Kinova Link 6 - Page 63

EN UG-020 Link 6 user guide r1.0 55
Elbow limits on page 69
Operating modes on page 99
Mode: Manual Jog on page 100
List of safety functions on page 52
Status of safety functions on page 222
SF05 Monitored stop
What does SF05 monitor?
SF05, or Monitored stop, monitors the velocity of each joint and makes sure the velocity is zero
when the robot is not moving. It makes sure the arm remains in a standstill position.
Cause of the trigger
Motion in the actuators is detected and results in a stop category 0. For example, the robot stops
moving when it is vibrating a lot.
Remedy
1. Remove the external source of motion.
2. Add damping elements to each source of vibration that is in contact with the robot.
Related topics
List of safety functions on page 52
Status of safety functions on page 222
SF06 Protection zone monitoring
What does SF06 monitor?
SF06 monitors the robot to make sure no part of the robot, including the user-defined tool sphere,
comes in contact with any of the user-defined protection zones that are enabled.
Cause of the trigger
The robot touches an enabled protection zone when operating in Manual or running a program. It
results in a stop category 2.
Remedy
1. Power the robot.
2. Clear the fault.
3. Use Recovery mode to leave the protection zone.
4. Reconfigure protection zones if necessary and safe from Safety > Protection Zones in
KortexWebApp.
5. Disable protection zones if necessary and safe from Safety > Protection Zones in
KortexWebApp.
Related topics
Operating modes on page 99
Protection zones on page 69
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