Kinova GEN3 User Manual
User Guide
®
KINOVA
Gen3
Ultra lightweight
robot
Contents
Introduction............................................................................................................................................................... 6
Welcome.......................................................................................................................................................................6
About this document............................................................................................................................................... 6
Normal use definition..............................................................................................................................................6
Risk assessment........................................................................................................................................................7
EU Declaration of Incorporation.......................................................................................................................... 7
FCC Declaration of Comformity........................................................................................................................... 8
Safety directives and warnings......................................................................................................................... 10
Warranty.....................................................................................................................................................................12
Disclaimer.................................................................................................................................................................. 12
Acronyms and abbreviations.............................................................................................................................. 13
Robot components................................................................................................................................................. 16
Overview.....................................................................................................................................................................16
Base..............................................................................................................................................................................16
Controller quick connect system............................................................................................................. 17
Controller connector panel.......................................................................................................................20
Actuators...................................................................................................................................................................20
Interface module..................................................................................................................................................... 21
Vision module.......................................................................................................................................................... 23
Robot communications and network interfaces.........................................................................................24
Getting started........................................................................................................................................................27
Overview.................................................................................................................................................................... 27
What's in the case?................................................................................................................................................27
Manipulating the robot joints when the robot is powered off...............................................................28
Robot mounting options......................................................................................................................................28
Mounting the robot on a tabletop......................................................................................................... 28
Mounting the robot on a horizontal surface without the table clamp...................................... 30
Mounting the robot on a wall or ceiling...............................................................................................32
Robot power adapter and E-stop.....................................................................................................................34
Powering on the robot..........................................................................................................................................35
Power-up, booting, and initialization sequence.......................................................................................... 35
Resetting the robot to factory settings......................................................................................................... 36
Operating the robot...............................................................................................................................................36
Supported gamepad controllers............................................................................................................. 36
Home and retract positions...................................................................................................................... 41
Putting the robot into admittance using the interface buttons....................................................41
Connecting a computer to the robot...............................................................................................................42
Connecting a computer to the robot via Ethernet (for the first time)........................................42
KINOVA® KORTEX™ Web App...................................................................................................................44
Changing the robot wired connection IP address and connecting the robot to a LAN..........46
Connecting a computer to the robot via Wi-Fi.................................................................................. 46
Dimensions, specifications, and capabilities................................................................................................ 48
Schematic and dimensions - 7 DoF spherical wrist...................................................................................48
Technical Specifications.......................................................................................................................................49
Sensors.......................................................................................................................................................................52
Base readings available............................................................................................................................. 53
Tool readings available...............................................................................................................................53
Actuators readings available................................................................................................................... 54
Interface readings available..................................................................................................................... 54
Gripper readings available........................................................................................................................ 54
Effective workspace.............................................................................................................................................. 55
Maximum payload vs. workspace.................................................................................................................... 56
Interface, expansion, and vision........................................................................................................................57
Interface module expansion - tips for installing tools............................................................................. 57
End effector reference design................................................................................................................. 58
Removing end cap from Interface module...........................................................................................61
Robotiq Adaptive Grippers installation (optional).............................................................................61
Robotiq 2F-85 Gripper tool configuration........................................................................................... 63
Interface module bolting pattern...........................................................................................................64
Interface module user expansion connector pinout........................................................................64
Using interface module expansion to control devices via API......................................................66
Spring-loaded connector pinout............................................................................................................. 66
Accessing Vision module color and depth streams................................................................................... 67
Concepts and terminology..................................................................................................................................69
Robot key concepts............................................................................................................................................... 69
Terminology reference...........................................................................................................................................71
General mathematics and robotics.........................................................................................................71
Features, components and functionalities.......................................................................................... 73
Control and Operation Modes..................................................................................................................74
Robot control...........................................................................................................................................................75
High-level and low-level robot control.......................................................................................................... 75
High-level and low-level robot control methods overview.................................................................... 75
Control features...................................................................................................................................................... 77
Singularity avoidance.................................................................................................................................. 77
Protection zones........................................................................................................................................... 77
Angular limits.................................................................................................................................................78
Cartesian limits.............................................................................................................................................80
Control modes overview..................................................................................................................................... 80
Trajectory control modes........................................................................................................................... 81
Joystick control modes...............................................................................................................................82
Admittance modes.......................................................................................................................................82
Configurations and safeties...............................................................................................................................84
Configurable parameters.................................................................................................................................... 84
Control library configuration................................................................................................................... 84
Base configuration.......................................................................................................................................85
Actuators configuration.............................................................................................................................86
Interface configuration...............................................................................................................................86
Device configuration....................................................................................................................................87
Vision configuration.....................................................................................................................................87
Safety items.............................................................................................................................................................88
Base (controller) safeties..........................................................................................................................88
Actuators safeties........................................................................................................................................89
Interface module safeties..........................................................................................................................91
KINOVA® KORTEX™ Web App User Guide........................................................................................................93
Introduction.............................................................................................................................................................. 93
Purpose...................................................................................................................................................................... 93
Device availability of Web App..........................................................................................................................93
Platform and browser support..........................................................................................................................95
User login.................................................................................................................................................................. 95
Web App layout and navigation........................................................................................................................96
Robot control panel..............................................................................................................................................101
Pose virtual joystick control....................................................................................................................101
Angular virtual joystick control.............................................................................................................102
Virtual joystick keyboard shortcuts.....................................................................................................103
Admittance modes panel.........................................................................................................................105
Actions panel................................................................................................................................................105
Camera panel............................................................................................................................................... 106
Snapshot tool...............................................................................................................................................106
Main pages..............................................................................................................................................................106
Configurations page group......................................................................................................................106
Safeties........................................................................................................................................................... 110
Operations page group..............................................................................................................................110
Systems page group...................................................................................................................................121
Users................................................................................................................................................................125
KINOVA® KORTEX™ Developer Guide............................................................................................................. 128
Introduction............................................................................................................................................................ 128
Devices and services...........................................................................................................................................128
Available services.................................................................................................................................................129
Users, connections and sessions....................................................................................................................129
Services, methods, and messages................................................................................................................. 130
KINOVA® KORTEX™ API and Google Protocol Buffer................................................................................130
Service client-server model..............................................................................................................................130
Notifications............................................................................................................................................................ 131
Blocking and non-blocking calls...................................................................................................................... 131
Robot servoing modes.........................................................................................................................................131
High-level servoing....................................................................................................................................132
Low-level servoing.....................................................................................................................................132
Device routing........................................................................................................................................................ 133
Error management............................................................................................................................................... 133
KINOVA® KORTEX™ GitHub repository...........................................................................................................133
KINOVA® KORTEX™ ROS packages and GitHub repository overview..................................................134
KINOVA® KORTEX™ MATLAB® API and GitHub repository overview................................................... 134
Working with camera streams using GStreamer...................................................................................... 134
Windows command examples............................................................................................................... 135
Linux command examples.......................................................................................................................135
KINOVA® KORTEX™ ROS vision module package and Github overview..............................................136
Guidance for advanced users........................................................................................................................... 137
Overview...................................................................................................................................................................137
Reference frames and transformations....................................................................................................... 137
Standard Cartesian reference frames................................................................................................. 137
Homogeneous transforms.......................................................................................................................137
Homogeneous transform matrices - 7 DoF spherical wrist........................................................ 138
Vision module sensors reference frames..........................................................................................140
Denavit-Hartenberg (DH) parameters - 7 DoF spherical wrist................................................... 141
7 DoF singular configurations..........................................................................................................................143
Inertial parameters definition..........................................................................................................................145
Inertial parameters of the 7 DoF robot........................................................................................................ 145
Maintenance and troubleshooting................................................................................................................. 149
Maintenance...........................................................................................................................................................149
Troubleshooting..................................................................................................................................................... 151
Base controller LEDs................................................................................................................................. 152
How to respond to safety warnings and errors.............................................................................. 152
Contacting Kinova support...................................................................................................................... 154
KINOVA® Gen3 Ultra lightweight robot User Guide 6
Introduction
Welcome
Welcome to the KINOVA® Gen3 Ultra lightweight robot.
Thank you for choosing our robot as a tool for your pathbreaking research needs.
This document is meant to provide you with all the information you need to get up and running with your
new robot and get the most out of it.
We are here to help you in your journey. If you need any help or have any questions about how to get to
where you're going with the robot, please feel free to contact our support team:
www.kinovarobotics.com/support
About this document
User Guide contents and warnings.
Read all instructions before using this product and any third-party options.
Read all warnings on the product and in this guide.
This document contains information regarding product setup and operation. It is intended for Kinova
product end users.
All third-party product names, logos, and brands appearing herein are the property of their respective
owners and are for identification purposes only. Their use in this document is not meant to imply
endorsement by Kinova.
Kinova has made every effort to ensure that this document is accurate, accessible and complete. As
part of our commitment to continuous improvement, we welcome any comments or suggestions at
www.kinovarobotics.com/support.
From time to time, Kinova will make udpates to this document. To download the most up to date version
of this document, visit the product technical resources page at www.kinovarobotics.com/knowledge-hub/
gen3-ultra-lightweight-robot.
For general inquiries please contact us at +1 (514) 277-3777
Normal use definition
This section describes the normal use of the robot.
The definition of normal use includes lifting, pushing, pulling, or manipulating (without a gripper or other
end effector attached) a maximum load of:
• mid-range, continuous: 4 kg
• full-reach, temporary: 4.5 kg
• full-reach, continuous 1.1 kg
The robot is designed to hold, move, and manipulate objects in the user environment. However, for some
loads in certain positions (near maximum load and reach), holding an object for an extended period of time
may result in heating. To protect the robot hardware from excessive heat, safety thresholds shut down the
robot if the temperature rises above a certain threshold. Before this is reached, an API notification will be
rendered as a user alert on the KINOVA® KORTEX™ Web App.
The robot includes a number of temperature-related safeties:
• base - CPU core and ambient temperatures
• actuators - CPU core and motor temperatures
• interface module - CPU core and gripper motor temperatures
If you receive any temperature warnings, put down any object as soon as is practical and place the robot
into a stable rest position to allow it to cool down.
KINOVA® Gen3 Ultra lightweight robot User Guide 7
During normal operation, the robot joints are subject to heating. The joints are normally covered in plastic
rings to protect the user from the metal surfaces which may become hot.
Risk assessment
Before proceeding it is imperative that a risk assessment be performed (note that this is required by law
in many countries). As it is a machine, the safety of the robot depends on how well it is integrated with its
environment and with other machines.
The recommended international standards for conducting a risk assessment are as follows:
• ISO 12100
• ISO 10218-2
The risk assessment should take into consideration all activities carried out in the context of the robot
application, including (but not limited to):
• teaching the robot (during set-up)
• development of the robot installation
• robot troubleshooting
• robot maintenance
• everyday robot operation
The risk assessment must be completed before integration of the robot in an application and should address
configuration settings as well as the need for any additional emergency stop buttons.
EU Declaration of Incorporation
The Declaration of Conformity is a self-declared assessment produced and signed by a manufacturer of a
product to assert that the product meets all of the requirements of the applicable directives.
In the case of KINOVA® Gen3 Ultra lightweight robot KR L53 0007, the applicable directives that are eligible
for CE declaration are the following:
• Machinery Directive 2006/42/EC
• Electromagnetic Compatibility (EMC) Directive 2014/30/EU
The Machinery Directive 2006/42/EC Article 2 (g) states that:
‘Partly completed machinery’ means an assembly which is almost machinery but which cannot in
itself perform a specific application. A drive system is partly completed machinery. Partly completed
machinery is only intended to be incorporated into or assembled with other machinery or other
partly completed machinery or equipment, thereby forming machinery to which this Directive
applies; is not eligible to CE marking by its own because it is an “incomplete machine.”
Based on this definition, our product Gen3 Ultra lightweight robot KR L53 0007 is considered partly
completed machinery because it has no specific application. The robot application is determined when it is
incorporated in a system, given an end-effector and expected workpieces. Once the product is incorporated
into a complete system and the system complies to all applicable directives, then the integrator is permitted
to issue a Declaration of Conformity and affix a CE marking to the completed machine. For incomplete
machinery, a Declaration of Incorporation (DoI) is required from the manufacturer. The Declaration of
Incorporation for the robot is inserted below.
KINOVA® Gen3 Ultra lightweight robot User Guide 8
EU DECLARATION OF INCORPORATION (In accordance with ISO/IEC 17050-1:2004)
Manufacturer:
Kinova Robotics
4333 Boulevard de la Grande-Allée,
Boisbriand, QC J7H 1M7, Canada
Telephone: +1 514-277-3777
Manufacturer’s authorized EU representative :
Kinova Europe GmbH
Grosskitzighofer. Str. 7a,
86853 Langerringen
Telephone: +49 8248 8887-928
Description and identification of the partially completed machine(s):
Product and function : Robot (Multi-axis manipulator)
Models :
KINOVA® Gen3 Ultra lightweight robot L53 0007
KINOVA® Gen3 Ultra lightweight robot L53 0006
KINOVA® Gen3 Ultra lightweight robot shall only be put into service upon being integrated into a
final complete machine (robot system, cell or application), which conforms with the provisions of the
Machinery Directive and other applicable Directives.
When this incomplete machine is integrated and becomes a complete machine, the integrator is
responsible for determining that the completed machine fulfils all applicable directives and updating the
relevant harmonized standards, other standards and documents.
It is declared that the above products, for what is supplied, fulfil the following directives as detailed
below:
• Machinery Directive 2006/42/EC The following essential health and safety requirements are
applied and fulfilled :
1.1.2, 1.1.3, 1.1.5, 1.2.1, 1.2.4.3, 1.2.6, 1.3.4, 1.3.8.1, 1.5.1,
1.5.2, 1.5.6, 1.5.10, 1.6.3, 1.7.2, 1.7.4
• Electromagnetic Compatibility
(EMC) Directive 2014/30/EU
The partly completed machinery is also compliant with the following relevant standards:
• IEC 62368-1:2014/AC:2015 Audio/video, information and communication technology
equipment - Part 1: Safety requirements
• ISO 12100:2010 Safety of machinery - General principles for design - Risk
assessment and risk reduction
• IEC 61000-6-1:2016 Electromagnetic compatibility (EMC) - Part 6-1: Generic
standards - Immunity for residential, commercial and lightindustrial environments
• IEC 61000-6-3:2016 Electromagnetic compatibility (EMC) - Part 6-3: Generic
standards - Emission standard for residential, commercial and
light-industrial environments
The manufacturer or its authorised representative will undertake to transmit, in response to a reasoned
request by the national authorities, relevant information on the partly completed machinery.
The Technical Construction File is kept and maintained at the corporate headquarters of Kinova
Robotics located at 4333 Boulevard de la Grande-Allée, Boisbriand, QC J7H 1M7, Canada.
Louis-Joseph Caron L'Écuyer
Chief Operaon Officer & Co-Founder
Boisbriand Canada, 08 August 2019
KINOVA® Gen3 Ultra lightweight robot User Guide 9
FCC Declaration of Comformity
FCC Regulatory Disclosures: This equipment has been tested and found to comply with the limits for a
Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable
protection against harmful interference in a residential installation. This equipment generates, uses and can
radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause
harmful interference to radio communications. However, there is no guarantee that interference will not
occur in a particular installation. If this equipment does cause harmful interference to radio or television
reception, which can be determined by turning the equipment off and on, the user is encouraged to try to
correct the interference by one or more of the following measures:
• Reorient or relocate the receiving antenna
• Increase the separation between the equipment and receiver
• Connect the equipment into an outlet on a circuit different from that to which the receiver is
connected
• Consult the dealer or an experienced radio/TV technician for help
The Declaration of Conformity for the robot is inserted below.
FCC SUPPLIER'S DECLARATION OF CONFORMITY
Manufacturer:
Kinova Robotics
4333 Boulevard de la Grande-Allée,
Boisbriand, QC J7H 1M7, Canada
Telephone: +1 514-277-3777
Description and identification of the devices:
Product and function : Robot (Multi-axis manipulator)
Models :
KINOVA® Gen3 Ultra lightweight robot L53 0007
KINOVA® Gen3 Ultra lightweight robot L53 0006
These devices contains the following certified modular transmitter : FCC ID A3LSIP007AFS00
These devices comply with Part 15 of the FCC Rules and Regulations for Information Technology
Equipment :
• FCC 47 CFR Part 15, Subpart B – Verification
Operation is subject to the following two conditions:
(1) these devices may not cause harmful interference, and
(2) these devices must accept any interference received, including interference that may cause undesired
operation.
We, the responsible party Kinova Robotics, declare that the products Gen3 Ultra lightweight robot KR
L53 0007 and Gen3 Ultra lightweight robot KR L53 0006 are to conform to the applicable FCC rules and
regulations. The method of testing was in accordance with the appropriate measurement standards, and
all necessary steps have been taken to ensure that all production units of these devices will continue to
comply with the Federal Communications Commission's requirements.
Boisbriand Canada, 11 October 2019
Louis-Joseph Caron L'Écuyer
Chief Operaon Officer & Co-Founder
KINOVA® Gen3 Ultra lightweight robot User Guide 10
Safety directives and warnings
Directives, warnings and safety considerations for the KINOVA®Gen3 Ultra lightweight
robot.
IMPORTANT
Before operating the robot for the first time, ensure that you have read, completely understood and
complied with all of the following directives, warnings and cautionary notes. Failure to do so may result in
serious injury or death to the user, damage to the robot, or a reduction in its useful life.
Table 1: Safety
There is no mechanical brake on the robot. If the power supply is cut or an unrecoverable error
occurs, be aware that the robot will fall. However, mechanisms are in place within the actuators will
slow the descent in the absence of external power.
For your personal
safety, and that of others, it is
strongly recommended that
the following be carried out:
For your personal
safety, and that of others,
never:
- risk assessment, before integration of the robot into a given application.
- hazard analysis, before integration into an environment which includes
atomized flammable dust / particles or explosive / flammable gases, etc.
- use the robot near a flame or source of heat.
- use the robot to submerge objects in water.
- exceed the maximum specified payload.
- attempt to stop the robot or prevent its movement by holding it (except
in admittance mode).
- install the robot base within 20 cm of your body (base contains a Wi-Fi
transmitter).
- power up and boot, reboot, or update the firmware of the robot unless
the robot is in a stable position.
- the robot does not encounter any obstacles (persons or objects).
Although inherently safe in its default configuration, disabling the robot
safeties requires that the user be responsible for ensuring a secure
working space.
- the end effector never collides with a hard surface.
For your personal
safety, and that of others,
always ensure that:
- the grasping of objects by gripper fingers is stable, to prevent the risk of
dropped or thrown objects (if using a gripper).
- the wrist is supported before turning the power off (otherwise it may fall
and cause damage).
- eye protection is worn when manipulating fragile objects with the robot.
- the working area is safe when containers of hot (or extremely cold)
liquids are to be manipulated with the robot.
- the robot working area is safe if sharp objects are to be handled by the
robot
- the robot has its base securely fixed to the work surface when in
operation.
- before using the robot, it is confirmed that there are no warnings.
- the robot is protected adequately before being used near any messy
process (e.g. welding or painting).
KINOVA® Gen3 Ultra lightweight robot User Guide 11
When using a tool and payload with the robot, ensure that the robot is configured with the
parameters of the tool and payload using the Web App or robot Kinova.Api.ControlConfig API.
For more details, see the API documentation on GitHub and the "Interface, expansion, and vision"
section of the robot User Guide. The robot may behave in an unexpected manner if the tool and payload
parameters are not properly configured.
When mounting the robot in a wall or ceiling mount, ensure that special considerations and
configurations set out in the user guide are followed, including analysis of the mounting surface, use of
the base locking screw, orientation of the base connector panel, and configuration of the gravity vector.
High-level force control is supported as an experimental feature. Users should exercise caution.
Low-level torque control is for advanced users only and should only be used by users who
know what they are doing. It is very important to carefully monitor the torque commands sent to the
actuators to ensure that excessive values are not sent. Incorrect use can lead to rapid movements that
can be dangerous for people and equipment. Make sure that the area around the robot is clear before
experimenting with torque control.
Do not power on the product if any external damage to the vision module is apparent.
Do not attempt to open the vision module.
To avoid eyesight injury from wide angle infrared laser light, do not view the front-facing surface of
the vision module through magnifying optical elements.
The robot should not be used without the provided emergency stop connected.
Do not operate the robot when the relative humidity exceeds the maximum specified limit. In
such a case, put down any object in the gripper, bring the robot to a resting position and wait until the
humidity decreases to an allowable value.
The robot is not certified for use in applications in sterile environments (e.g. food production,
pharmaceuticals, medical, surgical).
Table 2: General
Do not connect the USB ports on the base to one another.
It is recommended that surge protection be used to protect the robot against external surges on
the main AC line which might be caused by lightning or other abnormal conditions.
The base must be mounted as specified in the installation section, with particular attention to the
bolt pattern, strength requirements and any table or tripod-specific mounting.
Any end effector must be mounted as specified in the installation section (including bolt pattern,
power requirements, etc.).
Table 3: Maintenance
Do not use the robot in heavy rain. If this happens, contact Kinova support to schedule
maintenance by an authorized Kinova technician.
KINOVA® Gen3 Ultra lightweight robot User Guide 12
Immediately following exposure to saline air conditions, contact Kinova support to schedule
maintenance by authorized Kinova technician.
The controller mating interface must be kept free of dust and moisture to protect the electrical
contacts. Wipe down the surface with a soft dry cloth to keep the surface of the interface clean.
Warranty
This section describes the Kinova warranty terms.
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 caused 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 replaces the Products in accordance with this section, it will be deemed to
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 the End User. Kinova may 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.
Disclaimer
KINOVA® and the Kinova logo are registered trademarks of Kinova inc., herein referred to as Kinova.
KORTEX™ is a trademark of Kinova inc.
All other brand and product names are trademarks or registered trademarks of their respective owners.
The mention of a product name does not necessarily imply an endorsement by Kinova. This manual is
furnished under a lease agreement and may only be copied or used in accordance with the terms of
such lease agreement. Except as permitted by the lease agreement, no part of this publication may be
reproduced, stored in any retrieval system, or transmitted, modified in any form or by any means, electronic,
mechanical, recording, or otherwise, without prior written consent of Kinova.
The content of this manual is furnished for informational use only and is subject to change without notice.
It should not be construed as a commitment by Kinova. Kinova assumes no responsibility or liability for any
errors or inaccuracies that may appear in this document.
Changes are periodically made to the information herein and will be incorporated into new editions of this
publication. Kinova may make improvements and/or changes to the products and/or software programs
described in this publication at any time.
Any questions or comments concerning this document, the information it contains or the product it
describes may be addressed through the support page on the Kinova website:
KINOVA® Gen3 Ultra lightweight robot User Guide 13
www.kinovarobotics.com/support
Kinova would like to thank you for your contribution, while retaining the right to use or distribute whatever
information you supply in any way it believes appropriate (without incurring any obligations to you).
Acronyms and abbreviations
API
Application Programming Interface
CIDR
Classless Inter-Domain Routing
CISPR
Comité International Spécial des Perturbations Radioélectriques
EE
End Effector
EMI
Electromagnetic Interference
FOV
Field of View
fps
frames per second
GPIO
General-Purpose Input/Output
HDMI
High-Definition Multimedia Interface
IC
Integrated Circuit
IEEE
Institute of Electrical and Electronics Engineers
I2C
Inter-Integrated Circuit (bus)
I/O
Input / Output
IP
Ingress Protection or Internet Protocol
IT
Information Technology
ISO
International Organization for Standardization
KINOVA® Gen3 Ultra lightweight robot User Guide 14
LED
Light-Emitting Diode
n/c
no connection
NVRAM
Non-Volatile Random-Access Memory
PC
Personal Computer
ROS
Robot Operating System
RPC
Remote Procedure Call
RPM
Revolutions Per Minute
RS
Recommended Standard
Rx
Receiver
SSID
Service Set IDentifier
TCP
Transmission Control Protocol
Tx
Transmitter
UART
Universal Asynchronous Receiver-Transmitter
UDP
User Datagram Protocol
USB
Universal Serial Bus
UL
Underwriters Laboratory
UV
Ultraviolet light
VLAN
Virtual Local Area Network
KINOVA® Gen3 Ultra lightweight robot User Guide 15
WEEE
Waste of Electrical and Electronic Equipment
KINOVA® Gen3 Ultra lightweight robot User Guide 16
Robot components
Overview
This section describes the main components of the KINOVA® Gen3 Ultra lightweight robot.
The robot consists of:
• base (base shell and controller)
• actuators
• interface module
• vision module
The following image shows the main components of the robot.
Figure 1: Robot main components (7 DoF model shown)
Base
This section describes the purpose, components, and functionalities of the robot base.
The Gen3 Ultra lightweight robot base features a quick connect base.
Figure 2: Quick connect base
KINOVA® Gen3 Ultra lightweight robot User Guide 17
The base is a two-part structure securing the robot onto its physical mounting point and connecting the
robot to power and control signals. This consists of:
• controller
• base shell
The controller is the "brains" of the robot. The internal components of the controller include:
• CPU
• Wi-Fi / Bluetooth adapter (Only Wi-Fi is used at present)
• Ethernet switch
• USB hub
• temperature sensor
• accelerometer/gyroscope
A Linux web server runs on the controller and manages connectivity between the controller and the arm
devices, and between the controller and an external computer.
The controller includes a connector panel at the rear for connecting to power and external devices.
The controller has four mounting holes (M6) on its underside. The controller is shipped connected with
screws to a circular mounting plate with through holes for mounting to surfaces and a slot to put a clamp
between the robot and the plate for quick setup and takedown tabletop mounting.
Figure 3: Mounting plate
The mounting plate can also be removed from the controller by removing the screws, giving access to the
four mounting holes and allowing the controller to be mounted directly on the surface.
The base shell, meanwhile, is the bottom part of the robotic arm shell connected to the first actuator. It
mounts onto the controller and is secured in place with an integrated clamp.
A mating interface on the top of the controller provides an electrical connection between the base shell
and the controller.
Note: The controller mating interface needs to be kept free of dust and moisture to protect the electrical
contacts. Wipe down with a soft dry cloth to keep the interface clean.
The clamping mechanism and mating interface allow the robot to be quickly and easily removed from the
controller while leaving the controller mounted in place with cables still connected.
Controller quick connect system
This section describes the controller quick connect system.
The base of the robot is equipped with a quick connect system that allows for simple connect / disconnect
of the base shell and controller. This allows the arm to be quickly detached from the mounting point of the
arm without disconnecting any cables. This can be useful for transport, for removal of the arm for servicing
or for convenient re-siting of the arm between multiple installation sites.
Note: Be careful to avoid damage to the electrical contacts on the mating interface of the controller when
the base shell is disconnected. Make sure to keep the surface dry and free from dust.
KINOVA® Gen3 Ultra lightweight robot User Guide 18
Clamp
Figure 4: Controller quick connect
The base shell slides over and onto the controller, establishing an electrical connection with the arm. The
base shell is secured in place on the controller by closing the front clamp.
Figure 5: Base shell installation
To remove the arm from the controller, flip open the clamp and slide off the base shell.
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Figure 6: Base shell and arm removal
The controller features a locking screw within the mounting hole on the front bottom left (from the
perspective of an observer behind the connector panel). Turning the locking screw with a 3 mm hex key
clockwise will cause the screw to go forward and protrude through a hole above the top surface of the
controller a few mm until it reaches the end of its travel. If the base shell is already clamped onto the
controller when this is done, the set screw will interface with a mechanism on the clamp and prevent the
clamp from opening until the set screw is withdrawn. This serves as a safety mechanism. There is a hole on
the clamp where the end of the lock screw can be seen when it is fully engaged. Confirm visually that the
lock screw is not engaged before trying to open the clamp.
Figure 7: Lock screw mechanism
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Controller connector panel
This section describes the controller connector panel of the robotic arm.
The controller connector panel is located at the rear of the controller. It features the following elements:
• On / Off power switch
• blue power LED indicator
• red / amber / green status LED indicator
• HDMI Out (camera video*)
• Micro USB (internal use)
• USB 2.0, type A - qty 2 - for wired controller. Top port 1 A for charging. Bottom port 500 mA max, for
peripherals.
• RJ-45 Gigabit Ethernet (LAN)
• Binder-USA 09 0463 90 19 (joystick, discrete I/O, E-Stop, expansion)
• Lumberg 0317 08 (power)
Note: Cables connected to the base controller must be less than 3 m in length. If not, you must perform a
risk analysis. Cables longer than 3 m can potentially have an effect on radio frequency emissions and the
immunity of the product.
Figure 8: Controller connector panel
* to be implemented in future software release
Actuators
This section provides an overview of the robot actuators.
The rotational motion at each of the joints of the robot is powered by rotary actuators. There is one actuator
for each joint. Each actuator allows for potentially unlimited rotation in either direction (There are software
limits however on some joints however to avoid collisions between robot shell segments).
There are two sizes of actuator:
• small
• large
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Each actuator has:
• torque sensing
• current and temperature sensing on each motor phase
Wrist joints use small actuators, while large actuators are used for other joints. All actuators are equipped
with a 100:1 strain wave gear for smooth motion.
The actuators are connected to each other and to the interconnect board using a series of 41-pin flex cables.
These cables convey:
• power
• 2 x full-duplex 100 Mbps Ethernet
º one for 1 kHz control
º one for vision / expansion data traffic
Actuator Specifications:
• actuator speed (maximum, unloaded):
º 25 RPM (small)
º 13 RPM (large)
• actuator torque (small):
º 13 N·m (nominal)
º 34 N·m (peak)
• actuator torque (large):
º 32 N·m (nominal)
º 54 N·m (peak)
Interface module
This section describes the interface module.
The interface module provides an interface for connecting a gripper or other tools at the end of the arm.
The interface module also provides a mounting point and connection for the vision module.
The interface module has a connection interface at the end of the arm, and is surrounded on the sides by a
bracelet shell. The vision module is mounted on the top of the bracelet.
The bracelet includes two buttons used to activate admittance modes to interact with the robot. By default
the button on the right hand side (viewed from behind) puts the arm into Cartesian admittance while the
button on the left puts the arm into null space admittance. The two buttons can be distinguished easily by
touch without looking; the Cartesian admittance mode button sticks out from the surface in the center,
while the null admittance mode button is slightly indented in in the center and ring-shaped.
Note: Only one of the buttons can be active at any given time. If you press the two buttons together or in
close succession, the button pressed later will take effect.
The bracelet also includes two amber LEDs.
The interface module takes a 41-pin input from the last actuator of the robot.
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The interface exposes connectors that allow different tools to be integrated with the robot. It features:
• Kinova internal end-effector interface
• 10-pin spring-loaded connector with RS-485 (compatible with Robotiq Adaptive Grippers)
• 20-pin user expansion interface
Figure 9: Interface module
The interface also includes four mounting holes for physical mounting of a tool and a position key hole used
for alignment of the tool in the right orientation.
Figure 10: Mounting holes and positioning key hole
The interface module includes a 6-axis accelerometer / gyroscope. The module also includes an Ethernet
switch to route connectivity and control data between the interface module and the vision module and any
connected tool (e.g. gripper).
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Note: The printed circuit board (PCB) of the interface module is partially covered with a touch shield
with holes to expose only the output connectors - 10-pin spring loaded connector, 20-pin user expansion
connector, and Kinova internal end effector interface.
Note: When there is no tool present, an end cap needs to be installed over the face of the interface module
to ensure compliance with EMI/EMC. Kinova provides an end cap with the robot. This end cap is attached
to the interface with screws using the mounting holes on the interface. The end cap needs to be removed
to attach a tool to the robot.
Figure 11: End cap
Vision module
This section describes the Vision module.
The vision module is a module provided by Kinova to enable robotic computer vision applications.
The vision module is included as part of the interface module. A housing containing sensors protrudes from
the top of the Interface module. The sensors are contained on the front face of the housing, facing out
parallel to the axis of the last actuator.
The Vision module is used to capture and stream image data captured looking in the direction the end of
the arm / end effector is pointed. The Vision module includes both a color camera (Omnivision OV5640)
and a stereo depth sensor (Intel® RealSense™ Depth Module D410).
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Figure 12: Vision module sensors
The color sensor captures a 2D array of RGB pixel data representating the field of view from the perspective
of the sensor.
The depth sensor includes an IR projector and two stereo imagers - left and right. Here left and right are
from the perspective of an observer looking out from the sensor toward the imaged region. The depth
sensor captures a 2D array of pixels and the depth for each pixel within the field of view of the sensor.
Together, the two sensors allow the capture of RGBD (color and depth) data. Both camera sensors can be
configured using the KINOVA® KORTEX™ VisionConfig interface.
Note that performance for the Vision module depth sensor may be degraded at temperatures below 0° C.
For more details, please consult the depth sensor data sheet.
The color and depth sensors data streams are made accessible to developers through a computer with a
connection to the robot. For more information on accessing these data streams programatically, see here.
Vision module specifications
Color sensor:
• resolution, frame rates (fps), and fields of view (FOV):
º 1920 x 1080 (16:9) @ 30, 15 fps; FOV 47 ± 3° (diagonal)
º 1280 x 720 (16:9) @ 30, 15 fps; FOV 60 ± 3° (diagonal)
º 640 x 480 (4:3) @ 30, 15 fps; FOV 65 ± 3° (diagonal)
º 320 x 240 (4:3)@ 30, 15 fps; FOV 65 ± 3° (diagonal)
• focusing range - 30 cm to ∞
Depth sensor:
• resolution, frame rates (fps), and fields of view (FOV):
º 480 x 270 (16:9) @ 30, 15, 6 fps; FOV 72 ± 3° (diagonal)
º 424 x 240 (16:9) @ 30, 15, 6 fps; FOV 72 ± 3° (diagonal)
• minimum depth distance (min-Z) - 18 cm
Robot communications and network interfaces
This section describes communications and network interfaces within the robot.
KINOVA® Gen3 Ultra lightweight robot User Guide 25
The devices in the robot, from the base of the arm through the chain of actuators, to the interface
module at the end of the arm, are daisy chained together using 41-pin flex cables which carry power and
communications.
The base, actuators, and interface module each contain an Ethernet switch. The Ethernet port on the
connector panel of the base controller allows an external computer to connect to the Ethernet switch of
the base.
The Kinova vision module and any 3rd party tool that makes use of Ethernet communications user
expansion pins in the interface connect directly to the interface module Ethernet switch. Other tools (for
example any gripper interfacing using the 10-pin spring loaded connector on the interface) will interface
instead with the interface module CPU (which is connected to the Ethernet switch).
Together, this enables dual Ethernet networks between all the devices (base, actuators, interface, Vision
module, and end effector tools) with data carried between the base and interface over the 41-pin flex cables.
This is accessible from a client computer via the 1 Gbps Ethernet port on the base controller connector
panel.
The flex cables carry two distinct 100 Mbps Ethernet communications channels.
• one is for control and monitoring of actuators, interface module, and gripper (if present)
• the other is for data transmission for the vision module and expansion.
Each device connected to one of the Ethernet switches has an IP address to allow routing of
communications, transmitted using UDP.
The actuators and interface module have the following default IP addresses:
Table 4: Actuator and gripper IP addresses
Device IP address
Actuator 1 10.10.0.10
Actuator 2 10.10.0.11
Actuator 3 10.10.0.12
Actuator 4 10.10.0.13
Actuator 5 10.10.0.14
Actuator 6 10.10.0.15
Actuator 7 10.10.0.16
Interface module 10.10.0.17
The expansion devices (Vision module and expansion tool peripherals) have the following IP addresses:
Table 5: Expansion IP addresses
Expansion Devices IP address
Vision module 10.20.0.100
Expansion device 10.20.0.200/24*
The robot Ethernet network features three VLANs:
• VLAN 10 : control
• VLAN 20 : expansion
• VLAN 30 : external
The base has network interfaces to all three of these VLANs:
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Table 6: Base network interface IP addresses
VLAN IP address
CTRL interface IP address 10.10.0.1/24*
EXP interface IP address 10.20.0.1/24*
EXT interface IP address 192.168.1.10/24*
The graphic below illustrates the topology of the networks.
* CIDR notation
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Getting started
Overview
This section describes how to get started with the arm.
The pages that follow lead you through getting started with the robot. This includes:
• unboxing
• physically mounting the robot securely
• provisioning electrical power
• controlling the robot using an Xbox gamepad
• moving the robot in admittance using physical buttons
• connecting a computer to the robot
•
connecting to the KINOVA® KORTEX™ Web App
What's in the case?
This section describes the KINOVA® Gen3 Ultra lightweight robot shipping case contents.
Figure 13: Gen3 Ultra lightweight robot shipping case contents
The shipping case contains the following contents.
At the top of the interior of the box, you will find the Quick Start Guide. The Quick Start Guide is a large
printed visual guide.
The Quick Start guide provides a handy reference for first steps, and should have you up and running within
30 minutes. Make sure to keep the Quick Start Guide as a reference for people in your team or organization
getting newly acquainted with your robot. The Quick Start Guide is also available on the Kinova website:
www.kinovarobotics.com/knowledge-hub/gen3-ultra-lightweight-robot
The contents of the box are arranged in three layers from top to bottom. These packing layers can be
removed from the box to unpack the contents.
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In the top layer:
• Robot
In the second layer:
• Power adapter and cable with integrated emergency stop (E-stop) button
• Table clamp
• Mounting plate and robot controller
The bottom area contains:
• Ethernet (RJ-45) cable
• Power cable
• Bag with useful tools and fasteners
º hex keys: 3, 4 and 5 mm
º M5 screws (qty. 4)
An Xbox gamepad and cable are shipped with the robot, but packaged separately.
There is also space for storage of papers and other items.
Note: The shipping case is also useful for transportation and storage of the robot. Make sure to save it and
the packing layers within for future use.
Manipulating the robot joints when the robot is powered off
This describes how to manipulate the robot joints when the robot is powered off.
When the robot is powered on, the actuators will hold their position and prevent the joints from moving
in response to external forces and torques. When the power is on, the arm will not move except when
commanded. The arm joints are stiff and you will not be able to rotate the joints with your hands.
When the robot is powered off, as it is when you first receive the robot, the joints can be moved by hand
slowly.
Note: If you move the joints too quickly, mechanisms within the joints will limit the speed.
This moveability of the joints when the robot is unpowered is useful when taking the robot out of the box
and setting it up to get started. This lets you arrange the joints of the robot into a stable, balanced position
prior to mounting and powering on the robot.
Robot mounting options
This section describes the physical mounting options for the robot.
The first step to getting started with the arm after unboxing is to physically mount the arm in a stable
manner so that the robot can be connected and used.
The most basic mounting option uses the mounting plate and a table clamp to quickly mount the robot on
a tabletop in a "right side up," vertical orientation.
However, if is also possible to mount the robot in different ways, as well as different orientations, depending
on the needs of your particular application. The sections that follow will describe this in more detail.
Mounting the robot on a tabletop
This section describes the procedure for mounting the robot oriented vertically on the edge
of a tabletop using the clamp.
Before you begin
The robot should have the joints of the robot unfolded so that it is in a stable, balanced
position ready for mounting.
About this task
The robot is mounted to a tabletop using the base mounting plate and a table clamp.
Note: The table must be large and sturdy to support a tabletop edge mounting. If the table is too small or
too flimsy, the weight of the robot at the table edge combined with the movement vibrations may render
it unstable.
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Procedure
1. Place the base controller and mounting plate on the tabletop, next to the edge.
Note: You can place the controller in one of two orientations. Either with the connector panel facing out
toward the edge of the table, or with the front side of the base controller facing out.
2. Turn the tightening knob on the table clamp to open up the clamp and then slide the clamp into the slot
between the mounting plate and the bottom of the base controller.
3. Turn the tightening knob by hand until the mounting plant is firmly clamped to the table top.
Note: Do not overtorque.
4. Make sure that the clamp at the bottom of the robot base shell is opened. While holding the robot, you can
now lower the base shell of the robot onto and over the base controller.
5. Once the robot is fully lowered onto the base controller, close the clamp to secure the robot in place on
the base controller.
Note: The clamp must be properly closed to ensure stability of the robot. Damage can potentially be done
to the robot if it is operated while unstable.
Results
The robot is now mounted on the tabletop.
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What to do next
You can now proceed to connect the robot to the power supply and E-stop.
Mounting the robot on a horizontal surface without the table clamp
This section describes how to mount the robot on a horizontal surface without the table
clamp..
About this task
Here, we describe mounting the robot in a vertical orientation on a flat, horizontal surface,
affixing the mounting plate or controller base to the surface using screws and sunk holes in
the surface.
Procedure
1. Choose whether to mount the robot base controller directly onto the surface, or whether to use the
mounting plate.
2. Using either the mounting plate bolting pattern or the controller bolting pattern or as a guide, drill holes
into the surface. If the controller is to be mounted directly to the surface, the holes will have to be drilled
all the way through the mounting surface.
3. Use appropriate screws to mount either the base controller or the mounting plate to the surface. If the
base controller is mounted directly, the screws will need to go through the mounting surface from the
other side.
Controller mounting plate bolting pattern
This section describes the bolting pattern of the mounting plate. This is useful when
mounting the robot to a surface using the mounting plate.
Overview
The mounting plate is attached to the bottom of the base controller. The mounting plate has two sets of M8
screw holes (4) and one set of counter-sunk M6 screw holes (4) available for mounting the plate to a surface.
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