Kinova Gen3 - Page 86

KINOVA
®
Gen3 Ultra lightweight robot User Guide 86
lower warning
Safety Item Description Hard limit
upper
Default
threshold
error
0° 10°
Input Encoder
Magnetic Mismatch
The input optical encoder
position value doesn’t
match with the magnetic
encoder position within
+/- threshold degrees.
45° 15°
0 A 6.0 A
Small
8.0 A 7.0 A
0 A 10.0 A
Maximum
Motor Current
Large
The measured current of
the motor is above upper
limit
12.0 A 11.0 A
16.0 V 18.0 V
Minimum Voltage
The voltage reading is
below lower limit.
Note: The minimum
voltage thresholds must
be lower than the
maximum voltage
thresholds.
24.0 V 16.0 V
24.0 V 30.0 V
Maximum Voltage
The voltage reading is
above upper limit.
Note: The maximum
voltage thresholds
must be higher than
the minimum voltage
thresholds.
31.0 V 31.0 V
0.0 °C 60.0 °C
Maximum Motor
Temperature
Motor temp is above
upper limit
80.0 °C 75.0 °C
0.0 °C 80.0 °C
Maximum Core
Temperature
Core temp above upper
limit
100.0 °C 90.0 °C
Non-Volatile
Memory Corrupted
Non-volatile memory
corrupt
n/a n/a
Motor Driver Fault
Driver chip reported a
major fault
Note: electronic
protection cannot be
deactivated
n/a n/a
Emergency
Line Asserted
Emergency line asserted.
Motor drive disabled
n/a n/a
Watchdog Triggered Watchdog was triggered n/a n/a