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KINOVA
®
Gen2 Ultra
lightweight robot
User Guide
Contents
Introduction............................................................................................................................................................... 4
About this document...............................................................................................................................................4
Symbols, definitions, and acronyms..................................................................................................................4
Warranty......................................................................................................................................................................4
Safety / Warnings.....................................................................................................................................................5
Disclaimer.................................................................................................................................................................... 5
General Information.................................................................................................................................................6
Normal use definition..............................................................................................................................................6
Electromagnetic interference from radio wave sources.............................................................................7
Markings and labels................................................................................................................................................ 8
Packing materials..................................................................................................................................................... 8
Robot components and specifications...............................................................................................................9
4 DoF Components...................................................................................................................................................9
6 DoF Curved Wrist Components........................................................................................................................9
6 DoF Spherical Wrist Components................................................................................................................. 10
7 DoF Spherical Wrist Components..................................................................................................................10
Robot external connectors..................................................................................................................................10
Robot specifications............................................................................................................................................... 11
Installation and setup...........................................................................................................................................14
Mechanical mounting of the robot...................................................................................................................14
Electrical integration..............................................................................................................................................15
Integrating a new tool (optional)...................................................................................................................... 16
Controls integration............................................................................................................................................... 18
Operating / controlling the robot..................................................................................................................... 19
Kinova joystick controller.....................................................................................................................................19
Joystick movements and modes..............................................................................................................19
Operating principles and Cartesian mode........................................................................................... 20
Home / Retract positions........................................................................................................................... 21
Operating the robot via joystick.............................................................................................................. 21
Joystick LED feedback.................................................................................................................................25
Controlling the robot using Kinova software............................................................................................... 27
Controlling the arm using the Kinova API......................................................................................................29
Robot control.......................................................................................................................................................... 30
Control modes overview......................................................................................................................................30
Control features......................................................................................................................................................30
Singularity Avoidance................................................................................................................................. 30
Self-collisions auto-avoidance................................................................................................................ 33
7 DoF Spherical Null space motion........................................................................................................ 33
Protection zones........................................................................................................................................... 33
Rotating frame / Fixed frame..................................................................................................................34
Usable workspace........................................................................................................................................34
Admittance control...................................................................................................................................... 35
Torque Control............................................................................................................................................... 36
Robot limits..............................................................................................................................................................40
Joint speed and utilization limits........................................................................................................... 40
Software position limits of actuators................................................................................................... 41
Software position limitations of fingers..............................................................................................42
Guidance for advanced users.............................................................................................................................43
Kinematics Parameters........................................................................................................................................ 43
Basic geometric parameters - 4 DoF.................................................................................................... 43
Basic geometric parameters - 6 DoF curved wrist.......................................................................... 44
Alternate geometric parameters - 6 DoF curved wrist.................................................................. 46
Basic geometric parameters - 6 DoF spherical wrist......................................................................48
Basic geometric parameters - 7 DoF spherical wrist...................................................................... 50
Classic DH parameters - 4 DoF............................................................................................................... 52
Classic DH parameters - 6 DoF curved wrist..................................................................................... 53
Classic DH parameters - 6 DoF spherical............................................................................................54
Classic DH parameters - 7 DoF spherical............................................................................................ 55
Directions of joints in angular space.....................................................................................................56
Setting zero position and setting torque sensors zero.............................................................................57
Actuator accelerometers information............................................................................................................ 58
Maintenance and troubleshooting................................................................................................................... 60
Cleaning, maintenance and disposal...............................................................................................................60
Updating robot firmware.....................................................................................................................................60
Kinova gripper removal........................................................................................................................................63
Kinova gripper installation................................................................................................................................. 64
Troubleshooting / FAQs........................................................................................................................................65
Contacting support................................................................................................................................................ 66
Appendix - Kinova joystick reference..............................................................................................................68
3-axis mode joystick controls reminder........................................................................................................ 68
2-axis mode joystick controls reminder........................................................................................................ 68
KINOVA® Gen2 Ultra lightweight robot User Guide 4
Introduction
About this document
This document contains information on the installation and operation of the KINOVA
®
Gen2
Ultra lightweight robot.
Read all instructions before using this product.
Read all warnings on the product and in this guide.
Follow all instructions.
Keep these instructions for future reference.
This document contains information regarding product setup and operation. It is intended for:
• Kinova product end users
• Field service, customer support and sales employees of authorized Kinova distributors
Symbols, definitions, and acronyms
Important information regarding the safety related to the product and the user.
Tip on the maintenance, operation and manipulation of Kinova’s products.
Refer to accompanying documents.
Direct current.
Alternating current.
Operating temperature range.
Compliance with WEEE2 directive.
Compliance with ROHS3 directive.
Type BF Applied Part device.
Warranty
This section describes the Kinova warranty terms.
KINOVA® Gen2 Ultra lightweight robot User Guide 5
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").
Kinova agrees to repair or replace (at Kinova's option) all Products which fail to conform to the relevant
warranty provided that:
1. Notification of the defect is received by Kinova within the warranty period specified above.
2. Allegedly defective Products are returned to Kinova, at the End User’s expense, with Kinova's prior
authorization within thirty (30) days of the defect becoming apparent.
3. The Products have not been altered, modified or subject to misuse, incorrect installation, maintenance,
neglect, accident or damage by excessive current or used with incompatible parts
4. The End User is not in default under any of its obligations under this Agreement.
5. Replacement Products must have the benefit of the applicable warranty for the remainder of the
applicable warranty period.
If Kinova diligently repairs or replace the Products in accordance with this section, it will have no further
liability for a breach of the relevant warranty.
Allegedly defective Products returned to Kinova in accordance with this contract will, if found by Kinova
on examination not to be defective, be returned to End User and Kinova may a charge a fee for examination
and testing.
The warranty cannot be assigned or transferred and is to the sole benefit of the End User.
Where the Products have been manufactured and supplied to Kinova by a third party, any warranty granted
to Kinova in respect of the Products may be passed on to the End User.
Kinova is entitled in its absolute discretion to refund the price of the defective Products in the event that
such price has already been paid.
Safety / Warnings
It is not recommended to use the robot under heavy rain or snow.
Never use the Home / Retract function when carrying liquid. The home position is preset and the wrist
may rotate and drop the liquid.
Do not manipulate cutting, very sharp or any dangerous tools or objects with the robot.
When the power is turned off, the robot will fall down and may cause damage to itself, depending on
its position at the time of disconnection. Be sure to support its wrist before turning the power off.
Do not force the fingers beyond their maximal opening. This could damage some internal components.
Do not immerse any part of the robot under water or snow.
When lifting weight near the maximum load and reach, and you receive a warning, put down the object
in the gripper, bring back the robot to Home or Retract position and wait until the warning goes away before
using it again.
Do not block the robot movement when it is performing a Retract position trajectory.
Disclaimer
KINOVA
®
and Kinova’s logo are trademarks of Kinova Inc., herein referred to as Kinova. All other brand and
product names are trademarks or registered trademarks of their respective corporations.
