KINOVA
®
Gen3 Ultra lightweight robot
User Guide
54
Actuators readings available
Table 20: Actuators readings available via API
Field name
Description
position
angular position of the actuator in °
velocity
angular velocity of the actuator in ° / sec
torque
torque in N·m
current_motor
motor current in A
voltage
main board voltage in V
temperature_motor
actuator motor temperature in °C (highest of three 3
phases)
temperature_core
microcontroller temperature in °C
Interface readings available
Table 21: Interface readings available via API
Field name
Description
imu_acceleration_X
IMU measured acceleration (X-Axis) of
interconnect in m / s
2
imu_acceleration_Y
IMU measured acceleration (Y-Axis) of
interconnect in m / s
2
imu_acceleration_Z
IMU measured acceleration (Z-Axis) of
interconnect in m / s
2
imu_angular_velocity_X
IMU measured angular velocity (X-Axis)
ω
x
of
interconnect in ° / s
imu_angular_velocity_Y
IMU measured angular velocity (Y-Axis)
ω
y
of
interconnect in ° / s
imu_angular_velocity_Z
IMU measured angular velocity (Z-Axis)
ω
z
of
interconnect in ° / s
voltage
main board voltage in V
temperature_core
microcontroller temperature in °C
End effector readings available
Table 22: End effector readings available via API
Field name
Description
tool_pose_x
Measured Cartesian position (X-
axis) of the end effector in m
tool_pose_y
Measured Cartesian position (Y-
axis) of the end effector in m
tool_pose_z
Measured Cartesian position (Z-
axis) of the end effector in m
