KINOVA
®
Gen3 Ultra lightweight robot
User Guide
86
lower
warning
Safety Item
Description
Hard limit
upper
Default
threshold
error
0°
10°
Input Encoder
Magnetic Mismatch
The input optical encoder
position value doesn’t
match with the magnetic
encoder position within
+/- threshold degrees.
45°
15°
0 A
6.0 A
Small
8.0 A
7.0 A
0 A
10.0 A
Maximum
Motor Current
Large
The measured current of
the motor is above upper
limit
12.0 A
11.0 A
16.0 V
18.0 V
Minimum Voltage
The voltage reading is
below lower limit.
Note:
The minimum
voltage thresholds
must
be lower than
the
maximum voltage
thresholds.
24.0 V
16.0 V
24.0 V
30.0 V
Maximum Voltage
The voltage reading is
above upper limit.
Note:
The maximum
voltage thresholds
must be higher than
the minimum voltage
thresholds.
31.0 V
31.0 V
0.0 °C
60.0 °C
Maximum Motor
Temperature
Motor temp is above
upper limit
80.0 °C
75.0 °C
0.0 °C
80.0 °C
Maximum Core
Temperature
Core temp above upper
limit
100.0 °C
90.0 °C
Non-Volatile
Memory Corrupted
Non-volatile memory
corrupt
n/a
n/a
Motor Driver Fault
Driver chip reported a
major fault
Note:
electronic
protection cannot be
deactivated
n/a
n/a
Emergency
Line Asserted
Emergency line asserted.
Motor drive disabled
n/a
n/a
Watchdog Triggered
Watchdog was triggered
n/a
n/a
