E ID U G R E S U s rie e S - K

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1 K-Series USER GUIDE

2 ABOUT THIS DOCUMENT Read all instructions before using this product. Keep these instructions for future reference. Read all warnings on the product and in this guide. Follow all instructions. This document contains information regarding the setup and the operation of Kinova s K- Series actuators. It is intended for: Field service, customer support and sales employees of authorized distributor of K- Series actuators End user

Refer to accompanied documents Direct current Alternating current Operating temperature range Compliance with WEEE 1 directive Compliance with ROHS 2

3 Symbols, definitions and acronyms Important information regarding the safety of Kinova s products and their operator. Tip on the maintenance, operation and manipulation of Kinova s products. Refer to accompanied documents Direct current Alternating current Operating temperature range Compliance with WEEE 1 directive Compliance with ROHS 2 directive Type BF Applied Part device Warranty For more information regarding the warranty included with your product, please refer to the Terms of sale for the K-Series actuators. 1 Waste electrical and electronic equipment 2 Restriction of hazardous substances ii

4 DISCLAIMER Kinova, K-Series actuators, and Kinova s logo are trademarks of Kinova Inc., herein referred to as Kinova. All other brand and product names are trademarks or registered trademarks of their respective corporations. The mention of any product does not constitute an endorsement by Kinova. This manual is furnished under a lease agreement and may only be copied or used within accordance with the terms of such lease agreement. Except as permitted by such lease agreement, no part of this publication may be reproduced, stored in any retrieval system, or transmitted, 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, is subject to change without notice, and 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; these changes will be incorporated into new editions of this publication. Kinova may make improvements and/or changes in the products and/or software programs described in this publication at any time. Address any questions or comments concerning this document, the information it contains or the product it describes to: Publications@KinovaRobotics.com Kinova may use or distribute whatever information you supply in any way it believes appropriate without incurring any obligations to you. Copyright Kinova. All rights reserved. iii

5 TABLE OF CONTENTS ABOUT THIS DOCUMENT... I Symbols, definitions and acronyms... ii Warranty... ii DISCLAIMER... III TABLE OF CONTENTS... IV GENERAL INFORMATION... 5 Part Identification... 6 Controller External Connection... 7 Specifications... 8 INSTALLATION OF THE K-SERIES ACTUATORS ) Mechanical integration ) Electrical integration ) End-effector electrical integration (optional) ) Control integration NORMAL USE DEFINITION ELECTROMAGNETIC INTERFERENCE FROM RADIO WAVE SOURCE MAINTENANCE AND DISPOSAL Cleaning Instruction Preventive Maintenance Disposal CONTACTING SUPPORT iv

6 GENERAL INFORMATION The K-series of modular actuators gives all the motion and sensing capabilities to easily build custom service robots. Do not modify this equipment without authorization of the manufacturer. The Normal Use Definition contains some fundamental information to the proper operation of the K-Series actuators. It is not recommended to let the K-Series actuators under heavy rain or snow.

Part Identification K-75+ (K-58 & K-75 have the same part ID) 4 INPUT SIDE 2 3 14 OUTPUT SIDE 1 5 6 Figure 1 - KG-3 part ID PART ID NAME 1 Aluminum housing 2

7 Part Identification K-75+ (K-58 & K-75 have the same part ID) 4 INPUT SIDE OUTPUT SIDE Figure 1 - KG-3 part ID PART ID NAME 1 Aluminum housing 2 Link fixing holes (fixed part) 3 Link fixing holes (rotating part) 4 Molex connector #1 5 Molex connector 6 Molex connector #2 6

8 Controller External Connection The following figure shows the external connectors located on the Controller 3. USB port Intended for accessing Kinova SDK Ethernet port Not available, please contact Kinova for availability USB Host port Not available, please contact Kinova for availability Power switch Intended to power ON/OFF actuators Power connector Intended to connect to battery through approved cable or to approved power supply Joystick port Not available, please contact Kinova for availability Figure 2 Controller external connectors Control Port and Power Connector are intended to be connected only with Kinova approved device. Connecting other devices may result in bad performance or even make your K-Series actuator inoperable and void your warranty. Do not defeat the safety purpose of the polarized or grounding type plug. If the provided cable does not fit in your outlet, consult an electrician for replacement of obsolete outlet. To prevent risk of fire or electric shock, avoid overloading wall outlets and extension. Protect the cords from being walked on or pinched. 3 If you need more specific information about the use of any optional accessories and/or system, please contact your local distributor or Kinova Support (see Contacting Support). 7

9 Specifications Refer to the Technical Specifications available for download here. 8

INSTALLATION OF THE K-SERIES ACTUATORS The K-Series actuators installation comprises the following four steps: 1) Mechanical integration; 2) Electrical integration; 3) End effector electrical

10 INSTALLATION OF THE K-SERIES ACTUATORS The K-Series actuators installation comprises the following four steps: 1) Mechanical integration; 2) Electrical integration; 3) End effector electrical integration (optional) 4) Control integration. 1) Mechanical integration The procedure to link a K-58, K-75 or K-75+ mechanically is the same, only the dimensions differ from one to another. In all cases, it should be attached on the input side of the actuator in a fixed manner (highlighted in black) and on the output side in a way that the link could rotate (also highlighted in black) and respect the dimensions (mm) provided in the following drawings. ROTATING FIXED Figure 3 K-58 dimensions 9

11 Figure 4 K-75 dimensions ROTATING FIXED ROTATING FIXED Figure 5 K-75+ dimensions 10

12 The attachment for the actuator should be a circular part with 6 M3 screw holes. To facilitate the design of the end effector mounting part, download the CAD of the actuators here. Note that there is a 4.0 mm groove on the actuators to correctly align it and have a reference alignment for the robot s inverse kinematics.. 2) Electrical integration i) Connect the first actuator to the controller. Take the 20 pins flex flat cable out of the Controller and connect it to the Molex connector #1 by gently opening with your fingers the brown latch, completely inserting the 20 pins flex flat cable (blue side facing down) and gently closing with your fingers the brown latch. For additional robustness of the connection, we suggest to add hot melt adhesive on the connector. ii) If you have more than one actuator, to connect the second one, insert a 20 pins flex flat cable in the Molex connector #2 on actuator #1 like in step i), but on the output part of the actuator. Then, repeat step i) for actuator #2. iii) To connect a KG-Series Gripper to an actuator, insert the 10 pins flex flat cable of the KG-Series Gripper in the Molex connector #2 on the last actuator. CONTROLLER Figure 6 Schematic representation of a daisy chain of actuators Note that you cannot connect more than 20 K-Series actuators and one KG-Series Gripper in a single daisy chain. 3) End-effector electrical integration (optional) The K-Series actuators has two expansion communication lines and power lines accessible on the last actuator of your daisy chain with the output on the joystick port if you want to add an additional device at the tip of the robot. A Y cable is supplied with the robot (optional) to access the expansion lines. Here are the steps to integrate your end-effector to The K-Series actuators: 11

13 i) Input pinout Here is the pinout on the last actuator to connect your end-effector: Pin # 1 Pin # 20 Pin # Signal 1 to 8 24V input 9 to 16 GND 17 RS485 low 18 RS485 high 19 Exp 0 20 Exp 1 Figure 2 K-58 pinout Make sure to connect your end effector to Pin #19 and/or #20. Otherwise, you could severely damage the robot arm. 12

14 ii) Output pinout Here is the output pinout of the two expansion lines. They are accessible either directly from the Joystick port (Reference on Figure 3) or the Y cable supplied with your JACO² if you still want to use the joystick, Connector A # Signal Function 1 COM1 RS485_low 2 GND GND 3 COM3 Exp 0 4 COM2 RS485_high 5 24V* 24V 6 COM4 Exp 1 *Maximum current 1,5 A Figure 3 EH 01M pinout 4) Control integration Once steps 1 & 2 are completed, you can power on the actuator by flipping the power switch on the Controller to ON (Reference on Figure 3). To control the actuators and access the sensors data, you need to use the API. Connect the USB cable supplied with your package to the USB port. Install and open the Kinova SDK and follow the procedure and documentation included in the SDK. 13

15 NORMAL USE DEFINITION The definition of a normal use of the K-Series actuator includes that you will not exceed K- Series actuators specifications. 14

16 ELECTROMAGNETIC INTERFERENCE FROM RADIO WAVE SOURCE Even if K-Series actuators complies with all relevant standards, your actuator may still be susceptible to electromagnetic interference (EMI), which is interfering electromagnetic energy (EM) emitted from sources such as radio stations, TV stations, amateur radio (HAM) transmitters, two way radios, and cellular phones. The interference (from radio wave sources) can cause the K-Series actuators stop moving for a period of 10 seconds. In this case, the K- Series actuators will simply re-initialize and you will be able to continue to use it. In extremely rare case, it can also permanently damage the K-Series actuators control system. The intensity of the interfering EM energy can be measured in volts per meter (V/m). K- Series actuators can resist EMI up to certain intensity. This is called immunity level. The higher the immunity level is, the greater is the protection. At this time, current technology is capable of achieving at least a 20 V/m immunity level, which would provide useful protection from the more common sources of radiated EMI. There are a number of sources of relatively intense electromagnetic fields in the everyday environment. Some of these sources are obvious and easy to avoid. Others are not apparent and exposure is unavoidable. However, we believe that by following the warnings listed below, your risk to EMI will be minimized. The sources of radiated EMI can be broadly classified into three types: 1) Gripper-held portable transceivers (e.g.: transmitters-receivers with the antenna mounted directly on the transmitting unit, including citizens band (CB) radios, walkie-talkie, security, fire and police transceivers, cellular phones, and other personal communication devices 4 ). 2) Medium-range mobile transceivers, such as those used in police cars, fire trucks, ambulances and taxis. These usually have the antenna mounted on the outside of the vehicle. 3) Long-range transmitters and transceivers, such as commercial broadcast transmitters (radio and TV broadcast antenna towers) and amateur (HAM) radios 5. Because EM energy rapidly becomes more intense as one move closer to the transmitting antenna (source), the EM fields from gripper-held radio wave sources (transceivers) are of special concern. It is possible to unintentionally bring high levels of EM energy very close to the K-Series actuators control system while using these devices. Therefore, the warnings 4 Some cellular phones and similar devices transmit signals while they are ON, even when not being used. 5 Other types of gripper-held devices, such as cordless phones, laptop computers, AM/FM radios, TV sets, CD players, cassette players, and small appliances, such as electric shavers and hair dryers, so far as we know, are not likely to cause EMI problems to your actuator. 15

17 listed below are recommended to reduce the effects of possible interference with the control system of K-Series actuators. Do not operate gripper-held transceivers (transmitter s receivers), such as citizens band (CB) radios, or turn ON personal communication devices, such as cellular phones, while the actuators are turned ON. Be aware of nearby transmitters, such as radio or TV stations, and try to avoid coming close to them. Be aware that adding accessories or components, close to the Controller, may make it more susceptible to EMI. Report all incidents of unintended shut down to your local distributor, and note whether there is a source of EMI nearby. 16

18 MAINTENANCE AND DISPOSAL Cleaning Instruction Only the aluminum housing of K-Series actuators may be cleaned. Cleaning may be done using a damp cloth and light detergent. The following described the steps for the cleaning K- Series actuators: Prepare a water/soap preparation using a proportion of about 2ml of dish soap for 100ml of water; Immerge a clean cotton cloth in the preparation; Take out the cloth and wring out thoroughly; Gently rub the external surface to be cleaned. Do not wash more than three times per day. Do not immerse any part of the K-Series actuators under water or snow. K-Series actuators are not intended to be sterile. No sterilization process should be applied to the actuator. Do not rub the external surfaces with abrasive materials. Preventive Maintenance The K-Series actuators require no maintenance. Refer all services to qualified service personnel. A service is required when the apparatus has been damaged in any way, if the K-Series actuators does not operate normally or has been dropped. There is no home serviceable part inside K-Series actuators, do not open. Disposal The K-Series actuators contain parts that are deemed to be hazardous waste at the end of their life. For further information on recycling, contact your local recycling authority or local K-Series actuators distributor. In any way, always dispose of product through a recognized agent. 17

19 PACKING MATERIAL The K-Series actuators packing material can be disposed as recyclable material. METAL PARTS The K-Series actuators metal part can be disposed as recyclable scrap metal. ELECTRICAL PARTS, CIRCUIT BOARDS AND CARBON FIBER Please contact your local distributor to have information regarding disposal of such parts. You can also address questions directly to Kinova through our website (see Contacting Support). 18

CONTACTING SUPPORT If you need help or have any questions about this product, this guide or the information detailed in it, please contact a Kinova representative at: Support@KinovaRobotics.

20 CONTACTING SUPPORT If you need help or have any questions about this product, this guide or the information detailed in it, please contact a Kinova representative at: Support@KinovaRobotics.com We value your comments! To help us assist you more effectively with problem reports, the following information will be required when contacting Kinova or your distributor support K-Series actuators serial number 6 Date/Time of the problem Environment where the problem occurred (per example 30 Celsius, raining,...) Actions performed immediately before the problem occurred 6110 Doris-Lussier Boisbriand, Quebec (Canada) J7H 0E8 6 This will allow the support agent to have all the information regarding your actuator as the software version running in the device, the part revisions and characteristics, etc. 19

E ID U G R E S U s rie e S - G K

E ID U G R E S U s rie e S - G K KG-Series USER GUIDE KG- Series - User Guide ABOUT THIS DOCUMENT Read all instructions before using this product. Keep these instructions for future reference. Read all warnings on the product and in this