Kinova Gen3 - Sensor Data Overview

KINOVA
®
Gen3 Ultra lightweight robot User Guide 53
• arm present detection
• 6-axis accelerometer / gyroscope
Actuator sensors
• motor phases current sensors (one per phase)
• motor phases temperature sensors (one per phase)
• CPU temperature sensor
• input voltage sensor
• Hall effect sensors for BLDC motor drive
• absolute rotary position encoder
• incremental rotary position encoder
• torque sensors
Interface module sensors
• voltage monitoring (future enhancement)
• temperature sensor (CPU, accelerometer and dedicated)
• 6-axis accelerometer / gyroscope
Access to sensors data
Data from some sensors can be read by users using the APIs or through the Monitoring page of
the Web Application.
The API method RefreshFeedback() in the BaseCyclic API service returns a data structure
with readings from sensors in the base, actuators, and interface. For detailed information on how
to unpack this data in an application, see the BaseCyclic API documentation.
The following tables give more information about the sensor data.
Base readings available
Table 19: Base readings available through API
Field name Description
arm_voltage arm voltage in V
arm_current arm current in A
temperature_cpu CPU temperature in °C
temperature_ambient ambient temperature in °C
imu_acceleration_x IMU measured acceleration (X-Axis)
of base in m / s
2
imu_acceleration_y IMU measured acceleration (Y-Axis)
of base in m / s
2
imu_acceleration_z IMU measured acceleration (Z-Axis)
of base in m / s
2
imu_angular_velocity_x IMU measured angular velocity (X-
Axis) ω
x
of base in ° / s
imu_angular_velocity_y IMU measured angular velocity (Y-
Axis) ω
y
of base in ° / s
imu_angular_velocity_z IMU measured angular velocity (Z-
Axis) ω
z
of base in ° / s