EN UG-020 Link 6 user guide r1.0 88
Safety parameter Description
SF06 Protection zone monitoring
• Position of all configured protection zones
• Shape type (sphere, cylinder, rectangular
prism)
• Dimensions of all configured protection
zones
• Orientation of all cylindrical and prismatic
protection zones
• Activation status: enabled or disabled
Tool Sphere
• Position (X,Y,Z)
• Dimension
SF07 Safety TCP monitoring
• Translation speed normal speed mode limit
• Orientation speed normal speed mode limit
• Translation speed reduced speed mode limit
• Orientation speed reduced speed mode limit
Safety Elbow monitoring
• Translation speed normal speed mode limit
• Translation speed reduced speed mode limit
Arm calibration
Microscopic assembly defects are compensated by the firmware of the robot when the arm is
calibrated.
The calibration package contains the default calibration file associated with the serial number
found on the arm, its checksum, and the serial number of the arm.
The calibration file contains a few vital pieces of information.
• Calibration date
• Serial number of the arm
• Geometric calibration parameters
• Elasto-static calibration parameters
Access the status of the arm at Systems > Robot > Arm > Calibration.
+1 514-277-3777 kinovarobotics.com
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