Kinova Link 6 - Safety Functions, Modes, and Limits

EN UG-020 Link 6 user guide r1.0 51
Stop categories
The different categories of stopping the motion of the robot safely when an emergency arises is
designed to reduce existing hazards. The SC (SC) are aligned with IEC 60204-1.
Table 36: Stop categories
Stop category Description
0 Removes electrical power from the robot immediately.
Initiated by pressing the E-stop button and by faults detected by the Safety control
unit (SCU).
Initiated by faults detected by the SCU.
1
Stops the movement of the robot and, when the robot has stopped moving, removes
electrical power from the robot.
Brings the robot to a Monitored Stop.2
Power remains available to the robot.
Related topics
List of safety functions on page 52
State: Monitored stop on page 97
Operating modes on page 99
Emergency stop
An emergency is an unexpected situation that can lead to injury, or can damage the robot system
or the objects it manipulates. An E-stop helps to stop the robot quickly in case of emergency.
When an emergency arises during the operation of Link6 or any other part of the robot system,
press the E-stop button. Pressing the button triggers a stop category 1, which stops the
movement of the robot before removing power from the arm.
Whenever the E-stop is pressed, the light behind the ACK button on the controller and the
light around the wrist wring switches off. Re-arm the E-stop button and reset the robot in
KortexWebApp. After recovering from the stop, inspect the area for any obstructions that
can interfere with the operation of the robot. Also, inspect the robot to ensure it has not been
damaged.
If there is no damage and the emergency situation has been handled, restart the robot using
KortexWebApp.
Related topics
State: Fault on page 98
Move robot arm without power
It is possible to move the arm when it has no power to prevent injuring a person who is trapped by
the robot, for instance. The action is known as backdriving.
Move the arm to a safe position even without a powered drive system by backdriving the brakes
manually in each joint. Moving the arm without power requires a substantial amount of force.
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