Kinova Link 6 - Stopping Time and Distance; Diagnostic Coverage

EN UG-020 Link 6 user guide r1.0 56
List of safety functions on page 52
Status of safety functions on page 222
SF07 TCP and elbow speed monitoring
What does SF07 monitor?
SF07 monitors the Cartesian speeds of the TCP and the elbow, which is the third joint,so that the
speeds do not exceed the values set in the TCP & Elbow Limits page.
Cause of the trigger
• A large force is exerted on the robot during Hand Guiding mode, causing the speed of the TCP
or elbow to increase.
• Joint commands, especially on the first joint, reach large angular speeds.
It results in a stop category 2.
Remedy
• Apply constraints on local motion to limit the joint speeds and to keep the joint speeds within
safe values.
• Modify the trajectory to include more waypoints such that the end effector and the elbow
cannot reach high velocities.
Related topics
Mode: Hand Guiding on page 102
Tool center point limits on page 68
Elbow limits on page 69
List of safety functions on page 52
Status of safety functions on page 222
Stopping time and distance
Stopping times and distances in accordance with ISO 10218-1:2011 are available upon request
from Kinova Support.
Diagnostic coverage
Link6 continually monitors itself and all diagnostics are displayed in KortexWebApp.
All safety functions are monitored. The state of each part that makes the arm work are also
monitored. Problems encountered, with respect to safety functions of the arm, are displayed on
the Status pages. The problems must be resolved before the robot can move again.
General and detailed information about the base, actuators, end effector, and flange positions are
displayed on the Monitoring pages.
Related topics
Diagnostics on page 221
Status of safety functions on page 222
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