User Guide KINOVA® Remote robotic manipulation system 5 | kinovarobotics.com Contents About this document......................................................................................................................................................5 Symbols and definitions................................................................................................................................................6 Technical specifications................................................................................................................................................. 7 Acronyms and abbreviations.......................................................................................................................................9 Warranty............................................................................................................................................................................10 Safety and warnings...................................................................................................................................................... 11 Disclaimer..........................................................................................................................................................................13 What's in the box?.........................................................................................................................................................14 KINOVA® Remote robotic manipulation system overview............................................................................ 15 Robot manipulator system overview..................................................................................................................... 18 Robot.................................................................................................................................................................................................... 19 Robot external connectors.........................................................................................................................................19 Robot support............................................................................................................................................................................... 20 Gripper adapter module.........................................................................................................................................................22 Camera module overview..........................................................................................................................................23 Laser overview.................................................................................................................................................................. 23 Light sources overview................................................................................................................................................24 Robotiq gripper.............................................................................................................................................................................24 Video adapter................................................................................................................................................................................25 Robot to video adapter cable..................................................................................................................................26 Communication system overview........................................................................................................................... 27 Communication system modes of operation..........................................................................................................28 Single Adapter mode....................................................................................................................................................28 Paired adapter mode....................................................................................................................................................29 Components description........................................................................................................................................................ 30 Xbox One gamepad........................................................................................................................................................30 Communication Adapter.............................................................................................................................................. 31 Communications network interfaces.............................................................................................................................34 Default network interface settings......................................................................................................................35 Command Line Interface Shell (CLI).............................................................................................................................. 36 Using the Command Line Interface (CLI).........................................................................................................36 Setting up the robot manipulator system...........................................................................................................49 Mounting the robot support................................................................................................................................................49 Installing the robot on the robot support...................................................................................................................51 Installing the video adapter.................................................................................................................................................52 Setting up the communication system.................................................................................................................53 Mounting a communication adapter............................................................................................................................. 53 Installing the Operator Adapter (OA)............................................................................................................................54 Installing the Remote Adapter (RA)...............................................................................................................................54 Establishing a communication link.................................................................................................................................54 Controlling the gripper and gripper adapter using Xbox gamepad............................................................56 Gripper and gripper adapter control modes............................................................................................................56 Camera reference control mode......................................................................................................................................57 Robot base reference control mode............................................................................................................................. 58 Go to position control mode.............................................................................................................................................. 59 LED / laser control mode..................................................................................................................................................... 60 Robot manipulator system configuration.............................................................................................................61 Adjusting the laser angle.......................................................................................................................................................61 Viewing the video adapter output....................................................................................................................................61 Setting up a robot protection zone................................................................................................................................62 Communication system configuration.................................................................................................................. 64 Opening a secure shell session between a PC and a communication adapter.................................. 64 Set a communication adapter to Single Adapter mode................................................................................... 67 Pairing a new communication adapter for wired communication............................................................ 68 Configuring Remote Adapter for paired wired communication....................................................... 69 Configuring Operator Adapter for paired wired communication.....................................................69 Pairing a new communication adapter for Z9-PC radio communication...............................................70 Configuring Remote Adapter for paired Z9-PC radio communication..........................................70 Configuring Operator Adapter for paired Z9-PC radio communication.........................................71 Robot manipulator system maintenance............................................................................................................