Kinova Gen3 User Manual page 85

KINOVA Gen3 Ultra lightweight robot User Guide
®
Actuators safeties
The following actuator-related Safety items are viewable and configurable in the Web
application.
Table 33: Actuator Safety items
Safety Item
Following Error
Max Velocity
Maximum
Torque
Magnetic Position
Hall Position
Hall Sequence
Input Encoder
Hall Mismatch
Input Encoder
Index Mismatch
Description
The error between
the command and the
reported position is
above upper limit.
Note: Only active when
in servoing state
Small
The computed velocity
of the actuator is greater
than threshold °/sec.
Large
Small
Torque reading higher
than x N·m.
Large
Position step of more
than threshold °/ms
has been read on the
magnetic sensor.
Small
Position step of more
than threshold °/ms
Large
Invalid Hall sequence
detected.
The Hall sensor position
value doesn't match the
input optical encoder
position within +/-
threshold degrees.
Input encoder index
position mismatch
lower
Default
Hard limit
threshold
upper
0°
10°
0 °/s
250 °/s
0 °/s
150 °/s
0 N·m
52 N·m
0 N·m
105 N·m
0°
20°
0°
10°
0°
10°
n/a
0°
10°
0
2000
85
warning
error
3.0°
5.0°
180 °/s
200 °/s
100 °/s
120 °/s
29.4 N·m
51.3 N·m
56.7 N·m
104.5 N·m
3.0°
5.0°
n/a
0.4285°
n/a
0.2145°
n/a
1.5°
2.0°
500
1000