User Guide KINOVA® Gen3 Ultra lightweight robot 5 | kinovarobotics.com Contents Introduction............................................................................................................................................................... 6 Welcome.......................................................................................................................................................................6 Intended domains of application........................................................................................................................ 6 About this document...............................................................................................................................................6 Acronyms and abbreviations................................................................................................................................6 Warranty...................................................................................................................................................................... 9 EU Declaration of Incorporation..........................................................................................................................9 FCC Declaration of Comformity.......................................................................................................................... 11 Safety directives and warnings......................................................................................................................... 12 Disclaimer.................................................................................................................................................................. 14 Risk assessment......................................................................................................................................................14 Normal use definition............................................................................................................................................15 Applicable firmware and API versions............................................................................................................ 15 Robot components................................................................................................................................................. 17 Overview.....................................................................................................................................................................17 Base..............................................................................................................................................................................18 Quick connect base.....................................................................................................................................19 Fixed base..................................................................................................................................................... 20 Base connector panel............................................................................................................................... 20 Base mounting interface.......................................................................................................................... 21 Actuators................................................................................................................................................................... 23 Interface module.................................................................................................................................................... 24 Vision module.......................................................................................................................................................... 26 Robot communications and network interfaces.........................................................................................28 Getting started....................................................................................................................................................... 30 Overview....................................................................................................................................................................30 What's in the case?............................................................................................................................................... 30 Manipulating the robot joints when the robot is powered off................................................................31 Robot mounting options.......................................................................................................................................31 Mounting the robot on a tabletop with mounting plate and table clamp...............................32 Mounting the robot on a horizontal surface without the table clamp.................................... 33 Mounting plate bolting pattern.............................................................................................................34 Base mounting interface bolting pattern...........................................................................................35 Mounting the robot on a wall or ceiling.............................................................................................36 Special considerations for wall and ceiling mounts...........................................................37 Adjusting the locking screw to secure the base clamp (quick connect base only)................................................................................................................................................37 Robot power adapter and E-stop.....................................................................................................................38 Powering on the robot..........................................................................................................................................39 Power-up, booting, and initialization sequence.......................................................................................... 39 Resetting the robot to factory settings.........................................................................................................40 Operating the robot...............................................................................................................................................40 Supported control devices......................................................................................................................40 Connecting an Xbox gamepad to the robot.......................................................................... 40 Default control device mapping - Xbox gamepad............................................................... 41 Home and retract positions....................................................................................................................46 Putting the robot into admittance using the interface buttons.................................................46 Connecting a computer to the robot...............................................................................................................47 Connecting a computer to the robot via Ethernet (for the first time)...................................... 47 KINOVA® KORTEX™ Web App.................................................................................................................49 Accessing the KINOVA® KORTEX™ Web App......................................................................... 50 Teaching mode..................................................................................................................................51 Changing the robot wired connection IP address and connecting the robot to a LAN......... 51 Connecting a computer to the robot via Wi-Fi.................................................................................52 Dimensions, specifications, and capabilities................................................................................................. 53 Schematic and dimensions - 7 DoF spherical wrist................................................................................... 53 Schematic and dimensions - 6 DoF spherical wrist...................................................................................54 Technical Specifications....................................................................................................................................... 55 Sensors.......................................................................................................................................................................57 Base readings available........................................................................................................................... 58 Actuators readings available..................................................................................................................59 Interface readings available................................................................................................................... 59 Tool readings available.............................................................................................................................59 Effective workspace..............................................................................................................................................60 Payload vs. workspace..........................................................................................................................................61