Kinova Link 6 - Safety Modes; State Timelines of Safety Functions

EN UG-020 Link 6 user guide r1.0 57
Safety modes
Configure speeds both as normal or reduced to define safe operation of the robot.
Normal safety mode determines the maximum speeds at which the robot can move in Cartesian
and angular directions.
Reduced safety mode also determines the maximum speeds at which the robot can move in
Cartesian and Angular directions. However, the maximum speeds in reduced mode are lower than
those of the normal safety mode.
Reduced mode can be triggered by safety inputs. For instance, when the robot is learning its
trajectories through Hand Guiding, the speed is dictated by the reduced mode to prevent injury.
Remember: It is the responsibility of the integrator to set all normal and reduced speeds
with respect to the risk assessment. Also, all reduced speeds must be configured to be
less than the corresponding normal speed.
Reduced mode can be selected from KortexWebApp.
Related topics
Mode: Manual Jog on page 100
Mode: Hand Guiding on page 102
Mode: Hold-to-Run on page 103
List of safety functions on page 52
Robot safety protections and limits on page 66
State timelines of safety functions
Each safety function enters one of two states during operations.
A change in the state of the arm during different modes of operation dictate the state of each of
the safety functions.
Table 38: Existing states and modes of operation
Safety function states
• active
• inactive
Arm states
• Initialization
• Idle
• Maintenance
• Brake Release
• Operational
• Fault power off
• Recovery
• Fault power on
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