Kinova Link 6 Manuals

Manuals and User Guides for Kinova Link 6. We have 1 Kinova Link 6 manual available for free PDF download: User Manual

Kinova Link 6 User Manual (296 pages)

Brand: Kinova | Category: Robotics | Size: 8 MB

Table of Contents
2
Copyright Notice
9
Disclaimers
10
Abbreviations
11
Link 6 Overview
13
Intended Use
14
Unintended Uses
14
Warranty Information
15
Applicable Firmware
15
Technical Specifications
17
Schematics and Dimensions
19
EEctive Workspace
21
Components
23
Base
23
Specifications and Dimensions of the Base of the Arm
23
Actuators
24
Wrist Interface Overview
25
Force Torque Sensor
28
Mechanical Interface
28
Electrical Interface
28
Wrist Interface Compatibility
31
Controller Overview
32
Controller Mounting Interface
35
Controller Electrical and Communications Interface
36
Teach Pendant Overview
39
Industrial I/O Panel Overview
40
Industrial I/O Power Supply
42
General-Purpose Digital Inputs
43
General-Purpose Digital Outputs
44
Analog Inputs
46
Analog Outputs
46
Emergency Stop Inputs
48
Teach Pendant Bypass Inputs
49
Safety-Rated Digital Inputs
50
Wrist I/O
51
Wrist Power Supply
52
General-Purpose Inputs and Outputs for the Wrist
52
Wrist RS-485
52
Gigabit Ethernet on the Wrist
53
Safety
54
Precautions
54
Safety Directives and Warnings
54
Risk Assessment
57
Safety Equipment
58
Assessments before Using the Robot
58
Stop Categories
59
Emergency Stop
59
Move Robot Arm Without Power
59
Safety Functions
60
List of Safety Functions
60
Stopping Time and Distance
64
Diagnostic Coverage
64
Safety Modes
65
State Timelines of Safety Functions
65
SF01 Emergency Stop Timeline
66
SF02 Protective Stop Timeline
67
SF03 Joint Position Monitoring Timeline
68
SF04 Joint Speed Monitoring Timeline
69
SF05 Monitored Stop Timeline
70
SF06 Protection Zone Monitoring Timeline
71
SF07 TCP and Elbow Speed Monitoring Timeline
73
Robot Safety Protections and Limits
74
Joint Limits
75
Tool Center Point Limits
76
Elbow Limits
77
Protection Zones
77
Tool Sphere
79
Zones Pane
79
Zone Shapes
82
Exporting or Importing All Zones into One File
84
Visualization Pane
85
Safety I/O
86
Safety Inputs
87
Safety Outputs
89
State Timelines of Safety Outputs
91
Safety Checksums
95
Parameters that Are the Basis for the Safety Checksum
95
Arm Calibration
96
Exporting Calibration Files
98
Importing Arm Calibration Files
99
Modes of Operation of Link 6
100
Complete Start-Up Sequence
101
State: O
101
State: Controller Initialization
102
State: Controller Idle
103
State: Arm Initialization
103
State: Arm Maintenance
104
State: Monitored Stop
105
State: Fault
106
Operating Modes
107
Mode: Manual Jog
108
Mode: Hand Guiding
110
Mode: Hold-To-Run
111
Mode: Automatic
113
Recovery Mode
114
Robot Lights and What They Mean: a Reference
115
Hardware Installation
118
Inside the Link 6 Boxes
118
Unpacking the Arm
119
Considerations before Installing the Arm
120
Installing the Arm Directly to a Surface
120
Installing the Arm on a Third-Party Adapter Plate
122
Unpacking the Controller
122
Considerations before Installing the Controller
123
Installing the Controller on a Flat Surface
125
Connecting the Arm to the Controller
126
Installing the Teach Pendant Mount
126
Connecting the Teach Pendant to the Controller
128
Connecting Power to the Controller
128
Connecting a Computer to the Controller
129
Connecting a Network to the Controller
130
Initial Software Setup
131
Supported Client Devices
131
Logging in
132
Repositioning the Arm to Use It for the First Time
134
Kortex Web App Layout
135
Menu Pages
136
Indicators, User Profile, and Power
138
Robot Control Panel
140
System Information
143
Robot Networking and Communication
144
User Management
146
Adding a User
147
Editing a User
149
Deleting a User
150
Elevating Permissions
151
Remote Access
152
Upgrading Software
153
Plugins
155
Getting the Plugins for the Robot
155
Installing Plugins
156
Overview of Working with Plugins
158
Configuring Tools
159
Adding Tools
160
Other Actions that Can be Taken on Tools
162
Configurations for the Robot Settings
163
Configuring the Controller for Robot Controls
164
Configuring the Arm for Robot Controls
164
Configuring the Force Torque
168
Visual Programming
170
Overview of the Program Page
170
Variable Management
172
Program Variable Management
172
Persistent Variable Management
175
Variables
179
Examples of JSON Statements
182
Adding a Variable to the Global Namespace
182
Adding a Variable to a Program
185
Selecting a Variable
189
Deleting a Variable that Is Being Used in a Program
190
Core Tiles
192
Common Core Parameters in the Tile Configuration Pane
193
Basic: Set Tile Parameters
194
Basic: Wait Tile Parameters
195
Basic: Condition Tile Parameters
195
Basic: Loop Tile Parameters
197
Basic: Message Tile Parameters
197
Robot: Waypoints Tile Parameters
198
Waypoint Parameters
198
Constraint Parameters
203
Custom Frame Parameters
208
Debug Tools for Waypoints
209
Robot: Matrix Tile Parameters
211
Industrial I/O: Tiles
214
Industrial I/O: Read Input Tile Parameters
215
Industrial I/O: Set Output Tile Parameters
215
Industrial I/O: Wait for Input Tile Parameters
217
Hand Guiding Panel
218
Jog Cartesian Panel
219
Translation and Rotation from the Jog Cartesian Panel
219
Additional Settings
220
Jog Angular Panel
221
Additional Settings
222
Program Creation
223
Creating a Program
224
Debug Panel Overview
225
Debugging a Program
226
Program Is Ready to Use
227
Running a Program in Automatic Mode
227
Running a Program in Hold-To-Run Mode
227
Diagnostics
229
Built-In Self Tests
229
Status of Safety Functions
230
Status of the Controller
231
Status of the Actuators
237
Status of the Wrist
244
Robot Monitoring
245
Overview Pane of the Monitoring Page
246
Detailed Pane of the Monitoring Page
247
Event Notifications
249
Plugins
253
Arm Plugin
253
Industrial I/O Plugin
253
Controller Analog on the Industrial I/O Plugin Page
254
Controller Digital Inputs on the Industrial I/O Plugin Page
255
Controller Digital Outputs on the Industrial I/O Plugin Page
256
Wrist Analog on the Industrial I/O Plugin Page
257
Wrist Digital on the Industrial I/O Plugin Page
258
Accessories
260
Controller Wall Mount
260
Installing the Kinova Wall Mount
262
Gigabit Ethernet Adapter
263
Dimensions of the Gigabit Ethernet Adapter
263
Installing the Gigabit Ethernet Adapter
264
External Emergency Stop Station
265
Installing an External Emergency Stop Station
265
External 3-Position Enabling Device
266
Installing the External 3-Position Enabling Device
267
Maintenance
268
Consumables
268
Preventive Maintenance
269
Daily Maintenance
269
Weekly Maintenance
269
Quarterly Maintenance
270
Yearly Maintenance
270
Unscheduled Maintenance
270
Fastener Maintenance
271
Servicing
273
Disposal
274
Troubleshooting
275
Issues Related to Hardware
275
Why Does the Controller Have no Power
275
Why Is the Robot Not Powering on
275
Why Is the Robot Moving in Joint Hand Guiding Mode by Itself
276
Why Is the Snapshot Button Not Working
276
Why Is My Tool Not Working
276
Emergency Stop
277
Why Is the Wrist Enabling Device Not Enabling Hand Guiding Mode
277
Why Is the Controller Hot
278
Issues Related to Safety Elements
278
Why Can I Not Edit any Safety Configurations
278
Why Is the External Safety Device Not Working
278
Why Is the Robot Stuck in Reduced Mode
279
Issues Related to Modes of Operations
279
Why Is Manual Mode Disabled
279
Why Can the Robot Not Exit Recovery Mode
279
Issues Related to Plugins
280
Why Can I Not Configure Industrial I/Os
280
Issues Related to Programs and Programming
280
Why Can I Not Assign a Variable to a Field
280
Why Are Tiles Missing in the Visual Programming Interface
281
Why Can I Not Find a Program in the List of Programs
281
Why Do some of the Tiles of an Imported Program Show a Question Mark
282
Issues Related to Kortex Web App
282
Why Is the Robot Not Going to the Programmed Position
282
Why Is the Computer Not Connecting to Kortex Web App
283
Why Is Kortex Web App Not Responding on My Computer
284
Why Is There a Pop-Up Requesting Visual Confirmation of the Robot Pose after the Robot Reboots
284
Glossary
285

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