Kinova Gen3 - Page 70

KINOVA
®
Gen3 Ultra lightweight robot User Guide 70
• factory restore
• protection zone reached / entered / exited
• change in control, operation, or servoing mode
A notification will include the user profile, type of event, details of the event (if applicable), and a
timestamp.
Operating mode
Operating modes are the different operational states of the robot. The operating modes for the
arm are:
• update - in process of update
• update completed - update is completed successfully
• update failed - update process started but failed to complete successfully
• shutting down - arm is in process of shutting down
• run - normal operating mode. Arm is ready to accept control inputs.
• fault - robot is in an error state
Protection zone
A protection zone defines a three-dimensional region with respect to the robot base where the
end effector or arm is either prevented from entering or where its speed is limited. Protection
zones are used for enabling obstacle avoidance. For the robot, protection zones can be one of
three shapes (or combination thereof):
• cylinder
• rectangular prism
• sphere
Sequence
A sequence is an ordered list of actions.
Servoing mode
A servoing mode is a modality through which commands are transmitted to robot devices during
operation. The servoing modes are as follows:
• high-level servoing - user(s) send commands to the base, which routes the commands to the
desired device. The base also manages a 1 kHz control loop.
º single-level - a single user sends commands to a base
• low-level servoing - the user sends commands to the base for routing to the desired device.
There are no high-level kinematics or control features available.
Upgrade package
An upgrade package contains firmware images for all devices on the robot, not just the ones
which are being ugraded.
User profiles
A user profile is a collection of basic information about the person using the robot, along with
credentials (username and password) for access. A user profile allows access to the robot to be
controlled based on login credentials, and allows permissions for reading, updating, and deleting
different configuration items to be controlled. The user profile also allows notifications for
events happening during a user's session to be associated with the user. Notifications that were
sent by the robot can be viewed in the Web App > Notifications page if the Web App is
open and connected to the robot before the notifications were sent.