Kinova Link 6 - Table of Contents

Contents
Copyright notice........................................................................................................................................1
Disclaimers................................................................................................................................................2
Abbreviations.............................................................................................................................................3
Link6 overview......................................................................................................................................... 5
Intended use..............................................................................................................................................6
Unintended uses....................................................................................................................................... 6
Warranty information.............................................................................................................................. 7
Applicable firmware................................................................................................................................. 7
Technical specifications........................................................................................................................... 9
Schematics and dimensions.................................................................................................................. 11
Eective workspace......................................................................................................................13
Components............................................................................................................................................. 15
Base............................................................................................................................................................ 15
Specifications and dimensions of the base of the arm.......................................................... 15
Actuators...................................................................................................................................................16
Wrist interface overview........................................................................................................................ 17
Force torque sensor.................................................................................................................... 20
Mechanical interface...................................................................................................................20
Electrical interface...................................................................................................................... 20
Wrist interface compatibility..................................................................................................... 23
Controller overview................................................................................................................................24
Controller mounting interface...................................................................................................27
Controller electrical and communications interface.............................................................28
Teach pendant overview........................................................................................................................ 31
Industrial I/O panel overview...............................................................................................................32
Industrial I/O power supply.......................................................................................................34
General-purpose digital inputs................................................................................................. 35
General-purpose digital outputs...............................................................................................36
Analog inputs................................................................................................................................38
Analog outputs............................................................................................................................. 38
Emergency stop inputs...............................................................................................................40
Teach pendant bypass inputs.....................................................................................................41
Safety-rated digital inputs......................................................................................................... 42
Wrist I/O................................................................................................................................................... 43
Wrist power supply..................................................................................................................... 44
General-purpose inputs and outputs for the wrist............................................................... 44
Wrist RS-485................................................................................................................................. 44