EN UG-020 Link 6 user guide r1.0 63
Equally important in knowing the timeline of a safety function is knowing where to find the
current safety function status. For the status of SF05 Monitored stop0 function, there is one
place to look in KortexWebApp: Diagnostics > Status > Safety Functions .
Table 43: SF05 trigger and action timeline
Monitor frequency of trigger 0.01 s
Trigger
• The arm is in the process of stopping and has taken more
than 1000 ms to stop.
• The difference between the actual position of at least one
joint and its position when the robot entered the stop state
is more than 0.5°.
Trigger results
• Stop category 0 is deployed.
• The arm is in the state Fault power off.
Reset Tap CLEAR FAULT.
Reset result The operating mode is Monitored Stop.
Failsafe When SF05 does not receive joint positions for more than 60 ms, stop
category 0 is deployed.
Figure 46: Timeline for SF05 before and after being triggered
SF06 Protection zone monitoring timeline
Each safety function enters one of two states during operations; it depends on the current state
of the arm and the current mode of operation.
+1 514-277-3777 kinovarobotics.com
© 2022 Kinova inc. All rights reserved.
To Next Page
Loading...
