Kinova Link 6 - Page 22

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EN UG-020 Link 6 user guide r1.0 14

Figure 4: Recommended reach and maximum working area, vertical and horizontal

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Protection zones on page 69

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Table of Contents2
Copyright Notice9
Disclaimers10
Abbreviations11
Link 6 Overview13
Intended Use14
Unintended Uses14
Warranty Information15
Applicable Firmware15
Technical Specifications17
Schematics and Dimensions19
EEctive Workspace21
Components23
Base23
Specifications and Dimensions of the Base of the Arm23
Actuators24
Wrist Interface Overview25
Force Torque Sensor28
Mechanical Interface28
Electrical Interface28
Wrist Interface Compatibility31
Controller Overview32
Controller Mounting Interface35
Controller Electrical and Communications Interface36
Teach Pendant Overview39
Industrial I/O Panel Overview40
Industrial I/O Power Supply42
General-Purpose Digital Inputs43
General-Purpose Digital Outputs44
Analog Inputs46
Analog Outputs46
Emergency Stop Inputs48
Teach Pendant Bypass Inputs49
Safety-Rated Digital Inputs50
Wrist I/O51
Wrist Power Supply52
General-Purpose Inputs and Outputs for the Wrist52
Wrist RS-48552
Gigabit Ethernet on the Wrist53
Safety54
Precautions54
Safety Directives and Warnings54
Risk Assessment57
Safety Equipment58
Assessments before Using the Robot58
Stop Categories59
Emergency Stop59
Move Robot Arm Without Power59
Safety Functions60
List of Safety Functions60
Stopping Time and Distance64
Diagnostic Coverage64
Safety Modes65
State Timelines of Safety Functions65
SF01 Emergency Stop Timeline66
SF02 Protective Stop Timeline67
SF03 Joint Position Monitoring Timeline68
SF04 Joint Speed Monitoring Timeline69
SF05 Monitored Stop Timeline70
SF06 Protection Zone Monitoring Timeline71
SF07 TCP and Elbow Speed Monitoring Timeline73
Robot Safety Protections and Limits74
Joint Limits75
Tool Center Point Limits76
Elbow Limits77
Protection Zones77
Tool Sphere79
Zones Pane79
Zone Shapes82
Exporting or Importing All Zones into One File84
Visualization Pane85
Safety I/O86
Safety Inputs87
Safety Outputs89
State Timelines of Safety Outputs91
Safety Checksums95
Parameters that Are the Basis for the Safety Checksum95
Arm Calibration96
Exporting Calibration Files98
Importing Arm Calibration Files99
Modes of Operation of Link 6100
Complete Start-Up Sequence101
State: O101
State: Controller Initialization102
State: Controller Idle103
State: Arm Initialization103
State: Arm Maintenance104
State: Monitored Stop105
State: Fault106
Operating Modes107
Mode: Manual Jog108
Mode: Hand Guiding110
Mode: Hold-To-Run111
Mode: Automatic113
Recovery Mode114
Robot Lights and What They Mean: a Reference115
Hardware Installation118
Inside the Link 6 Boxes118
Unpacking the Arm119
Considerations before Installing the Arm120
Installing the Arm Directly to a Surface120
Installing the Arm on a Third-Party Adapter Plate122
Unpacking the Controller122
Considerations before Installing the Controller123
Installing the Controller on a Flat Surface125
Connecting the Arm to the Controller126
Installing the Teach Pendant Mount126
Connecting the Teach Pendant to the Controller128
Connecting Power to the Controller128
Connecting a Computer to the Controller129
Connecting a Network to the Controller130
Initial Software Setup131
Supported Client Devices131
Logging in132
Repositioning the Arm to Use It for the First Time134
Kortex Web App Layout135
Menu Pages136
Indicators, User Profile, and Power138
Robot Control Panel140
System Information143
Robot Networking and Communication144
User Management146
Adding a User147
Editing a User149
Deleting a User150
Elevating Permissions151
Remote Access152
Upgrading Software153
Plugins155
Getting the Plugins for the Robot155
Installing Plugins156
Overview of Working with Plugins158
Configuring Tools159
Adding Tools160
Other Actions that Can be Taken on Tools162
Configurations for the Robot Settings163
Configuring the Controller for Robot Controls164
Configuring the Arm for Robot Controls164
Configuring the Force Torque168
Visual Programming170
Overview of the Program Page170
Variable Management172
Program Variable Management172
Persistent Variable Management175
Variables179
Examples of JSON Statements182
Adding a Variable to the Global Namespace182
Adding a Variable to a Program185
Selecting a Variable189
Deleting a Variable that Is Being Used in a Program190
Core Tiles192
Common Core Parameters in the Tile Configuration Pane193
Basic: Set Tile Parameters194
Basic: Wait Tile Parameters195
Basic: Condition Tile Parameters195
Basic: Loop Tile Parameters197
Basic: Message Tile Parameters197
Robot: Waypoints Tile Parameters198
Waypoint Parameters198
Constraint Parameters203
Custom Frame Parameters208
Debug Tools for Waypoints209
Robot: Matrix Tile Parameters211
Industrial I/O: Tiles214
Industrial I/O: Read Input Tile Parameters215
Industrial I/O: Set Output Tile Parameters215
Industrial I/O: Wait for Input Tile Parameters217
Hand Guiding Panel218
Jog Cartesian Panel219
Translation and Rotation from the Jog Cartesian Panel219
Additional Settings220
Jog Angular Panel221
Additional Settings222
Program Creation223
Creating a Program224
Debug Panel Overview225
Debugging a Program226
Program Is Ready to Use227
Running a Program in Automatic Mode227
Running a Program in Hold-To-Run Mode227
Diagnostics229
Built-In Self Tests229
Status of Safety Functions230
Status of the Controller231
Status of the Actuators237
Status of the Wrist244
Robot Monitoring245
Overview Pane of the Monitoring Page246
Detailed Pane of the Monitoring Page247
Event Notifications249
Plugins253
Arm Plugin253
Industrial I/O Plugin253
Controller Analog on the Industrial I/O Plugin Page254
Controller Digital Inputs on the Industrial I/O Plugin Page255
Controller Digital Outputs on the Industrial I/O Plugin Page256
Wrist Analog on the Industrial I/O Plugin Page257
Wrist Digital on the Industrial I/O Plugin Page258
Accessories260
Controller Wall Mount260
Installing the Kinova Wall Mount262
Gigabit Ethernet Adapter263
Dimensions of the Gigabit Ethernet Adapter263
Installing the Gigabit Ethernet Adapter264
External Emergency Stop Station265
Installing an External Emergency Stop Station265
External 3-Position Enabling Device266
Installing the External 3-Position Enabling Device267
Maintenance268
Consumables268
Preventive Maintenance269
Daily Maintenance269
Weekly Maintenance269
Quarterly Maintenance270
Yearly Maintenance270
Unscheduled Maintenance270
Fastener Maintenance271
Servicing273
Disposal274
Troubleshooting275
Issues Related to Hardware275
Why Does the Controller Have no Power275
Why Is the Robot Not Powering on275
Why Is the Robot Moving in Joint Hand Guiding Mode by Itself276
Why Is the Snapshot Button Not Working276
Why Is My Tool Not Working276
Emergency Stop277
Why Is the Wrist Enabling Device Not Enabling Hand Guiding Mode277
Why Is the Controller Hot278
Issues Related to Safety Elements278
Why Can I Not Edit any Safety Configurations278
Why Is the External Safety Device Not Working278
Why Is the Robot Stuck in Reduced Mode279
Issues Related to Modes of Operations279
Why Is Manual Mode Disabled279
Why Can the Robot Not Exit Recovery Mode279
Issues Related to Plugins280
Why Can I Not Configure Industrial I/Os280
Issues Related to Programs and Programming280
Why Can I Not Assign a Variable to a Field280
Why Are Tiles Missing in the Visual Programming Interface281
Why Can I Not Find a Program in the List of Programs281
Why Do some of the Tiles of an Imported Program Show a Question Mark282
Issues Related to Kortex Web App282
Why Is the Robot Not Going to the Programmed Position282
Why Is the Computer Not Connecting to Kortex Web App283
Why Is Kortex Web App Not Responding on My Computer284
Why Is There a Pop-Up Requesting Visual Confirmation of the Robot Pose after the Robot Reboots284
Glossary285

Kinova Link 6 - Page 22

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