Release Notes v KINOVA Gen3 Ultra lightweight robot enabled by KINOVA KORTEX

Transcription

1 Release Notes v1.1.4 KINOVA Gen3 Ultra lightweight robot enabled by KINOVA KORTEX

2 Contents Overview 3 System Requirements 3 Release Notes 4 v Release date 4 Software / firmware components release versions 4 Features introduced in release 4 Known issues, limitations, and workarounds 5 Support 10

3 Overview This document provides release notes for the KINOVA Gen3 Ultra lightweight robot enabled by KINOVA KORTEX. The document provides information through to release version and includes: System requirements Software / firmware components release versions Features introduced Known issues, limitations, and workarounds System Requirements KINOVA KORTEX Web App For this release, the Web App is supported on the following: Google Chrome version 64+: Microsoft Windows 7/10 Ubuntu LTS Android 8.1 and higher KINOVA KORTEX development computer platform These are the hardware and OS requirements for a development computer: Microsoft: Windows 7/10 (32-bit or 64-bit) Linux: Ubuntu (64-bit) 3

4 Release Notes v1.1.4 Release date Software / firmware components release versions KINOVA KORTEX API: Base firmware: Actuators firmware: Interface module firmware: Vision module firmware: Features introduced in release KINOVA KORTEX Web App (robot configuration, control and monitoring) ROS v1 support APIs: C++ and Python Control modes Cartesian Joint angles Admittance Cartesian, angular, and null-space Control features Protection zones Singularity avoidance Servoing modes High-level Low-level 2D / 3D video streaming Sequences and Actions Event notifications Safeties management Control device mapping 4

5 Known issues, limitations, and workarounds GEN Total magnetic sensor error too high On boot-up, the absolute positioning of the robot may not be precise (up to +/-2 degrees off on each joint), and this may compound after each boot. This can be verified by setting all the robot joint angles to 0 degrees in the Web App and visually observing any offset from the normal zero position (off vertical or badly clocked). With the robot powered off, position the robot by hand through various movements and then back to the zero position. Then power on the robot. Move the robot in Cartesian mode then go back to the normal zero position in angular mode. You may have to repeat these steps a few times to remove the offset. This will have to be repeated each time the robot is booted up. GEN Robot moves erratically after 'W' key depression in Web App virtual joystick Virtual joystick keyboard shortcut keys may not work as expected. Use Xbox gamepad or virtual joystick on-screen controls instead. GEN Glitch when admittance mode activated during Web App robot sequence Unable to toggle admittance mode from Web App while playing a sequence. Stop the playback of the sequence before toggling admittance. GEN Web App shows base communication only Web App may not display every device in the robot. Move robot then reboot it. 5

6 GEN Long-running sequence stopped because of Web App time-out Sometimes the Web App may report a session timeout when running for a long time. Refresh the browser page and login again. GEN When in admittance mode, the robot drifts when no gripper is attached Robot will slowly drift in admittance mode when no gripper is attached, or if extra payload is present on the end effector. Use admittance only when gripper is present with no extra payload. GEN Robot can fall during boot sequence Robot may fall during the boot sequence if the robot does not start from a stable resting position. Ensure the robot is in a stable resting position (e.g. retract position) before booting the robot and wait until the base status LED is solid green. GEN Vision depth and color frame rates decreased Sometimes the video stream may drop frames due to internal communication errors, which in turn, may cause the video freeze on client. GEN Web App may be improperly rendered on a tablet in portrait orientation The Web App may not render all items properly on a tablet when in portrait orientation. The Error, Fault, and User Login Icon windows may not be visible Use tablet in landscape orientation if problem occurs. 6

7 GEN Next error in sequence caused by lost packets The arm may occasionally report the error 'Following Error' or warnings 'Maximum Torque' or 'Maximum Speed' due to internal communication errors. This may also lead to interruptions in sequence playback and the occasional dropped frame in camera sensor feeds (2D and/or 3D). Sometimes the Web App may report a session timeout. From the Web App or an Xbox gamepad, clear all faults and continue normal operation. Avoid long (unattended) sequence playback. If action sequencing is used and the issue occurs, clearing the faults and clicking the 'play' button on the sequence will resume it. GEN Subnet mask of in Web App locks out other users The robot will become unreachable if is used as the subnet mask in the Web App. Restore factory defaults by holding in the power button on the robot controller (i.e. robot base) for ten seconds. GEN Clicking Set Axis Offset Zero in Web App causes warnings and errors Clicking Set Axis Offset Zero from the Web App > Configuration page may cause warnings and errors. Clear all faults from Xbox gamepad or Web App and resume normal operations. GEN Many small sequences cause navigation to Web App Actions page to crash Web App Web App may not be able to display actions page if too many actions and/or sequences exist on robot. Restore factory defaults. 7

8 GEN Robot shakes when moved manually in Cartesian admittance mode The robot may become unstable when moved in Cartesian admittance mode. Avoid working near singularities refer to the 'Singularity configurations' section in the User Guide for a partial list of singularity configurations. GEN Pressing Y button on Xbox gamepad puts robot into servoing Pressing the Y button on the Xbox gamepad will take the robot out of admittance mode and into normal servoing. The interface module orange LED may still be lit although arm is no longer in admittance. Toggle admittance mode via Xbox gamepad. GEN Interface module firmware minimum voltage safety doesn't clear when using Clear all faults Minimum voltage safety doesn't clear when using Clear all faults on Interface module. Reboot the robot. GEN Robot may stop if selected speed constraint speed value is too high When the speed constraint for a Cartesian pose is too high, robot stops before attaining the commanded pose. Edit the corresponding action and reduce constraint speed value. 8

9 GEN Robot with Robotiq Gripper may come into contact with robot base When a Robotiq Gripper is attached, the gripper can move through the predefined protection zone and touch the robot base. Avoid moving gripper too close to robot base. GEN Segmentation fault when destroying API API instance may not terminate properly when calling destructors. GEN Web App camera pop-up window unreliable Camera virtual button on the lower right of the Web App is unreliable for viewing camera footage. Use Web App > Camera page instead. GEN Vision module settings unaffected by Web App Restore Factory Settings The Restore Factory Settings button on the Web App > Configurations page has no impact on Vision module configuration. Modify the Vision module parameters manually, as needed. GEN Torque safeties do not trigger on negative values The maximum torque safety will not be reported if a negative torque value is applied. Other safeties will be reported (e.g. following error or maximum current). 9

10 Support If you have any issues, questions or comments, please don t hesitate to contact us. Access all technical and product resources here: kinovarobotics.com/knowledge-hub Contact your Field Applications Engineer if you have questions: kinovarobotics.com/support 10

11 There is no need too small. No task too great. kinovarobotics.com Kinova inc. (Headquarters) 4333, Boulevard de la Grande-Allée Boisbriand (QC) J7H 1M7 Canada +1 (514) Kinova Europe GmbH Friedrich-Ebert-Allee Bonn, Deutschland +49 (0) Kinova Asia 4th Floor, Building 5, Zizhu Cyberport No. 555 Dongchuan Road, Minhang District Shanghai P.R.China RN-001-R01