Kinova Gen3 - Page 85

KINOVA
®
Gen3 Ultra lightweight robot User Guide 85
The following actuator-related Safety items are viewable and configurable in the Web
application.
Table 33: Actuator Safety items
lower warning
Safety Item Description Hard limit
upper
Default
threshold
error
0° 3.0°
Following Error
The error between
the command and the
reported position is
above upper limit.
Note: Only active when
in servoing state
10° 5.0°
0 °/s 180 °/s
Small
250 °/s 200 °/s
0 °/s 100 °/s
Max Velocity
Large
The computed velocity
of the actuator is greater
than threshold °/sec.
150 °/s 120 °/s
0 N·m 29.4 N·m
Small
52 N·m 51.3 N·m
0 N·m 56.7 N·m
Maximum
Torque
Large
Torque reading higher
than x N·m.
105 N·m 104.5 N·m
0° 3.0°
Magnetic Position
Position step of more
than threshold °/ms
has been read on the
magnetic sensor.
20° 5.0°
0° n/a
Small
10° 0.4285°
0° n/a
Hall Position
Large
Position step of more
than threshold °/ms
10° 0.2145°
Hall Sequence
Invalid Hall sequence
detected.
n/a n/a
0° 1.5°
Input Encoder
Hall Mismatch
The Hall sensor position
value doesn’t match the
input optical encoder
position within +/-
threshold degrees.
10° 2.0°
0 500
Input Encoder
Index Mismatch
Input encoder index
position mismatch
2000 1000
Actuators safeties