Kinova Gen3 - Device Configuration; Vision Configuration

KINOVA
®
Gen3 Ultra lightweight robot User Guide 82
Configurable item Description
Vector drive
parameters
Set vector drive parameters:
• kpq
• kiq
• kpd
• kid
Encoder derivative
parameters
Set encoder derivative parameters:
• maximum window width
• minimum encoder tick count
Command mode
Set command mode. Options:
• cyclic
• asynchronous
• cyclic jitter compensation using only position inputs
• cyclic jitter compensation using position and velocity inputs
Servoing Enable servoing.
Device configuration
Table 30: Device configuration (Kinova.Api.DeviceConfig)
Configurable item Description
Run mode Set device run mode (Run, Calibration, Configuration, Debug, Tuning)
IPv4 settings Set device IPv4 address, subnet mask, default gateway
Vision configuration
Table 31: Vision configuration (Kinova.Api.VisionConfig)
Configurable item Description
Sensor
Set several discrete vision sensor settings:
Color sensor
• resolution - 320 x 240, 640 x 480, 1280 x 720, 1920 x 1080
• frame rate - 15, or 30 fps
• bit rate - 10, 15, 20, or 25 Mbps
• focus mode - manual, continuous normal, or continuous extended
Options
Set the value of any one of a number of camera settings options.
Color image settings:
• brightness
• contrast
• saturation
Depth sensor
• resolution - 424 x 240, 480 x 270
• frame rate - 6, 15, or 30 fps
Note: Higher frame rate or resolution requires a higher data
rate for best results