Kinova Link 6 - SF07 TCP and Elbow Speed Monitoring Timeline

EN UG-020 Link 6 user guide r1.0 65
SF07 TCP and Elbow speed 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.
Equally important in knowing the timeline of a safety function is knowing where to find the
current safety function status. For the status of SF07 TCP and Elbow speed monitoring function,
there are a few places in KortexWebApp.
• Diagnostics > Status > Safety Functions
• Safety > TCP & Elbow Limits > TCP Limits
• Safety > TCP & Elbow Limits > Elbow Limits
Table 45: SF07 trigger and action timeline
Monitor frequency of trigger 0.01 s
Trigger At least one trigger is needed.
• TCP translation speed is higher than the configured limit.
• TCP rotation speed is higher than the configured limit.
• Elbow translation speed is higher than the configured limit.
Trigger results
• Stop category 2 is deployed.
• The operating mode becomes Monitored Stop.
• The arm is in the state Fault power on.
Reset conditions
• The TCP translation speed is corrected to be lower than the
configured limit.
• The TCP rotation speed is corrected to be lower than the
configured limit.
• The Elbow translation speed is corrected to be lower than
the configured limit.
Reset Tap CLEAR FAULT.
Reset result
• The operating mode is Monitored Stop.
• The arm does not move.
Failsafe SF07 can experience processing errors. In this case, stop category 0
is deployed.
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