Kinova Link 6 - Page 3

Gigabit Ethernet on the wrist....................................................................................................45
Safety........................................................................................................................................................46
Precautions.............................................................................................................................................. 46
Safety directives and warnings............................................................................................................ 46
Risk assessment...................................................................................................................................... 49
Safety equipment....................................................................................................................................50
Assessments before using the robot................................................................................................... 50
Stop categories.........................................................................................................................................51
Emergency stop....................................................................................................................................... 51
Move robot arm without power............................................................................................................51
Safety functions.......................................................................................................................................52
List of safety functions................................................................................................................52
Stopping time and distance....................................................................................................... 56
Diagnostic coverage.....................................................................................................................56
Safety modes................................................................................................................................. 57
State timelines of safety functions.......................................................................................................57
SF01 Emergency stop timeline.................................................................................................. 58
SF02 Protective stop timeline....................................................................................................59
SF03 Joint position monitoring timeline.................................................................................60
SF04 Joint speed monitoring timeline......................................................................................61
SF05 Monitored stop timeline................................................................................................... 62
SF06 Protection zone monitoring timeline............................................................................. 63
SF07 TCP and Elbow speed monitoring timeline...................................................................65
Robot safety protections and limits.................................................................................................... 66
Joint limits..................................................................................................................................... 67
Tool center point limits..............................................................................................................68
Elbow limits.................................................................................................................................. 69
Protection zones..................................................................................................................................... 69
Tool sphere.................................................................................................................................... 71
Zones pane.....................................................................................................................................71
Zone shapes...................................................................................................................................74
Exporting or importing all zones into one file....................................................................... 76
Visualization pane........................................................................................................................ 77
Safety I/O..................................................................................................................................................78
Safety inputs................................................................................................................................. 79
Safety outputs............................................................................................................................... 81
State timelines of safety outputs.............................................................................................. 83
Safety checksums....................................................................................................................................87
Parameters that are the basis for the safety checksum........................................................ 87
Arm calibration.......................................................................................................................................88
Exporting calibration files......................................................................................................... 90
Importing arm calibration files................................................................................................. 91
Modes of operation of Link6................................................................................................................ 92
Complete start-up sequence................................................................................................................ 93
State: O........................................................................................................................................93
State: Controller initialization................................................................................................... 94
State: Controller idle................................................................................................................... 95
State: Arm initialization.............................................................................................................. 95