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Kinova Communication system User Manual

Allows the tele-operation of a robot manipulator using a gamepad
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Summary of Contents for Kinova Communication system

  • Page 1 User Guide...

  • Page 2: Table Of Contents

    Acronyms and abbreviations............................7 Warranty..................................... 8 Safety and warnings...............................9 Disclaimer..................................10 What's in the box?................................11 Communication system overview..........................12 Communication system modes of operation......................13 Single Adapter mode..............................13 Paired adapter mode..............................14 Components description................................. 15 Xbox One gamepad.................................15 Communication Adapter.............................. 16 Communications network interfaces..........................19 Default network interface settings........................
  • Page 3 Communication system maintenance........................46 Communication system maintenance and cleaning................... 46 Updating communication adapter firmware......................46 Communication system troubleshooting......................48 Using the CLI Diagnostic menu............................48 Communication Adapter status LED indications....................48 Markings and labels..............................51 Electromagnetic interference from RF sources....................52 Disposal considerations..............................

  • Page 4: About This Document

    Communication system User Guide ® About this document ® This document contains information on the installation and operation of the KINOVA Communication system. Read all instructions and warnings before using this product. Follow all instructions and retain this document for future reference.

  • Page 5: Symbols And Definitions

    KINOVA Communication system User Guide ® Symbols and definitions Important information regarding product safety. Direct current power supply Gamepad connector Robot connector Network connector Compliance with WEEE2 directive. Compliance with ROHS3 directive.

  • Page 6: Communication System Specifications

    KINOVA Communication system User Guide ® Communication system specifications Technical specifications of the Communication system. Table 1: General Feature Detail • Wired - Ethernet Communication adapter communication protocols • Radio (option) Communication adapter radio frequencies 902 - 928 MHz up to 300 m line of sight...

  • Page 7: Acronyms And Abbreviations

    KINOVA Communication system User Guide ® Acronyms and abbreviations Electrostatic Discharge Infrared Light-emitting diode NTSC National Television System Committee Phase Alternating Line Personal Computer ROHS3 Restriction of Hazardous Substances Directive 2015/863/EU Universal Serial Bus WEEE2 Waste Electrical & Electronic Equipment Directive 2012/19/EU...

  • Page 8: Warranty

    Warranty This section describes the Kinova warranty terms. Subject to the terms of this clause, Kinova warrants to End User that the Products are free of defects in materials and workmanship that materially affect their performance for a period of two (2) years from the date Kinova ships the Products to the End User ("Delivery Date").

  • Page 9: Safety And Warnings

    Communication system User Guide ® Safety and warnings This section describes safeties and warnings related to the Communication system. Do not open the chassis of the communication adapter. The adapters should only be opened by Kinova trained and certified service professionals.

  • Page 10: Disclaimer

    Any questions or comments concerning this document, the information it contains or the product it describes may be sent to Kinova via the support page of the Kinova website: www.kinovarobotics.com/support...

  • Page 11: What's In The Box

    KINOVA Communication system User Guide ® What's in the box? ® This section describes the contents of the KINOVA Communication system. ® Communicaon system ships with the following items: The KINOVA • communication adapter(s) - qty 1 or 2 º without radio or antenna (p/n KR11708-01) or º...

  • Page 12: Communication System Overview

    Communication system and modes of operation. Introduction The communication system allows the tele-operation of a robot manipulator using a gamepad by transmitting control signals from an operator station to the remote robot over an adapter- mediated communication network. The Communication system consists of the following components: •...

  • Page 13: Communication System Modes Of Operation

    KINOVA Communication system User Guide ® Communication system modes of operation This section describes the modes of operation of the communication system. The system can be operated in one of two modes: • Single Adapter mode • Paired adapter mode Single Adapter mode This section describes single adapter mode for the communication system.

  • Page 14: Paired Adapter Mode

    Figure 3: Single Adapter mode (connection via simple local area network) Paired adapter mode This section describes paired adapter mode for the communication system. Paired adapter mode In paired adapter mode, both adapters are used. They are each configured with different software settings, and are paired with each other for communications.

  • Page 15: Components Description

    Xbox One gamepad This page describes the Xbox One gamepad. The communication system includes an Xbox One wired gamepad. This controller is intended to be used to control the robot using a combination of button press and control stick movements.

  • Page 16: Communication Adapter

    USB cable. Communication Adapter This section describes the communication adapters of the communication system. The communication adapters are housed in flanged enclosures. Communication adapters come in two models, one with built-in radio and antenna, and one without.
  • Page 17 The features of the communication adapters are as follows: • network RJ-45 connector (Ethernet) for wired connection to another communication adapter or to an external Ethernet network (used for configuration and update purposes) • robot RJ-45 connector (Ethernet) to enable connection to a KINOVA ® Gen2 Ultra lightweight robot •...
  • Page 18 ® Gen2 Ultra lightweight robot, as an Ethernet (RJ-45) connector for connection to a KINOVA well as a wired (Ethernet) or wireless (radio) connection to an Operator Adapter (OA). The RA is a receiver for remote control commands sent from an Xbox One gamepad connected to a OA.

  • Page 19: Communications Network Interfaces

    Figure 11: Remote Adapter Communications network interfaces This section describes the network interfaces for the communication system. The communication adapters communicate with each other and with the robot via a network. Each communication adapter has three network interfaces, two for communications between the adapters, and one for communicating with the robot: •...

  • Page 20: Default Network Interface Settings

    IP settings. A replacement unit will generally be configured by Kinova with default IP settings for the role it is to take on, unless otherwise requested.

  • Page 21: Command Line Interface Shell (Cli)

    KINOVA Communication system User Guide ® Table 4: Robot base interface defaults IP addresses (static) Interface IP address Subnet mask Robot base 192.168.100.10 255.255.255.0 Command Line Interface Shell (CLI) This section describes the Command Line Interface (CLI) The Command Line Interface Shell (CLI) is a user-friendly command line interface (CLI) for the...
  • Page 22 KINOVA Communication system User Guide ® • command line history can be recalled using the up arrow key and edited to more quickly re- enter commands Establishing a secure shell connection to the communication adapter This interface is accessible when a user makes a ssh (secure shell) connection to the communication adapter from a PC, either using a direct wired Ethernet connection or remotely over a local network.
  • Page 23 KINOVA Communication system User Guide ® • initialize_target - re-initializes the robot. The robot needs to be rebooted to apply the change. • load_factory_default - rolls the communication adapter back to the initial configuration when it was sent from the factory. You will be prompted for confirmation that this is what you want to do.
  • Page 24 Communication system User Guide ® • communication - this lets you: º get_info - view the status of the communication system º configure - set the communication channel to use • radio - radio interface (for communication adapter with radio option) •...
  • Page 25 KINOVA Communication system User Guide ® Protection zones can be enabled or disabled. There are a number of menu options for configuring protection zones: • add - create a new protection zone. Specify a zone ID that is not in use.
  • Page 26 The section describes the Diagnostic menu for the CLI application. The diagnostic menu offers access to useful diagnostic information about the performance of the communication system, and can be a useful starting point for system troubleshooting. The diagnostic menu includes five options:...
  • Page 27 KINOVA Communication system User Guide ® • communication_live_data - real-time view of low-level statistics • controller - real-time view of controller data, including connectivity status and control inputs...
  • Page 28 KINOVA Communication system User Guide ® • log - access to logs º clear_logs - clears the currently saved logs º level - view and modify logging settings • disable_debug_print - disable logging of debugging data • enable_debug_print - enable logging of debugging data •...
  • Page 29 Advanced menu options The section describes the advanced menu for the CLI application. The advanced menu offers low level detailed configuration for the communication system. This allows for advanced customizations, including network interface IP settings for connecting to a local area network.
  • Page 30 KINOVA Communication system User Guide ® Note: This menu is for advanced users only, and should only be modified with care. Incorrect settings may result in malfunctions or unpredictable behavior. Note: The load_factory_default option in the quickstart menu is used to return to factory defaults in the event of problems caused by modifying advanced configuration settings.
  • Page 31 KINOVA Communication system User Guide ® • username - set username for the radio • IP_address - identify internal IP address used for the radio (setting the IP address in the radio itself is done in the radio CLI, accessible via advanced radio configure •...
  • Page 32 IP address automatically to the adapter when connected. This option is made available for the flexibility of end users, but it is not generally recommended to connect to a local area network. Contact Kinova support if this is an option that your organization is interested in exploring.
  • Page 33 KINOVA Communication system User Guide ® The remote adapter menu lets you identify the settings used on either of the communication interfaces (wired or radio) on the other communication adapter: • radio (available for radio model of adapter only) º address º...

  • Page 34: Setting Up The Communication System

    KINOVA Communication system User Guide ® Setting up the communication system This section describes the installation procedure for the communication system. About this task Setting up the communication system consists of three steps: Procedure Installing the Operator Adapter Installing the Remote Adapter...

  • Page 35: Installing The Operator Adapter (Oa)

    KINOVA Communication system User Guide ® 2. Place the communication adapter flat on the surface with the mounting holes on the communication adapter aligned with the four holes drilled in the surface. 3. Using four M5 screws, fix the communication adapter enclosure to the surface.
  • Page 36 KINOVA Communication system User Guide ® • radio link, wireless (up to 300 m line-of-sight) • Ethernet link, wired (up to 100 m without repeater) For communication adapters without the optional radio and antenna, only the wired link is available.

  • Page 37: Communication System Configuration

    Communication system configuration This section describes configuration of the communication adapters. The communication system when sold as two paired communication adapters is configured to work out of the box using default settings without any configuration involved. However, when buying a single communication adapter, some configuration is required, with the specifics depending on the intended use: •...
  • Page 38 KINOVA Communication system User Guide ® Right-click the Ethernet interface to be configured, and select Properties to open the Local Area Connection Properties window. Select Internet Protocol Version 4 (TCP/ IPv4), ensuring that the corresponding checkbox is ticked:...
  • Page 39 KINOVA Communication system User Guide ® Click 'Properties', choose to use a static address, and enter a compatible IP address (192.168.100.10) and address mask (255.255.255.0) as indicated below. When you are finished, click 'OK': Using a terminal emulator which supports ssh, open a secure shell session. The instructions...

  • Page 40: Set A Communication Adapter To Single Adapter Mode

    KINOVA Communication system User Guide ® In the Session tab, click the 'SSH' radio button and set the IP address to that of the robot interface of the communication adapter: 192.168.100.100 In the Data tab, under Connection, set the Auto-login username to user.

  • Page 41: Pairing A New Communication Adapter For Wired Communication

    The complete pairing procedure performs the configurations on each adapter to put the wired communication configurations to the same default settings Kinova uses when configuring a pair of adapters before sending to a customer.

  • Page 42: Configuring Remote Adapter For Paired Wired Communication

    IP settings since it was first received, then no configurations are required on the existing adapter, only the new adapter. However, for completeness' sake, the following sections will describe the full configuration of both adapters. To ensure a proper configuration, Kinova recommends to follow the complete procedure in general with both communication adapters.

  • Page 43: Pairing A New Communication Adapter For Z9-Pc Radio Communication

    The complete pairing procedure performs the configurations on each adapter to put the radio communication configurations to the same default settings Kinova uses when configuring a pair of adapters before sending to a customer.

  • Page 44: Configuring Operator Adapter For Paired Z9-Pc Radio Communication

    KINOVA Communication system User Guide ® 13. Change the radio IP address to 192.168.111.101. CLI->advanced radio z9-pc ip_address 192.168.111.101 14. Get the adapter serial number. You will need the serial number in the next step to create a NETWORK_ID to use for the radio configuration of both communication adapters.
  • Page 45 KINOVA Communication system User Guide ® Configuring Operator Adapter for paired Z9-PC radio communication This section describes how to configure an Operator Adapter for paired wired communication. Before you begin between your computer and the robot port of the Operator Open a secure shell connection Adapter [192.168.100.100] and remove power from the Remote Adapter.

  • Page 46: Communication System Maintenance

    The product has no user-serviceable parts. Do not open. Damaged or malfunctioning communication adapters are field replaceable, and replacement units can be ordered from Kinova. Replacement of a communication adapter requires configuration to pair with the existing adapter. Updating communication adapter firmware This section describes how to update the firmware on the communication adapters.
  • Page 47 KINOVA Communication system User Guide ® adapter over a network connection, you can access a basic web interface for firmware updates by entering the IP address in a web broswer with port 8080. Procedure 1. Open a web browser and enter the IP address with port 8080 specified, in the browser address bar.

  • Page 48: Communication System Troubleshooting

    KINOVA Communication system User Guide ® Communication system troubleshooting Using the CLI Diagnostic menu This section describes use of the CLI diagnostic menu for troubleshooting. The Diagnostic menu in CLI can be accessed by typing d and then <TAB> at the top level menu in the application.
  • Page 49 KINOVA Communication system User Guide ® Each communication adapter has four LED indicators, each of which can display six possible colors: • violet • blue • green • yellow • red • white In addition, each color can be continuous or blinking.
  • Page 50 KINOVA Communication system User Guide ® Category Color / State Description adapter ready and configured as Operator blue blinking Adapter adapter ready and configured as Remote green blinking Adapter Communication Adapter status white blinking adapter ready and configured as Single Adapter...

  • Page 51: Markings And Labels

    KINOVA Communication system User Guide ® Markings and labels This section describes markings and labels appearing on system components. Please note that these labels may slightly differ from the ones accompanying your device depending of your country. The following figure depicts the information about labels visible on components of the system.

  • Page 52: Electromagnetic Interference From Rf Sources

    It is possible to unintentionally bring high levels of EM energy very close to the communication system while using these sorts of devices. Therefore, the warnings listed below are recommended to reduce the effects of possible interference with the system.

  • Page 53: Disposal Considerations

    The product contains parts that are deemed to be hazardous waste at the end of the useful product life. For further information on recycling, contact your local recycling authority or Kinova distributor. In any case, always dispose of product via a recognized agent. Additional procedures will be required if the equipment has been contaminated with hazardous agents, including chemical / neurological, biological, and radiological agents.

  • Page 54: Contacting Support

    Communication system User Guide ® Contacting support If you need help or have any questions about this product, this guide or the information detailed within, please contact Kinova through the support page of our website at www.kinovarobotics.com/support or by phone at 1 (514) 277-3777.
  • Page 55 There is no need too small. No task too great. kinovarobotics.com Kinova inc. (Headquarters) 4333, Boulevard de la Grande-Allée Boisbriand (QC) J7H 1M7 Canada +1 (514) 277-3777 Kinova Europe GmbH Friedrich-Ebert-Allee 13 53113 Bonn, Deutschland +49 (0) 228-9293-9148 Kinova Asia 4th Floor, Building 5, Zizhu Cyberport No.

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