equally important in knowing the timeline of a safety function is knowing where to find the current safety function status For the status of SF03 Joint position monitoring function there are a few places in Kort...

Страница 69: ...ployed SF03 active SF03 inactive Brake Release Arm Idle Initialization Maintenance Operating modes Operational Recovery Monitored Stop Monitored Stop Figure 44 Timeline for SF03 before and after being triggered SF04 Joint speed monitoring timeline Each safety function enters one of two states during operations it depends on the current state of the arm and the current mode of operation Equally imp...

Страница 70: ...results The operating mode is Monitored Stop The arm does not move Failsafe SF04 can experience processing errors In this case stop category 0 is deployed SF04 active SF04 inactive Brake Release Arm Idle Initialization Maintenance Fault power on Operating modes Operational Recovery Figure 45 Timeline for SF04 before and after being triggered Related topics State timeline for the safety output Norm...

Страница 71: ... robot entered the stop state is more than 0 5 Trigger results Stop category 0 is deployed The arm is in the state Fault power off Reset Tap CLEAR FAULT Reset result The operating mode is Monitored Stop Failsafe When SF05 does not receive joint positions for more than 60 ms stop category 0 is deployed Brake Release Idle Initialization Maintenance Fault power on SF05 active SF05 inactive Arm Operat...

Страница 72: ...category 2 is deployed The arm is in the state Fault power on Reset conditions All conditions must be met Tool sphere is outside all configured protection zones All checkpoints are outside all configured protection zones Reset Tap CLEAR FAULT Reset result The operating mode is Monitored Stop The arm does not move Failsafe SF06 can experience processing errors In this case stop category 0 is deploy...

Страница 73: ... Trigger At least one trigger is needed TCP translation speed is higher than the configured limit TCP rotation speed is higher than the configured limit Elbow translation speed is higher than the configured limit Trigger results Stop category 2 is deployed The operating mode becomes Monitored Stop The arm is in the state Fault power on Reset conditions The TCP translation speed is corrected to be ...

Страница 74: ... working environment configure joint limits TCP and elbow limits protection zones and safety I Os All tasks related to configuring the robot with respect to safety are performed by the integrator Important Safety parameters can be modified only when there is no power in the arm Figure 49 Accessing the safety pages The controller prevents movement speed and force outside of the configured limits Th...

Страница 75: ...ositions Additionally the speed of each joint can be configured in both normal and reduced safety modes Figure 50 Position Limits page of Joint Limits page When configuring the speed limits of the joints select either Normal or Reduced from the Safety Mode menu The limits apply to the safety mode that is selected Figure 51 Speed Limits page of Joint Limits page 1 514 277 3777 kinovarobotics com 20...

Страница 76: ...ured TCP speeds in the reduced safety mode must be less than the configured TCP speeds in the corresponding normal safety mode Important There must be no power in the arm when the robot safeties are being configured Figure 52 TCP limits Table 47 TCP configuration limits TCP limit Safety mode Range Note The range represents the limits or thresholds that trigger faults They are not in any way desire...

Страница 77: ...Figure 53 Elbow limits Table 48 Elbow configuration limits Elbow limit Safety mode Range Normal 0 m s to 1 8 m s Speed Reduced 0 m s to 0 75 m s Force n a 0 N to 200 N Protection zones Prevent or limit where the robot can move by creating protection zones The zones are three dimensional geometric volumes intended to limit the possibility of the robot running into users or objects near the it Prote...

Страница 78: ... 4 Import Important Import is available on the teach pendant only when a USB is connected in the USB port on the controller It is available from a web browser when there is no USB stick 5 Export All Important Export is available on the teach pendant only when a USB is connected in the USB port on the controller It is available from a web browser when there is no USB stick When you first access the...

Страница 79: ...d it can never be deactivated However the zone of the tool sphere can be modified Important Always make sure the tool sphere size and offset reflect reality Zones pane Create rename duplicate and delete zones from the Zones pane Export individual protection zones as XML or JSON from a web browser The zone for the end effector is always present in the pane it is listed as the Tool Sphere Important ...

Страница 80: ...m number of zones are created a message is displayed on the page indicating that no more zones can be added Also the option to duplicate from the menu is not selectable Delete Delete the selected zone A confirmation dialog launches Tap Delete to delete the zone Export XML Export the currently saved configuration of the selected zone as an XML file Important Export is available on the teach pendant...

Страница 81: ...ated zones can be left inactive Procedure 1 Tap the hamburger menu to expand the menu 2 Tap Safety Protection Zones 3 Tap in the Zones pane of the Protection Zones page A menu of zone shapes launches 4 Tap one of the three shapes The new zone with its shape is highlighted in the Visualization pane The default values of the zone is launched in the Configuration pane 5 Enter the desired values in th...

Страница 82: ...e Some properties are shared among all shape Some properties are specific to the shape The properties of the zones must be defined or configured Configure the zones in the Configuration pane Table 50 Properties specific to the tool sphere zone Properties Description Distance is measured from the x y z coordinates of the wrist flange and is measured in millimeters Position Default coordinates 0 0 0...

Страница 83: ...cription Orientation Euler Enter the orientation of the end effector using the extrinsic ZYX Euler angle convention Distance is measured from the x y z coordinates of the base and is measured in millimeters Position Default coordinates 0 0 0 Enter the length x width y and height z of the zone Length width and height are measured in millimeters Default length 250 mm Default width 250 mm Dimension D...

Страница 84: ...le robots are in the working environment Define zones for one of the robots import the file for the next robot and modify the values for it Again these new zones can be exported Important Export is available on the teach pendant only when a USB is connected in the USB port on the controller It is available from a web browser when there is no USB stick Important Import is available on the teach pen...

Страница 85: ...lates with all the zones defined in the file Example Visualization pane A visualization of the defined protection zones as well as the arm of Link 6 in its current position is in the Visualization pane The view helps to determine the protection zones in a 3 dimensional space with respect to the robot 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 86: ... to one of eight channels Each output safety function can be assigned to one or more of the eight channels Figure 61 Location of connectors for the Safety I O equipment When the physical equipment is connected to the controller through the green slots it can then be assigned a specific behavior on the corresponding channel in Kortex Web App The channels are numbered 0 through 7 1 514 277 3777 kino...

Страница 87: ...utputs simultaneously A discrepancy in states between the two channels implies there is an electrical system fault or there is a device fault Safety inputs Each input safety function can be assigned through Kortex Web App to one of eight channels When a channel is assigned to a safety input that safety input is no longer available on the other channels Access the Safety I Os page by tapping Safety...

Страница 88: ...ning After the signal is released the user must reset the robot before it can resume operations The robot must be in one of two operating modes Automatic mode Hold to Run mode Protective Stop Reset It resets a protective stop The robot is in Monitored stop when it is in a protective stop Use the reset input of the protective stop to resume operation The program resumes where it left off provided t...

Страница 89: ...abling device behavior When one enabling device is pressed regardless of where it is the robot is enabled CAUTION It is possible that more than one enabling device is connected However only one enabling device should be used at a time When there is an electrical system or device fault the robot comes to a category 0 stop Acknowledge Automatic Mode The channel overrides the ACK button on the contro...

Страница 90: ...s a specific condition The different conditions are listed in the safety output menu Connect Safety Output channels to external Safety monitoring devices such as a PLC to obtain live feedback on the state of safety functions Figure 65 Safety output functions 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 91: ...l Speed Safety Mode limits It is triggered whenever the Normal Speed Mode is set and the Reduced Mode Safety function is not set Safety outputs set redundant hardware channels For example when the safety output function Emergency stop is assigned to channel 3 it actually is assigned to both AO_3 and BO_3 By using redundant hardware channels load capacity and the speed of switching between supplyin...

Страница 92: ...nes of safety functions on page 57 State timeline for the safety output Arm Moving Each safety output enters one of two states during operations it depends on the current state of the arm and the current mode of operation Equally important in knowing the timeline of a safety output is knowing where to find the current safety output status To know the status of the safety output Arm Moving look at ...

Страница 93: ...Moving State timeline for the safety output Normal Speed Mode Each safety output enters one of two states during operations Safety Mode is defined as either Normal speed or Reduced speed To know the status of the Normal Speed Mode look at the Safety Mode drop down in different areas of Kortex Web App Safety Joint Limits Speed Limits Safety TCP Elbow Limits TCP Limits Safety TCP Elbow Limits Elbow ...

Страница 94: ...m is transitioning from Reduced to Normal Arm Operational Normal Speed Mode Reduced Operating modes Recovery Figure 69 Timeline for the safety output Normal Speed Mode Related topics SF04 Joint speed monitoring timeline on page 61 SF06 Protection zone monitoring timeline on page 63 SF07 TCP and Elbow speed monitoring timeline on page 65 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights ...

Страница 95: ...If the safety parameter checksums do not match the robot enters a fault state in which the administrator must manually correct all safety parameter values This task is not time consuming provided there is a configuration build instruction available that includes the valid safety checksum value Parameters that are the basis for the safety checksum The calculation of the safety checksum is based on ...

Страница 96: ...tation speed reduced speed mode limit Safety Elbow monitoring Translation speed normal speed mode limit Translation speed reduced speed mode limit Arm calibration Microscopic assembly defects are compensated by the firmware of the robot when the arm is calibrated The calibration package contains the default calibration file associated with the serial number found on the arm its checksum and the se...

Страница 97: ...s State Description Not Calibrated The controller is switched on and validation of the calibration file is not yet started The neutral calibration package is selected and used The neutral calibration package is used because the validation of the selected calibration package fails 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 98: ...ve a backup calibration package for each unit Each backup calibration package can be re uploaded on controllers if you end up inadvertently matching an arm with a controller that is not its original controller The default arm calibration file is also known as the neutral arm calibration file It can be used to back up the default calibration for a specific arm Important Only an administrator can ex...

Страница 99: ...ion file A dialog launches with a list of all arm calibration packages on the USB drive 4 Tap the name of the calibration package that you want to import 5 Tap PROCEED Note Tap CANCEL when you do not want to export the current calibration package Results The selected arm calibration is saved in the controller Note If for any reason the imported calibration file cannot validate the neutral calibrat...

Страница 100: ...s to look for cues to determine what state the robot is in Controller Wrist Kortex Web App Location of lights to watch on the controller and the wrist Communication between the robot and the user is achieved by lights found on the controller and around the wrist ring Table 62 Controller and arm when Link 6 is off 1 Power knob 2 ACK button 3 Wrist ring Convention for the representation of the state...

Страница 101: ...uipment flashing twice per second There also is a table that explains what each portion of a graphic is attempting to represent Complete start up sequence It is a two part process to start up Link 6 first turn on the controller and then the arm This two part process means the robot goes through six different states Off Controller initialization Controller idle Arm initialization Arm maintenance Mo...

Страница 102: ...roller does not illuminate No light illuminates from the wrist Arm does not receive power The startup workflow begins with switching on the controller and switching on the arm State Controller initialization When the knob on the controller is turned to the I or on position the controller is in its initialization state Figure 75 Visual cues for controller initialization Controller lights Wrist ring...

Страница 103: ... is power in the controller but not in the arm You can recognize the Idle state by looking at the power button on the controller its light is a steady white Figure 76 Controller when it is idle Controller lights Wrist ring Description Power knob on controller illuminates white steadily Controller is fully operational and idle ACK button on the controller does not illuminate No light illuminates fr...

Страница 104: ... the functionality of the hardware in accordance with IEC60204 If the wrist ring is not white report the situation immediately to support kinova ca If the hardware needs a firmware update the arm enters the Arm maintenance state and returns to the Arm initialization state after maintenance is complete Firmware updates take approximately 5 minutes After the arm is initialized and the firmware is up...

Страница 105: ...ctuators receive firmware updates ACK button on the controller does not illuminate Wrist ring flashes white twice 2 each second Kortex Web App displays the state as Initialized After firmware is updated the Arm initialization state restarts State Monitored stop Link 6 is ready to be used and is in a standstill position it is waiting for user input 1 514 277 3777 kinovarobotics com 2022 Kinova inc ...

Страница 106: ...tate Fault Link 6 can stop unexpectedly or may need to stop suddenly There are a few main ways the robot can stop suddenly The arm exceeds the configured safety limits for position a protective stop has been issued to the arm Someone presses the emergency stop button A fault is detected Faults are failures in internal built in tests and safety functions The SCU is responsible for triggering a stop...

Страница 107: ...oller flashes white four 4 times each second An internal fault occurred ACK button on the controller does not illuminate Wrist ring flashes red twice 2 each second There is power in the arm Related topics Recovery mode on page 106 Why can the robot not exit recovery mode on page 271 Operating modes When the controller and arm are on Link 6 is in the Monitored Stop state and can be used in any of t...

Страница 108: ...lar control There are a few requirements before you start moving the arm Use the teach pendant enabling device If the pendant is not available use an external enabling device connected to the controller The enabling device must be pressed down and held in its center position There must be a request for movement coming from Kortex Web App Figure 82 Jog Cartesian icon and control panel 1 514 277 377...

Страница 109: ...ing device When the robot is in the mode Manual Jog there is a steady white light behind the power knob on the controller and a steady blue light on the wrist Figure 85 Visual cues of Manual mode 2 Disclaimer the color of the hardware in the image may differ from your installation 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 110: ...turns to the Monitored stop state Related topics Safety modes on page 57 Jog Angular panel on page 213 Jog Cartesian panel on page 211 Mode Hand Guiding Use Hand Guiding mode to move the robot to a specific location by using one hand While keeping the wrist enabling device pressed in the middle position move the arm up or down left or right forward or backwards as well as rotate the arm or the wri...

Страница 111: ...rist only during Cartesian Hand Guiding Angular Enable Hand Guiding mode by pressing the wrist enabling device Press the Hand Guiding mode Toggle button to enable one of the two Hand Guiding modes Figure 88 Location of Hand Guiding mode Toggle on the wrist When the robot is in Hand Guiding mode Link 6 operates strictly in Reduced safety speeds to reduce the possibility of injury Related topics Saf...

Страница 112: ...ring Description Power knob on controller illuminates white steadily ACK button on the controller does not illuminate Wrist ring illuminates white steadily The selected program is ready to be verified When the robot is in Hold to Run mode Link 6 can operate in either Reduced or Normal safety speeds By default the robot operates in Reduced safety speeds to reduce the possibility of injury The reduc...

Страница 113: ... program in Hold to Run mode on page 219 Mode Automatic Known as the normal mode of operation it is used to play a program sequence that has been validated When the robot is in Automatic mode Link 6 can operate in either Reduced or Normal safety speeds By default the robot operates in Normal safety speeds One of the first things the robot does when Automatic mode is selected is to activate all saf...

Страница 114: ...same fault after it has been cleared These are the faults that require a recovery strategy for the robot There are several ways a fault can be cleared and leave the robot in a fault state One example is a robot enters a protection zone and stops The fault is cleared using Kortex Web App but the arm is still within the protection zone There is only one way to get out of recovery mode Move the robot...

Страница 115: ...rm is not on Power knob on the controller flashes white twice 2 each second Power knob on the controller flashes white twice 2 each second Arm is powering on ACK button on the controller does not illuminate Controller checks whether the firmware in the arm matches the firmware in the software unit in the controller Wrist ring illuminates white steadily Kortex Web App displays the state first as In...

Страница 116: ...y direction with Kortex Web App and with the enabling device pressed in the middle position Power knob on controller illuminates white steadily The robot is operating in Hand Guiding mode ACK button on the controller does not illuminate Wrist ring illuminates white steadily Move the arm in any direction while holding the wrist enabling device button in the middle position Power knob on controller ...

Страница 117: ...n the arm Wrist ring flashes white four 4 times each second An internal fault occurred ACK button on the controller does not illuminate There is power in the arm Wrist ring illuminates red steadily The joint or zone limit is reached Related topics Indicators user profile and power on page 130 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 118: ...Important Always place the boxes so that the arrows on the boxes point up to avoid possible damage to the equipment Related topics Safety directives and warnings on page 46 Inside the Link 6 boxes Link 6 comes in two cardboard boxes Both boxes are heavy It is advisable to have two people carry each box The smaller box contains the controller a box with the accessories and a box with the teach pend...

Страница 119: ...arm is the larger of the two Link 6 boxes About this task It is recommended to unpack the contents of the arm box at the installation site for the arm Procedure 1 Make sure the arrows on the box are pointing upward 2 Open the larger box 3 Lift the layer of foam off and set it aside 4 Remove the arm from the box 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 120: ...ow which installation approach is required directly on a surface or on a mounting plate Have a minimum of two 2 people for safe installation for any orientation installation that is not on a flat horizontal surface Make sure to adjust the gravity vector for any orientation installation that is not on a flat horizontal surface Use the mounting dowel holes when your installation requires the robot t...

Страница 121: ... minimize the amount of space it takes in its packaging This packaging pose also eases installation Procedure 1 Define the location and prepare the surface according to the mounting pattern drawing 1 Dowel hole feature for optional dowel pins 2 Front 3 Back 2 Place the arm on the surface with the holes of the base lining up with the holes of the surface 3 Secure the base with 5 mm hex key accordin...

Страница 122: ...low the installation procedure outlined in the third party documentation Related topics Specifications and dimensions of the base of the arm on page 15 Safety on page 46 Safety directives and warnings on page 46 Unpacking the controller The box containing the controller is the smaller box but it contains all the accessories bought with Link 6 as well as the power cord for the controller About this...

Страница 123: ...e Secured to a wall Secured it in a stable cabinet either on a shelf or on the wall of the cabinet Note When the controller needs to be secured to a wall or to the inside wall of a cabinet it is recommended to use the optional Kinova wall bracket Wherever the controller is installed there is a set of guidelines that should be followed Do not put anything on top of the controller Make sure the cont...

Страница 124: ...ts four rubber feet However if there is a need to fix it and it cannot be fixed to the installation surface use the optional Kinova wall bracket The controller must be kept within specific temperatures ranges during storage and use Table 65 Safe temperatures for the controller Action Minimum temperature Maximum temperature Storage 40 C 65 C Powering up 0 C 40 C Operating 20 C 40 C Related topics C...

Страница 125: ...ions of the controller to ensure there is maximum airflow around the controller as well as enough space to hold the controller without putting it in a position in which it can be bumped The controller does come with anti slip feet Therefore it is possible that placing it on a suitable flat surface suffices Alternatively the controller can be secured to a flat surface Procedure 1 Align the foot mou...

Страница 126: ...f the base of the arm 2 Connect the end of the cable into the connector marked ARM on the controller 3 Screw the cable in place Installing the teach pendant mount The teach pendant comes with a flat display mounting interface FDMI that can be attached to a wall or other vertical surface When the teach pendant is not in use store it on the mount Before you begin Personnel Number of Workers 1 Suppli...

Страница 127: ...x 45 mm pattern which is not FDMI compatible However that pattern can be used to anchor the mount with M8 screws The 90 x 45 mm alternative approach is excellent for such installations as 45 mm extrusion systems Figure 98 Teach pendant mount Figure 99 Specifications of the top view of the teach pendant mount Figure 100 Specification of the front view of the teach pendant mount 1 514 277 3777 kinov...

Страница 128: ...to the teach pendant Procedure 1 Take the cable that comes out of the teach pendant 2 Connect the end of the cable into the connector marked TP on the controller 3 Screw the cable in place Connecting power to the controller The controller requires power to power the rest of the robot Before you begin The AC power line must be protected with a 15 A circuit breaker or equivalent overcurrent protecti...

Страница 129: ...y if the computer is connected to the controller Before you begin You need to have an Ethernet CAT5 cable About this task You can use a computer to program Link 6 particularly when you want to program the robot with minimal downtime Procedure 1 Connect one end of the cable to the Gigabit Ethernet port on the front or back of the controller 2 Connect the other end of the cable to the computer 1 514...

Страница 130: ...u need to have an Ethernet CAT5 cable About this task You can use a computer to program Link 6 particularly when you want to program the robot with minimal downtime Procedure 1 Connect one end of the cable to the Ethernet port on the front or the back of the controller 2 Connect the other end of the cable to the network computer 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved...

Страница 131: ... the controller over a wired Ethernet Kortex Web App is a responsive web application It is designed to adapt itself to various aspect ratios and resolutions so that it can run on multiple platforms There are two types of users who use the teach pendant The integrator can use the teach pendant when they configure or program the robot The operator can use the teach pendant to run a validated program...

Страница 132: ...o that there is an established network connection When you use Kortex Web App in a teach pendant make sure it is connected to the controller There is no need to establish a network connection in this case Link 6 may still be in its package position It also is possible that it is in its home position Figure 103 Link 6 in its package position About this task Kortex Web App is a Web based Graphical U...

Страница 133: ... if it is connected to the controller Kortex Web App launches automatically It uses the default IP address 192 168 1 10 if it is connected to an external device using an Ethernet cable Kortex Web App launches its login dialog 2 Enter the user name and password of the admin user Username is admin Password is admin Important Change the admin password when this is the first log in Important Usernames...

Страница 134: ...and the admin user must be logged on The robot is in its factory settings which means there are no programs yet Use Kortex Web App in close proximity to the robot arm to make it easier to reposition the arm for the first time Figure 104 Link 6 in its package position Table 66 Angles of each joint from joint 1 to joint 6 of the packagimg pose Joint Packaging pose angle 1 90 2 0 3 152 4 0 5 62 6 0 F...

Страница 135: ...of its packaging pose and into a stable starting pose Alternative Press and hold the teach pendant enabling device and use Jog Angular 3 Release the wrist enabling device The arm is now in the correct position to begin programming Kortex Web App layout Kortex Web App is made of several sections 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 136: ...er 8 Main information panel 9 Robot control panel Menu pages From either the Hamburger and a Quick Menu you can access the different Kortex Web App functionalities When you first log in to Kortex Web App you are brought automatically to the Quick Menu page All of the most frequently accessed pages are there Tapping on any of the items in the Main information panel brings you to the selected functi...

Страница 137: ...the maximum translation and rotation speeds as well as the maximum force and torque that can be used on the TCP and the elbow Protection zones Define the zones where the robot is not to enter Safety I Os Define the behavior of the equipment connected to the safety I Os on the controller on the corresponding input and output channels Access everything you need to create a program from the Programmi...

Страница 138: ...w and modify the existing network communication system Remote Access Access the robot remotely with single source control Users View modify and add users who can use the robot All admin users and operators are listed on this page Upgrade View the current version for Kortex Web App the firmware bundle and firmware versions Upgrade the robot to the latest software and firmware updates Reset the robo...

Страница 139: ...monitoring reduced speed mode limits Safety elbow translation speed monitoring normal and reduced speed mode limits The administrator is responsible for writing down the checksum when they are satisfied with the safety configuration Any change in the value displayed in the Safety checksum icon indicates a change in the safety configuration Tap Notification icon to launch the Eventspage The admin u...

Страница 140: ...iting to be used The Arm Power On icon indicates the arm of Link 6 is on The icon is green The states above the Robot control panel indicate the arm is operational Tap to switch the arm off When the arm is switched on the state of the arm shows that it is on and is operational ds The Robot status icon changes to Monitored Stop Related topics Event notifications Robot lights and what they mean a re...

Страница 141: ...panel are the manual control modes as well as the enabling device status Figure 110 Virtual controls and mode toggles with enabling device off and then on Tapping any one of these three buttons launches a window with controls The controls are available only when the enabling device is held in the middle position Modes available in Hand Guiding mode Virtual controls in angular Hand Guiding mode 1 5...

Страница 142: ...o expand the view of the controls Tip Tap the down arrow in the corner to collapse the view of the controls Virtual controls in Cartesian Manual Jog mode Tip The controls are available only when the enabling device Is held in the center position Tip Tap the up arrow in the corner to expand the view of the controls Tip Tap the down arrow in the corner to collapse the view of the controls 1 514 277 ...

Страница 143: ...ciated with it whether to know whether it is eligible for an upgrade or Support requests specific information fomr you about the robot check the Information page Access the Information from the Systems menu Figure 111 Information page when first launched Tap on Controller Product or Arm to access the associated system information Table 67 Information available on each system pane System part Assoc...

Страница 144: ...Number Part Number Revision Serial Number Actuator Safety MCU1 through Actuator Safety MCU6 Bootloader Version Arm MAC Address Robot networking and communication An Ethernet cable connects the controller of Link 6 to the rest of the network Link 6 can be connected to an IPv4 network All local networking and communication configurations are accessed by tapping Systems Networks 1 514 277 3777 kinova...

Страница 145: ...n the appropriate values IPv4 Address IPv4 Subnet Mask IPv4 Default Gateway When you change the values on the Network page tap APPLY for the values to take effect Tip The IPv4 address can be entered in Kortex Web App from a web browser on a computer instead of the teach pendant as long as the computer is connected to Link 6 using the Ethernet port 1 514 277 3777 kinovarobotics com 2022 Kinova inc ...

Страница 146: ...an admin is able to create users but an operator cannot However both are able to run a validated program When there is a star beside the User profile icon the user is an admin user When there is no star the user is an operator user Table 68 Access to pages depending on role Admin user Operator user Login Login Quick Menu Home page Programs Status Monitoring Notifications Robot Plugins Tools x Vari...

Страница 147: ...for specific events by type and by date range º Control what is displayed on the Events page º Select an event and delete it view only Systems Information View only Robot Configure Networks Configure Plugins Install and configure Tools Add and configure Upgrade Upgrade software and firmware Users Manage users Remote Access Enable and disable Modbus protocol and Kortex API communication Systems Inf...

Страница 148: ...ers page Important The first time the Users page is accessed one user is already listed That is the Administrator user account used to log into Web App 2 Tap in the bottom right corner to add more users The Add User dialog launches 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 149: ...ated in the system it is possible that the user s name was misspelled a different username needs to be used the password needs to be updated or the user wants to work in a different language In all these cases the admin must edit the user information About this task The admin edits users in the system Procedure 1 Tap Systems Users All users are displayed on the Users page 2 Tap on a user s name 3 ...

Страница 150: ...nge the user s password The Update password dialog launches 7 Enter the Old Password new Password and Retype Password 8 Tap UPDATE Results All edited information is saved automatically Deleting a user Sometimes a user needs to be removed from the system About this task The admin removes users from the system 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 151: ...o delete the user 3 Tap Delete A Delete the user confirmation dialog launches 4 Tap Delete to delete the selected user Results The selected user is deleted from the system Elevating permissions The role of a user may need to change from operator to admin user Before you begin Log in Kortex Web App as an operator About this task An operator can elevate their permissions to the administrator level o...

Страница 152: ...or is to look at the User Profile icon An adminstrator user has steady star on the User Profile icon An administrator user cannot downgrade their permissions An operator with elevated permissions has a flashing star on the User Profile icon An operator with elevated permissions can downgrade their permission level An operator with operator level permissions has no star on the User Profile An opera...

Страница 153: ...s Slave protocol and the Kortex API The enabled state of the protocol and the API are maintained or persist so that they are always there after booting and rebooting Figure 114 Remote Access page Important The Kortex API button is for internal use only Upgrading software There are continuous improvements made to Link 6 Make sure that your operations take advantage of these improvements by upgradin...

Страница 154: ...p Systems Upgrade The Upgrade page launches It shows the current version of Kortex Web App Web Client API firmware bundle and firmware versions 3 Download the new software package from a computer onto a USB 4 Place the USB into the drive on the controller 5 Tap UPLOAD A file explorer window launches 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 155: ... cannot be uninstalled Arm plugin The plugin handles all actions needed to control the arm The configuration and settings of the arm are not visible because they are not modifiable Industrial I O plugin The plugin handles all general I O between the controller and on the wrist That is the plugin exchanges information using pure electrical signals through cables connected to some other piece of equ...

Страница 156: ... 1 Download the plugin installation file plugin_name_ version kp 2 Save the plugin installation file in the root directory of the USB storage device 3 Eject the USB after the transfer of the plugin installation file is complete 4 Plug the USB storage device on the controller 5 Switch on the teach pendant 6 Enter the administrator credentials 7 Tap CONNECT 8 Tap POWER ON The arm is switched on What...

Страница 157: ... Procedure 1 Tap Systems Plugins The Plugins page launches 2 Tap A Plugin Installation dialog launches 3 Tap SELECT FILE A window launches 4 Browse and select the file with kp extension 5 Tap Open The Plugin Installation dialog shows the name of the selected file 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 158: ...elected plugin Important Tap Stop before you attempt to modify the current configurations Important Tap Run after you modify the configurations The plugin runs with the latest configuration values When there are no modifiable configurations in the plugin a message is displayed This plugin does not expose any configuration 4 Tap About to view important information about the selected plugin Name Pac...

Страница 159: ...ool configuration operations Procedure 1 Tap Systems Tools The Tools page launches The tools are listed on the left side in two groupings Active and Inactive The flange is always listed in the Active tools list because all tools are attached to it The center is a 3D view of the arm that can be moved around to help you visualize the tool reference frame Tap or to zoom in or out Hold and move the vi...

Страница 160: ...ill in the Inactive pane 4 Drag each tool in the order they are assembled onto the flange of the wrist Adding tools Custom tools may not come with their own plugins They still can be added to the robot so that the robot can take the tool into consideration when following position commands Before you begin Know the mass transformation center of mass and inertia matrix of your tool About this task T...

Страница 161: ...ixy ixz iyy iyz izz in kg m 2 3 DANGER Make sure the Mass and Center of Mass input for the payload correspond to the physical mass and center of mass of the payload installed on the robot If the physical mass and physical center of mass of the payload does not match what is entered in the Create new custom tool form it could lead to erratic behavior of the robot when it is used in Hand Guiding mod...

Страница 162: ...OL The new tool is added to the list of available tools Other actions that can be taken on tools There are three actions you can take on available custom tools 1 Rename Enter a new name and press Enter The name of the tool changes 2 Duplicate The tool is duplicated as Copy of followed by the name of the copied tool 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 163: ...e robot settings Some of the robot settings in the controller the arm and the force torque sensor in the wrist are configurable All configurations specific to the robot are accessed by tapping Systems Robot Figure 119 Access the robot settings Related topics Restoring factory defaults 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 164: ...tings pane to reinstate factory settings in the base Remember When you restore factory settings all configurations plugins and programs are deleted 2 Tap the Acknowledge Automatic Mode slider to enable or disable the use the ACK button on the controller to confirm running a program in Automatic mode Note By default the Acknowledge Automatic Mode is enabled Conﬁguring the arm for robot controls The...

Страница 165: ...ation that is not on a table or floor because it is not oriented up 1 Tap Gravity Vector to access configurable parameters of the gravity vector of the arm The Gravity Vector pane launches 2 Enter values for x y and z in m s 2 expressed in the Base reference system 3 Tap SEND A confirmation dialog launches when errors are suspected 4 Tap PROCEED to send the gravity vector values to the controller ...

Страница 166: ...og launches 9 Tap PROCEED to send the mass of the object that is to be picked to the controller or tap CANCEL to cancel the values entered 10 Tap CLEAR to erase the values from the page 11 Enter the Mass Center in meters of the object being picked 12 Tap SEND 13 Tap CLEAR to erase the values from the page Configuring the calibration parameters of the arm Calibrating the arm leads to increased accu...

Страница 167: ...ion file pane to import a calibration file when the controller is replaced Calibration files can be imported only when the robot is idling with the arm switched off The arm is recalibrated with the content of the file only after a reboot of the robot 17 Tap Export from the Export calibration file to export the current calibration file before changing the controller 18 Tap RESTORE in the Restore ne...

Страница 168: ...rce torque on the robot must be performed when the robot is in Monitored Stop Force torque is measured with respect to the base of the robot Access the Force Torque Sensor page by tapping Systems Robot Force Torque Procedure 1 Look at the force and torque values in the Force torque sensor value pane The values are relative to the reference frame at the flange of the robot It displays the current F...

Страница 169: ...ached to the robot If a tool or payload is already attached to the robot make sure the correct values for the mass and center of mass are entered accurately 3 Tap PROCEED to zero the force torque sensor or tap CANCEL to cancel the Zero operation Resetting 4 Tap RESET in the Reset force torque sensor to restore the default offsets of the force torque sensor A confirmation dialog launches with the w...

Страница 170: ...act with external devices The result is accurate trajectories with reduced downtime for the robot Figure 120 Programs page after programs are created Overview of the Program page The Program page is where programs are created and debugged Tap Programming Program to access the visual programming interface Figure 121 Parts of the Program page 1 Tap to access the Action menu 2 Enter a meaningful name...

Страница 171: ...n be performed on the program in the Sequence editor pane The additional tasks are Duplicate Delete and DeleteExport JSON 10 Drag available Tiles from the Action menu into the Sequence editor pane to create a program 11 Sequence editor pane is a drag and drop timeline editor of tiles that are executed by the program when it runs 12 Tap on any tile in the program to populate the Tile configuration ...

Страница 172: ...ed in Hold to Run mode Variable management Define variables for the entire robot and for specific plugins within the scope of the program Variables in the program affect how the robot functions To access the Variable Manager page select a program from Programming Programs Tap on the selected program s page The Variable Manager page launches with the available Program Variables The variables are us...

Страница 173: ...hen the variable is being used in a program If you attempt to change the type a warning dialog launches Tap CLOSE to close the dialog Nothing changes on the Variable Manager page 4 The Schema of the variable is available only for Object types Tap it to change the Schema Note You cannot change the type of the variable when the variable is being used in a program If you attempt to change the type a ...

Страница 174: ...t the name of the variable The Edit variable dialog launches and shows where the variable is already in use Important When you change the name of a variable that is already in use make sure to select Rename all references Figure 124 Edit variable dialog when the variable is in use Figure 125 Edit variable dialog when the variable is not in use Tap to duplicate the current variable The duplicated v...

Страница 175: ...am even if the variables are accessible to all programs There are more restrictions with managing persistent variables To access the Variable Manager page select a program from Programming Programs Tap on the selected program s page Tap Persistent Variables to access variables that are accessible to all programs Some of the persistent variables are not modifiable they are related directly to the b...

Страница 176: ...ariables is selected 2 Select the Namespace in which you want to work As a minimum the available namespaces are globals arm_plugin and modbus_slave It is possible that additional plugins that are installed on Link 6 also have persistent variables they are available within the plugin namespace 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 177: ...als namespace 4 Name of variable 5 The Type of the variable is displayed Tap it to change the type Note You cannot change the type of the variable when the variable is being used in a program If you attempt to change the type a warning dialog launches Tap CLOSE to close the dialog Nothing changes on the Variable Manager page 6 The Schema of the variable is available only for Object types Tap it to...

Страница 178: ...s that you can take on persistent variables that are modifiable Tap to edit the name of the variable The Edit variable dialog launches and shows where the variable is already in use Important When you change the name of a variable that is already in use make sure to select Rename all references Figure 130 Edit variable dialog when the variable is in use Figure 131 Edit variable dialog when the var...

Страница 179: ...ariables defined on this page are defined in the global namespace For instance when a variable needs to be shared among all parts of the robot use the namespace globals when a variable needs to be shared between a plugin and the robot use the namespace that corresponds to that plugin All variables defined from the Variables page with the globals namespace can be found in the Variable Manager page ...

Страница 180: ... a search for variable package in global namespace 4 Tap the filter icon to filter the list of variables by Type and by Schema on the Variables page Figure 136 Filter panel Select a filter type from the Type menu All Boolean Number Object and String Boolean True False Number Integer float Object Complex structure String Text Select a Schema type from the Schema menu list when the Type is Object Th...

Страница 181: ... pair values as necessary 8 When the modifiable global variable is of type Number select the unit to be associated with the variable unspecified s mm kg mm s mm s 2 s s 2 N mA V C N m Note Units are used in context of selecting a number to validate its compatibility with the selected field 9 There are at most two actions that can be taken for each modifiable global namespace variable Edit Delete T...

Страница 182: ...ontreal 3 Access the value John by writing meaningful_variable_name employee name Define a variable named var as an array of values 1 n 0 1 2 3 4 5 The result of var n 0 is 0 and of var n 3 is 3 Deﬁning iterators When you define a variable as an iterator it must be defined as type Number The first index is always 0 var n i outputs the value of each iteration over the array Adding a variable to the...

Страница 183: ...ntence Boolean False or True Number Integer or floating point number Object A Schema Unspecified Default Pose Default Joint Angles Arm Plugin Matrix Output Arm Plugin Waypoints Output Note The schemas that are listed are the default schemas 6 Only when the variable is of Type Number Enter a number in the Value box and associate a Unit of measurement from the menu Important When you leave the Unit ...

Страница 184: ...tap SAVE The information entered can then be available in entities of various tiles Figure 138 Editor for object type Unspecified Figure 139 Editor for object type Default Pose Figure 140 Editor for object type Default Joint Angles Figure 141 Editor object type Arm Plugin Matrix Output 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 185: ...can be added to the namespace of the program from the Select Variable page About this task Variables that are added to the program namespace are available as Program Variables on the Select Variable page Procedure 1 Tap Programming Programs and select a program The Program page launches 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 186: ...able you need to create 4 Tap The Create Variable dialog launches 5 Enter a meaningful name for the variable Underscores are allowed Spaces and dashes are not allowed in the name 6 Tap SAVE The new variable is displayed on the Variable Manager page 7 Select a Type for the variable Option Description String A word phrase or sentence 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reser...

Страница 187: ... Output Arm Plugin Waypoints Output Note The schemas that are listed are the default schemas 8 Only when the variable is of Type Object Tap the Value icon next and enter the values in the JSON Object Editor and tap SAVE The variable is available in entities of various tiles Figure 143 Editor for object type Unspecified Figure 144 Editor for object type Default Pose 1 514 277 3777 kinovarobotics co...

Страница 188: ...ult Joint Angles Figure 146 Editor object type Arm Plugin Matrix Output Figure 147 Editor object type Arm Plugin Waypoints Output 9 Tap CLOSE The Select Variable page closes and the Program page is displayed 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 189: ... global variables are already defined Procedure 1 Tap a tile in the program 2 Tap X beside any field Note The X that launches the Select Variable page is displayed in different locations in the Tile configuration pane depending on which tile is selected in the program The selectable variables are filtered based on the type schema and units associated with the field The Select Variable page launche...

Страница 190: ... box Remember The name of the selected variable is in the text box where the Select Variable is invoked Tip Clear any text field that is filled with a selected variable or selected variable element by tapping the X beside it Deleting a variable that is being used in a program When you duplicate a program to speed up program creation you may find that some variables are not needed for your new prog...

Страница 191: ... where the variable is used in the program Procedure 1 Close 2 Take note of all the places the variable is used in the program 3 Tap CLOSE on the Delete warning dialog 4 Tap CLOSE on the Variable Manager page 5 Tap on the tile corresponding to the location of the variable 6 Tap the X beside the variable in the Tile configuration pane The field clears 7 Launch the Variable Manager page 8 Select the...

Страница 192: ... Create a condition in the program Loop Create a loop in the program Message Create a message in the program Note Runtime values of variables can be printed in messages by using the syntax variable_name Set Set the value of a variable If there is a default value Set overrides the default value Wait Time Introduce a period of time to wait before proceeding to the next step in the program Figure 150...

Страница 193: ...f the Tile configuration pane changes dynamically with the selected tile However there are a few parameters that remain the same for all tiles Figure 151 Common parameters in the Tile Configuration pane Table 72 Entities common to all core tiles Item Description Action Name Enter a meaningful name for the currently selected tile Output Results To Variable Output results of a variable that is selec...

Страница 194: ...t Variable page and store the value you entered in a variable Figure 152 Tile configuration pane when Set is the current tile Table 73 Core basic Set entities Item Description Action Name Select an action from the list that launches when you tap it or enter a meaningful action name for the selected tile Variable Enter a meaningful name for the variable Note Tapping the text field launches the Sele...

Страница 195: ...me is the current tile Table 74 Core basic Wait Time entities Item Description Time Enter either an integer or a floating point value Time is measured in seconds Basic Condition tile parameters The Condition tile is a core basic tile When you drag it into an available tile in the Sequence editor pane the Tile configuration pane changes dynamically to expose the entities of Condition that can be co...

Страница 196: ...an select or create a variable to use in the condition Comparison operator Select from the drop down Type Select from the drop down Boolean true false Number integer or floating point Text string of letters Value Enter or select the value associated with the selected type Tap to introduce an alternative condition as an Else If statement The Else If also requires a Variable Comparison operator Type...

Страница 197: ...ntities of Loop that can be configured Basic Message tile parameters The Message tile is a core basic tile When you drag it into an available tile in the Sequence editor pane the Tile configuration pane changes dynamically to expose the entities of Message that can be configured Use Message when you want to print messages when a program runs Figure 156 The Tile configuration pane when Message is t...

Страница 198: ...aypoints are grouped into three parts Each part is a sub pane in the Tile configuration pane Each sub pane is accessible by tapping on its name Waypoints Constraints Custom Frame Tip Whenever you see X beside an exposed entity tap it to launch the Select Variable page and store the value you entered in a variable Waypoint parameters Each Waypoints tile in a program must define one or more waypoint...

Страница 199: ...to the list of waypoints for the currently selected waypoint tile The waypoint is added to the list of waypoints Parameters for the new waypoint launches in the Waypoints sub pane The parameters that are displayed depend on what is selected from Type Index Each waypoint in the list of waypoints in the waypoints tile has an associated index number The first waypoint is 1 the second is 2 and so on N...

Страница 200: ...o the frame of reference Base Tool Custom Pose Pose is expressed in Cartesian coordinates X Y Z The current Cartesian position of the waypoint selected in the list is displayed Change the values if you know your values are more accurate than what is currently listed Measurements are in millimeters Theta X Theta Y Theta Z The current angular position of the waypoint selected in the list Change the ...

Страница 201: ...c acceleration limits Select when you want to use specific acceleration limits on the robot at the selected waypoint instead of using the parametric values shared among all waypoints in the list The Acceleration Limits sub pane launches Acceleration Limits sub pane TCP Translation Acceleration Drag the slider to or enter the desired translation acceleration for the TCP at the selected waypoint Min...

Страница 202: ... the waypoint selected in the list is displayed Change the values if you know your values are more accurate than what is currently listed Minimum of each joint 357 Maximum of each joint 357 Use waypoint specific speed limits Select when you want to set a specific speed limit on the robot at the selected waypoint instead of using the parametric values shared among all waypoints in the list The Spee...

Страница 203: ...t a specific speed limit on the robot at the selected waypoint instead of using the parametric values shared among all waypoints in the list The Acceleration Limits sub pane launches Acceleration Limits Acceleration Limits for Joint 1 Joint 2 Joint 3 Joint 4 Joint 5 Joint 6 Drag the slider to or enter the desired acceleration at each joint for the selected waypoint Minimum 1 s 2 Maximum 600 s 2 Co...

Страница 204: ... the slider to or enter the desired rotational speed for the TCP at the selected waypoint Minimum 1 s Maximum 600 s Acceleration Limits sub pane TCP Translation Acceleration Drag the slider to or enter the desired translation acceleration for the TCP at the selected waypoint Minimum 10 mm s 2 Maximum 12 000 mm s 2 TCP Rotation Acceleration Drag the slider to or enter the desired orientation accele...

Страница 205: ...EN UG 020 Link 6 user guide r1 0 197 Figure 161 Constraints applied to all joints of an angular waypoint 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 206: ... 0 198 Figure 162 Constraints applied to specific joints of an angular waypoint Table 81 Constraints for angular waypoints Item Description Speed Limits sub pane 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 207: ... 320 s Same limit for all joints Deselect when you want to constrain one or more specific joints by a specific speed Tip A message launches under each joint where the speed you select exceeds the safety speed defined on Safety Joint Limits Speed Limits Joint 1Joint 2Joint 3 Drag the slider to or enter the desired speed for the specific joint at the selected waypoint Tip A message launches when the...

Страница 208: ...Minimum 1 s Maximum 1000 s Same limit for all joints Deselect when you want to constrain one or more specific joints by a specific acceleration Joint 1Joint 2Joint 3 Drag the slider to or enter the desired speed for the specific joint at the selected waypoint Minimum 1 s Maximum 600 s Joint 4Joint 5Joint 6 Drag the slider to or enter the desired speed for the specific joint at the selected waypoin...

Страница 209: ...he debug tools are not valid during an actual run of the full program Figure 163 Tools for debugging waypoints Table 82 Tools for debugging waypoints Item Description Go To Options Play All Waypoints Play all waypoints listed in the Waypoints tile Play Custom Range Play only the waypoints within the range defined in Custom Range 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved...

Страница 210: ...matically moves SET AS FIRST GO TO Tap to move the arm automatically to the coordinates of the selected waypoint and treat the selected waypoint as the first waypoint to move to automatically Go to Options changes automatically to Play Custom Range Custom Range displays the index of the waypoint selected as the first waypoint to which the arm automatically moves When the last go to waypoint is not...

Страница 211: ... to update the orientation or pose of the arm automatically with the actual orientation or pose of the arm at the currently selected waypoint Tap PLAY from the Waypoints sub pane to check the Cartesian poses and orientation of the arm at each of the locations in the Waypoints list Tip Available only in Hold to Run mode when you are testing the waypoints for the program you are creating Robot Matri...

Страница 212: ...ties on the Parameters sub pane Item Description Grid Number of rows Enter the number of rows in the matrix Number of columns Enter the number of columns in the matrix Starting point Select from the drop down Bottom left Bottom right Top left Top right Order Select from the drop down Rows first zigzag Rows first back and forth Columns first zigzag Columns first back and forth Randomized Layers Num...

Страница 213: ...le that defines the distance between layers Bottom to top Select to run the matrix from the bottom layer to the top layer Deselect to play from the top layer to the bottom Figure 165 Entities of the Matrix tile on the Coordinates sub pane in the Tile configuration pane 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 214: ...can also use the snapshot button on the wrist of the robot to set the end of the first row Other end of the first column Enter values for X Y and Z Remember Tap UPDATE when you change the values in the text boxes Tap CLEAR to undo changes you made Note You can also use the snapshot button on the wrist of the robot to set the the end of the first column Industrial I O tiles The Industrial I O plugi...

Страница 215: ...ead Input parameters Item Description Read Input X Input Type Select one of the available read input types Digital Analog Wrist digital Wrist analog Name Displays the names of the available inupts of the chosen type as defined by the Industrial I O plugin configuration Industrial I O Set Output tile parameters The Set Output tile is an Industrial I O tile When you drag it into an available tile in...

Страница 216: ...ure 168 The Tile configuration pane when Set Output is the current tile Table 87 Industrial I O Set Output parameters Item Description Set Output X Output Type Select one of the available set output types Digital Analog Wrist digital Wrist analog 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 217: ...Tile configuration pane changes dynamically to expose the entities of Wait for Input that can be configured Use Wait for Input to pause a program untila signal is sent on an industrial input channel Figure 169 The Tile configuration pane when Wait for Input is the current tile and the Input Type is Digital Table 88 Industrial I O Wait For Input parameters Item Description Wait Input X Input Type S...

Страница 218: ... Figure 170 Hand Guiding button in the panel Figure 171 Enabling Device icon There are two types of motion in Hand Guiding mode Cartesian The tool moves according to the force and torque applied on the wrist as measured by the built in force torque sensor Joint The joints of the robot rotate according to the external torques applied at the joint Figure 172 Hand Guiding panel In this mode usually y...

Страница 219: ...d Guiding on page 102 Jog Cartesian panel To control the position and orientation of the end effector of the robot use the Jog Cartesian panel in Kortex Web App Important Jog Cartesian is accessible only when the teach pendant enabling device or an external enabling device is held in the middle position Tap Jog Cartesian in the Robot control panel to access the Jog Cartesian panel Figure 173 Jog C...

Страница 220: ... z and orientation θx θy θz of the end effector Figure 176 Values of the position of the arm Note The orientation representation uses a z y x Tait Bryan intrinsic convention Additional settings Reference frames linear speeds and angular speeds are not modified as often as other Cartesian settings but can be modified in the Jog Cartesian panel There is an up arrow in the upper right corner Figure 1...

Страница 221: ...the frame of reference Tool linear and angular with the base being the frame of reference Base linear and angular with the base being the frame of reference Figure 179 Available frames of reference in the Jog Cartesian panel Jog Angular panel To control the joint by joint movement of the robot use the Jog Angular panel in Kortex Web App With the Jog Angular panel control the robot joint angles and...

Страница 222: ...arm joints to stop responding when the limits are reached Each angle is measured in degrees The value displayed is restricted to minus or plus a full rotation that is 360 to 360 Related topics Mode Manual Jog on page 100 Additional settings Maximum speeds for actuators and fingers are not modified as often as other angular settings but can be modified in the Jog Angular panel There is an up arrow ...

Страница 223: ...m creation The admin is responsible for creating programs that can be run safely by operators It is common practice to create a program using a combination of Hand Guiding Manual Jog and Kortex Web App The combination used is a matter of preference However there are times when using Hand Guiding and Kortex Web App is the preferred approach such as when the robot arm is approaching a surface After ...

Страница 224: ...ng mode 2 Press and hold the enabling device and move the arm to the starting position 3 Let go of the enabling device 4 Tap Robot to access the tiles that are available for the robot 5 Drag a Waypoints tile in the first tile in the Sequence editor pane 6 Record the position of the robot Press the waypoint snapshot button on the wrist Tap under Waypoints in the Tile configuration pane The current ...

Страница 225: ...e it is released to the users The Debug panel launches at the end of the run of a debugging session Select one of the actions in the drop down to highlight them in the timeline 1 Action Alternatively tap on any of the events in the timeline to view the action in the drop down list 2 Event Event is the action selected from which the debugger is to run 3 Status Status is the mode of operation the ro...

Страница 226: ...eline of events Tap on any of the events in the timeline to view information related to that event Debugging a program Determine whether the program is running optimally or suboptimally by using the debugger and the play controls in the Robot control panel About this task There must be a program in the Program page Procedure 1 Tap Hold to Run 2 Tap Debug 3 Tap a tile in the Sequence editor pane fr...

Страница 227: ...knowledge Automatic Mode is enabled from Systems Robot Acknowledge Automatic Mode is enabled by default It is possible to avoid using the ACK button on the controller Disable the Acknowledge Automatic Mode button on Systems Robot Acknowledge Automatic Mode Assign Acknowledgement to one channel on Safety I Os Inputs Procedure 1 Tap Programming Programs 2 Tap the program to select a program to run 3...

Страница 228: ... of the program is more than 250 mm s a warning dialog launches Follow safety measures and confirm before proceeding The program runs at the programmed speed Note At any time in Hold to Run mode tap the Program speed control buttons to slow down the speed of the program and to resume its normal speed 5 Tap Reduced or Normal speed 6 Tap in the Robot control panel When you operate Hold to Run mode a...

Страница 229: ...ate messages that are displayed as notifications and can be found in the Events page Access all events through Kortex Web App by tapping the Notifications icon Built in self tests Kortex Web App displays notifications such as a robot component not functioning properly on the Status page The Status page displays an overview of the status of each component in the system There are several ways to acc...

Страница 230: ...atus page are the same safety functions listed with their current state Safety functions are monitored by the SCU The state of each safety function is displayed A green circle with a checkmark beside the name of the safety function indicates that safety function has no events A red octagon beside the name of the safety function indicates that safety function has errors or events 1 514 277 3777 kin...

Страница 231: ... SF07 TCP and elbow speed monitoring on page 56 Status of the controller The status of each part of the controller is displayed on the Controller pane on the Status page The status of the controller summarizes the state of the entire robot On the Controller pane you can search for different issues or view only what is failing Figure 188 Search and filter on Controller pane Some status have an tool...

Страница 232: ...nal variables cannot be accessed by users the variables may be associated with hardware problems Contact support at support kinova ca Table 89 Listing of arm status Status Not addressable by users Addressable by users Firmware update failure x External communication error x Maximum core temperature reached x Joint fault x No kinematics support x Network error x Joint detection error x Network init...

Страница 233: ...sage launches in Kortex Web App that provides information Name of the fault Error code Explanation of what can trigger the fault What can be done to fix the problem 2 Reboot the controller 3 Re install the firmware update package SWU if the error persists 4 If the problem persists contact support at support kinova ca Related topics Protection zones on page 69 Firmware update What does Firmware upd...

Страница 234: ...ected by the controller is the same as its expected configuration Cause of the trigger Communication packets may be lost between the internal devices of the robot Procedure 1 Take note of the exact error along with the conditions that seem to have triggered it 2 Reboot the controller 3 Re install the SWU package if the problem persists 4 If the problem persists contact support at support kinova ca...

Страница 235: ...erature Cause of the trigger The room where the controller is installed may be too warm There is not enough space behind the controller for its fan to disperse its internal heat properly the temperature close to the controller is warmer than the actual temperature of the room Remedy Make sure the controller has enough room to dissipate heat properly and that it operates under the recommended condi...

Страница 236: ...r velocity output by the robot during its trajectory Network error What does Network error monitor Network error monitors whether the controller can find all the expected devices on its network Cause of the trigger Communication packets may be lost between the internal devices of the robot Procedure 1 Take note of the exact error along with the conditions that seem to have triggered it 2 Reboot th...

Страница 237: ...ection zones on page 69 Status of the actuators The status of each actuator is displayed on the Actuators pane of the Status page The status of the actuators summarizes the state of the actuators On the Actuators pane you can search for different issues or view only what is failing Figure 190 Search and filter on Actuators pane Some status have an information icon beside them Tap them to view the ...

Страница 238: ...tus A green circle with a checkmark beside the actuator indicates that all status for that actuator is fine A red octagon beside the actuator indicates that at least one status of the actuator has errors More information is available by expanding the pane and possible recovery steps may be available by tapping the Notifications icon 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights rese...

Страница 239: ...EN UG 020 Link 6 user guide r1 0 231 Figure 193 Status page of the actuators with an actuator pane expanded 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 240: ...ilure Motor encoder error pin asserted MCU core cache management logic self test failure Motor encoder SPI QEI position disagreement MCU RAM self test failure Joint encoder configuration failed Joint position following error Joint encoder fault detected Joint maximum velocity Joint encoder diagnostic pin asserted Joint position limit high Joint encoder SPI QEI position disagreement Joint position ...

Страница 241: ... VREF 2 5V overvoltage Motor position disagreement VREF 2 5V undervoltage Joint velocity disagreement Motor current sense disagreement Motor velocity disagreement Motor encoder error pin asserted Motor current disagreement Joint encoder diagnostic pin asserted Safe communication failure Encoders position disagreement Independent or window watchdog reset occurred Motor housing temp sensor I2C error...

Страница 242: ...etic functions self test failure MCU core multiplier functions self test failure MCU core control flow instructions self test failure MCU core load store unit self test failure MCU core stack pointer self test failure MCU core pipeline functions self test failure MCU core FPU registers bank self test failure MCU core FPU single precision functions self test failure Procedure 1 Take note of the exa...

Страница 243: ... exact error along with the conditions that seem to have triggered it 3 Reboot the controller 4 Re install the SWU package if the problem persists 5 If the problem persists contact support at support kinova ca Core temperature too high What does Core temperature too high monitor Core temperature too high monitors whether the core temperature is below a specific temperature Cause of the trigger Tra...

Страница 244: ...ing this fault consider modifying the trajectory to reduce the duration of high applied torques Motor housing temperature too low What does Motor housing temperature too low monitor Motor housing temperature too low monitors whether the temperature of the motor housing is over a specific temperature Cause of the trigger Low internal temperature is a consequence of low ambient temperature Remedy Ma...

Страница 245: ...ems Contact support at support kinova ca When you are not able to intervene with a status you can attempt to recover on your own before contacting support 1 Take note of the exact error along with the conditions that seem to have triggered it Tip When a fault triggers a message launches in Kortex Web App that provides information Name of the fault Error code Explanation of what can trigger the fau...

Страница 246: ...either have a Universal Serial Bus USB in the port on the controller or you must be working from a computer Tapping Data Snapshot saves a JSON file that contains all the information displayed on the pane you are viewing in the Monitoring page Besides saving a snapshot of the robot and viewing the robot you can change the Actuators table to invert the top row with the first column Overview pane of ...

Страница 247: ...Y and Z measured in s Commanded tool pose X Y and Z measured in mm Commanded tool pose Theta X theta Y and theta Z measured in External tool wrench torque x y z measured in N m End Effector External tool wrench force x y z measured in N X Y and Z measured in mm Flange Pose Theta X theta Y and theta Z measured in Detailed pane of the Monitoring page The Detailed pane displays an more details about ...

Страница 248: ...oller Angular velocity X Y and Z Position of each actuator measured in Torque of each actuator measured in N m Velocity of each actuator measured in s Motor current of each actuator measured in A Voltage of each actuator measured in V Motor temperature measured in C Actuators Core temperature measured in C Theta X theta Y and theta Z measured in Tool twist linear X Y and Z measured in m s 1 514 27...

Страница 249: ... pose Theta X theta Y and theta Z measured in External tool wrench torque x y z measured in N m End Effector External tool wrench force x y z measured in N X Y and Z measured in mm Flange Pose Theta X theta Y and theta Z measured in Event notiﬁcations Notifications about the robot and actions taken in Kortex Web App are sent through Kortex Web App Access notifications of events by tapping the noti...

Страница 250: ...ls All filtering tools can be used independently or with each other Enter one or more words that may be found in the title of the notification to view all similar notifications Search bar Tap X to remove the search Search icon Tap the icon to launch the Search bar Show Columns Tap to launch the Show Columns pane 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 251: ...range Select and deselect filters based on Severity of the notification CRITICAL ERROR INFO WARNING Tap RESET to clear the current filters Filter icon Tap X to close the Filters pane 4 Active filters The filters that have been selected using the filtering tools Tap X to close the filter that is not applicable 5 Table column headers The column headers indicate the type of information that is displa...

Страница 252: ...n Details what can be done to circumvent the event if applicable 6 Tap to close the Details pane 7 Number of rows or item entries of information that is to be displayed on each page Current options are 10 25 50 100 8 The range of item entries currently displayed with respect to the number of item entries to be displayed on each page and the total number of entries that meet the filtering criterion...

Страница 253: ...t the user can use when programming the robot with the visual programming interface in Kortex Web App Each plugin also contains the parameters that can be modified in Kortex Web App from the corresponding plugin page All plugins have two pages Configurations and About Related topics Visual programming on page 162 Installing plugins on page 148 Overview of working with plugins on page 150 Arm plugi...

Страница 254: ...uts Wrist Analog Wrist Digital Related topics Variables on page 171 Variable management on page 164 Controller analog on the Industrial I O plugin page You can configure the controller with analog inputs and outputs Access the parameters available for the analog inputs and outputs of the controller by tapping Controller Analog Analog has a voltage resolution of 0 1 V and a current resolution of 0 ...

Страница 255: ...configured on the Controller Digital Inputs pane of the Industrial I O plugin page Each digital input for the controller is defined independently from the other digital input for the controller Access the parameters available for the analog inputs and outputs of the controller by tapping Controller Digital Inputs Figure 203 Controller Digital Inputs pane Parameter Description Debouncing Delay The ...

Страница 256: ...ontroller Digital Inputs pane of the Industrial I O plugin page Each digital output for the controller is defined independently from the other digital output for the controller Access the parameters available for the analog inputs and outputs of the controller by tapping Controller Digital Outputs Figure 204 Controller Digital Outputs pane Figure 205 Controller Digital Outputs pane with driver dro...

Страница 257: ...fic digital output for the controller Wrist analog on the Industrial I O plugin page You can configure the wrist with analog inputs and analog outputs Access the parameters available for the analog inputs and outputs of the wrist by tapping Wrist Analog Analog has a voltage resolution of 0 1 V and a current resolution of 0 1 A Figure 206 Wrist Analog pane 1 514 277 3777 kinovarobotics com 2022 Kin...

Страница 258: ...ly Name Enter a meaningful name for that specific analog input or output for the controller Wrist digital on the Industrial I O plugin page All digital inputs and outputs for the wrist must be configured on the Wrist Digital pane of the Industrial I O plugin page Each digital input and output of the wrist is defined independently from the other digital input and output of the wrist 1 514 277 3777 ...

Страница 259: ...escription IO Type Select either Input or Output Mode Select a mode High Impedance disabled Voltage Output Current Output Voltage Input Current Input Friendly Name Enter a meaningful name for that specific analog input or output for the controller 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 260: ...ripper Robotiq Plugin 1 1 0 Vision module Vision Plugin 1 1 0 Related topics Link 6 overview on page 5 Controller wall mount Install the controller on a vertical structure such as on a wall or in a cabinet by using the Kinova controller wall mount The wall mount can be installed on the vertical structure with and without the controller already attached to it The wall mount has pocket holes to faci...

Страница 261: ...EN UG 020 Link 6 user guide r1 0 253 Figure 209 Dimensions of the Kinova wall mount measured in millimeters 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 262: ... head Note Torque 10 N m 4 x M8 1 25 screws 14 mm Note Torque 8 N m About this task A minimum flat area required to install the wall mount is 360x448 mm The position of the controller mounting screws are at 270x406 mm Either fix the mount to the controller before installing on the vertical surface or fix the mount to the vertical surface and then fix the controller to the mount The procedure descr...

Страница 263: ...the adapter It has an RS 485 communication port All of this put together is sufficient to power most tools without needing wires It has mounting points so that other tools such as third party cameras can be installed It can be installed on the wrist at 0 or at 180 Figure 211 Wrist side of the Gigabit Ethernet adapter Figure 212 Output side of the Gigabit Ethernet adapter with close up view of the ...

Страница 264: ... mm Note Torque 7 9 N m 2 x 6 mm dowels Note The dowels are not used to stabilize the end effector they are used to guide the end effector onto the wrist Flange system position 0 and 180 About this task Installation of optional tools is done in a stacking fashion That is the Gigabit Ethernet adapter must be fixed to the wrist before other optional tools are attached to the adapter Procedure 1 Remo...

Страница 265: ...ach pendant is not used or additional E stop locations are required It is connected directly to the terminals in the controller Photo Rockwell Automation Figure 214 Rockwell Automation 800F 1YMQ3 Related topics Safety I O on page 78 Installing an external emergency stop station Whenever you need to install an external E stop station be sure to read and follow all mounting instructions from the man...

Страница 266: ...Red 1 B1 White 4 B2 Yellow 3 3 Connect the 4 pin connector to the Emergency stop station Related topics Safety I O on page 78 External 3 position enabling device The external 3 position enabling device is an optional component that provides enabling device functions in case the teach pendant is not used It is connected directly to the terminals in the controller It is connected directly to the ter...

Страница 267: ...ice 1 x Cable Tools Ferrule optional About this task View or download publications at www ca idec com Procedure 1 Make sure the controller is switched off 2 Follow the wiring instructions in Industrial I O Safety I O inputs Wiring for use of Channel 0 Terminal Controller side Wire color Pin Device side AI_0 Black 2 24_o Bank A Red 1 BI_0 White 4 24_o Bank B Yellow 3 3 Set the Safety I O to Enablin...

Страница 268: ...mum number of each part It may be wise to have more than the recommended minimum quantity listed Note Blank cells in the table Recommended spare parts list indicate there is no information available at the time of writing Table 98 Recommended spare parts list Part Manufacturer Part number Order number Quantity on hand Note Plastic dust protection cap M23 Phoenix Contact RC Z2469 1611797 1 Plastic ...

Страница 269: ... visible gaps and secure Contact support at support kinova ca Check the tools and accessories are attached correctly and are not loose Secure the tools and accessories Check the joints are not loose Contact support at support kinova ca Check the bolts on the base are tightened according to the specifications and the base does not move when the robot moves Secure the base of the arm Check the casin...

Страница 270: ... of the robot Table 102 Yearly checks for preventive maintenance Validation task Corrective action Check Protective earth grounding resistance is less than 0 1 Ω to the controller Replace the cable Check Protective earth grounding resistance is less than 0 1 Ω to the arm Replace the cable Unscheduled maintenance Even by following a maintenance schedule unexpected maintenance is required Some of th...

Страница 271: ...l exposed electrical connectors The environment is the same as usual with no additional objects in the area Remove objects that normally are not in the environment Make sure the fuse is functioning Replace the fuse Fastener maintenance To keep Link 6 safe the fasteners require regular maintenance Table 104 Fastener locations and maintenance Robot part Location Quantity Fastener type Recommended to...

Страница 272: ...t Location Quantity Fastener type Recommended torque Maximum thread engagement Mounting bracket fasteners to wall 4 M8 1 25 14 Teach pendant Mounting bracket fasteners to wall 4 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 273: ...aintenance and repair work must be performed by a Kinova expert Not servicing Link 6 in a timely manner voids the Kinova warranty Contact Kinova support to learn how to have the robot serviced 1 514 277 3777 kinovarobotics com 2022 Kinova inc All rights reserved ...

Страница 274: ...ommends that you return the device temporarily to Kinova for routine servicing that includes inspection of the robot as well as replacement and repair of any internal components that may be worn out If you wish to dispose of the robot note that the robot contains materials that can be recycled However some of the materials are deemed hazardous Specialized companies can dismantle the unit and sort ...

Страница 275: ...ind a similar issue If you cannot find an issue similar to yours please write to us at support kinova ca Issues related to hardware Examples of hardware related issues that you may have deal with the controller the arm the buttons on the wrist the tool and external equipment Why does the controller have no power Condition The power button on the controller is switched on but there is no power in t...

Страница 276: ...f the payload entered in Kortex Web App matches that of the center of mass of the payload Why is the snapshot button not working Condition When the waypoint capture or snapshot button is pressed the waypoint does not appear in the program that is currently on the Program page Cause The current context on the Program page is selecting a block that is not a waypoint block Remedy Procedure 1 Look at ...

Страница 277: ...for emergency stops Remedy Procedure 1 Make sure nothing is interfering with the robot and that it is safe to proceed 2 Remove the signal Release the e stop button such as the one on the teach pendant by turning the button 3 Clear the fault 4 Make sure the jumper configuration matches the installation Why is the wrist enabling device not enabling Hand Guiding mode Condition The robot cannot be mov...

Страница 278: ...ny safety conﬁgurations Condition None of the parameters on any of the Safety pages are modifiable Note This condition only happens when the user is an operator and is not an admin user Cause The user is an operator Only admin users can modify safety configurations Remedy Procedure Tap ELEVATE PERMISSIONS and enter the admin password Contact an admin user to discuss which safeties may need to be m...

Страница 279: ...s of operations Examples of issues with modes of operation that you may have include modes being disabled and modes that seem stuck Why is Manual mode disabled Condition The arrows of the virtual joystick of Jog Angular and Jog Cartesian in Kortex Web App are grayed out The enabling device in Kortex Web App illuminates white Cause The enabling device is not held in its center position Remedy Proce...

Страница 280: ...amples of issues you may have with plugins deal with plugin installation configuration and activation Why can I not conﬁgure Industrial I Os Condition The fields on the Configurations page of the Industrial I O plugin page are not selectable Cause The Industrial I Os need to be switched on before they can be configured Remedy Make sure the Industrial I Os are receiving power Related topics Industr...

Страница 281: ...s installed Option Description Plugin is not installed Install the plugin 2 Tap the plugin to access its Configurations page Option Description is displayed Plugin is not active Tap Run to activate the plugin is displayed Plugin is active 3 Return to the Program page of the program where the issue occurred The plugin is displayed on the page with all its available actions Cause of the trigger 2 A ...

Страница 282: ...or activated on the controller Procedure 1 Remove the program from Kortex Web App 2 Install the missing plugins 3 Activate the plugins 4 Re import the program Issues related to Kortex Web App Examples of issues related to Kortex Web App include such things as software and configuring problems Why is the robot not going to the programmed position Condition The robot is programmed to go to specific ...

Страница 283: ...connecting to Kortex Web App Condition The controller is on but Kortex Web App is not displayed on the computer Cause 1 The Ethernet cable is not connected to the computer or the controller Remedy 1 Make sure one end of the Ethernet cable is connected to the controller and that the other end is connected to the computer Cause 2 The netmask of the Ethernet interface on the computer does not match t...

Страница 284: ...se after the robot reboots Condition A pop up appears after boot It requests confirmation of pose of the robot Cause After the robot is transported or when the robot is backdriven while it is switched off a mismatch occurs between the last known position in memory and the current position Remedy If the position of robot matches the visual representation tap CONFIRM If the position of robot does no...

Страница 285: ...f the robot that is connected to the base and that moves AWG a standardized wire gauge system unit of measurement American Wire Gauge AWG B backdrive to move the robot manually without using electrical power base the bottom most part of the arm of the robot that is placed on a surface for installation BCD a way to represent each decimal digit in its binary equivalent using no more than 4 binary di...

Страница 286: ...omputer that retrieves and performs instructions central processing unit CPU CRC code that detects errors in changes to data Cyclic redundancy check CRC CRC cUL tested to Canadian standards by Underwriters Laboratories D DC type of electrical current direct current DC debounce the act of ensuring one and only one signal is used when opening or closing a contact in an electronic device DIN a German...

Страница 287: ...m EMI the operation of an electronic device is disrupted by another electronic device that is nearby electromagnetic interference EMI enabling device a device used to send a signal to the robot that the user is going to move the robot either in Manual Jog mode or Hand Guiding mode synonym pendant enabling device wrist enabling device end e ector the end of the arm of a robot also a tool or flange ...

Страница 288: ...U GUI a way of interacting with a program of a computer that involves windows dialogs icons and menus Graphical User Interface GUI synonym human machine interface HMI H hamburger menu three vertical lines that when tapped expose a menu of actions or tasks from which the user can choose usually used for main menus synonym menu hamburger main menu hazard identiﬁcation the act of identifying all haza...

Страница 289: ...r system or environment J joint position the rotational position of a joint measured in synonym SF03 joint speed the velocity at which the joint rotates measured in s synonym SF04 K kebab menu three vertical dots that when tapped expose a menu of actions or tasks from which the user can choose usually used for contextual menus synonym contextual menu menu options options menu Kortex Web App the GU...

Страница 290: ... MCU a device used in the actuators to read sensors and report sensor information Main Control Unit MCU microcontroller in computers a miniature computer integrated on a computer chip often has firmware installed on it mode describes how a function is performed Monitored stop the robot is not moving has power and is actively monitoring that it is not doing anything MPU a device in the controller t...

Страница 291: ...le and other equipment the need for the robot to be in an enclosed self contained area to operate safely NPN the meanings of binary signal levels are interchanged such that high voltage is 0 and low voltage is 1 Negative logic NPN O operator a person who uses but who does not configure the robot OSSD a device that outputs a signal to shut down the machine used as part of a safety system of a machi...

Страница 292: ...area in which a body part can get in between a stationary part and a moving part of the machinery PLC an industrial computer used in controlling manufacturing processes programmable logic controller PLC PLd Performance Level D Performance Level d PLd plugin software that is added to an pre existing base software so as to give the application additional capabilities program sequence the sequence of...

Страница 293: ...d RJ45 a jack with 8 pins robot cell a set of one or more machines that work in conjunction with one or more programmable robots robot system an entire automated system consisting entirely of robots or automated equipment role the position held that is capable of performing a specific set of tasks RS 485 a standard that defines electrical traits that are used in serial communication systems RTU an...

Страница 294: ... Unit SCU state describes the overall condition of the system in our case Link 6 stop category a type of safety control function SC SC SWU a file format used by Kinova to package firmware updates firmware update package SWU T TCP the position and orientation of the tool Tool Center Point TCP TCP IP set of communication protocols used in computer networks and in the Internet Transmission Control Pr...

Страница 295: ...ies UL USB industry computer bus standard that makes it easier to transfer data between computers Universal Serial Bus USB W wrist the part found at the end of the robot arm to which end effectors may be attached wrist enabling device enabling device located on the wrist of the robot usually as a button enabling device on page 279 synonym enabling device wrist I O the area of connector on the wris...

Страница 296: ... 2022 Kinova inc All rights reserved Optional gripper shown kinovarobotics com info kinova ca 1 514 277 3777 Proudly made in North America Quebec Canada EN UG 020 r1 0 202207 ...

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