Kinova JACO User manual

KINOVAJACO™Prosthetic roboc arm
User Guide

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Contents
About this document............................................................................................................................................ 4
Symbols, definitions, and acronyms...............................................................................................................5
Warranty....................................................................................................................................................................6
Warnings....................................................................................................................................................................7
Disclaimer..................................................................................................................................................................8
General Information.............................................................................................................................................. 9
6 DOF Curved Wrist Components.................................................................................................................. 10
External Connectors............................................................................................................................................. 11
JACO specifications.............................................................................................................................................. 12
Markings and Labels........................................................................................................................................... 13
Kinova joystick controller................................................................................................................................. 14
Joystick movements and modes.................................................................................................................... 15
Kinova Joystick LED feedback......................................................................................................................... 16
Kinova joystick Blue LEDs feedback..............................................................................................................17
Kinova joystick Green LEDs feedback...........................................................................................................18
Kinova joystick Red LEDs feedback............................................................................................................... 19
Operating principles and Cartesian mode..................................................................................................20
Home / Retracted positions..............................................................................................................................21
Operating the arm via joystick.......................................................................................................................22
Joystick control quick start............................................................................................................................. 23

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Default joystick motion settings - Cartesian three-axis mode........................................................... 25
Default joystick motion settings - Cartesian two-axis mode.............................................................. 26
Normal use definition.........................................................................................................................................27
Electromagnetic interference from radio wave sources...................................................................... 28
Maintenance and Disposal............................................................................................................................... 29
Packing Materials................................................................................................................................................ 30
Contacting support...............................................................................................................................................31
3-axis mode joystick controls reminder..................................................................................................... 32
2-axis mode joystick controls reminder..................................................................................................... 33

KINOVA JACO™ Prosthetic robotic arm user guide 4
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 product setup and the operation. It is intended
for:
• Field service, customer support and sales employees of authorized Kinova distributors
• Kinova product end users

KINOVA JACO™ Prosthetic robotic arm user guide 5
Symbols, definitions, and acronyms
Important information regarding the safety related to the product and the user.
Tip on the maintenance, operation and manipulation of Kinova’s products.
Refer to accompanying documents.
Direct current.
Alternating current.
Operating temperature range.
Compliance with WEEE2 directive.
Compliance with ROHS3 directive.
Type BF Applied Part device.

KINOVA JACO™ Prosthetic robotic arm user guide 6
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 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 replace the Products in accordance with this section, it will 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 End User and Kinova may a 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.

KINOVA JACO™ Prosthetic robotic arm user guide 7
Warnings
This section summaries important warnings and cautions related to use of the robotic
arm.
It is not recommended to use the arm under heavy rain or snow.
Never use the HOME/RETRACTED function when carrying liquid. The HOME position is
preset and the wrist may rotate and drop the liquid.
Do not manipulate cutting, very sharp or any dangerous tools or objects with the arm.
When the power is turned off, the arm will fall down and may cause damage to itself,
depending on its position at the time of disconnection. Be sure to support its wrist before
turning the power off.
Do not force the fingers beyond their maximal opening. This could damage some internal
components.
Do not immerse any part of the arm under water or snow.
When lifting weight near the maximum load and reach, if the red lights of the controller
blink, put down the object in the gripper, bring back the arm to HOME or RETRACTED position
and wait until the warning goes away before using it again.

KINOVA JACO™ Prosthetic robotic arm user guide 8
Disclaimer
KINOVA™ 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:
[email protected]
Kinova may use or distribute whatever information you supply in any way it believes
appropriate without incurring any obligations to you.

KINOVA JACO™ Prosthetic robotic arm user guide 9
General Information
The KINOVA JACO™ Prosthetic robotic arm is a light-weight robot composed of six inter-linked
segments. Through the controller or through a computer, the user can move the robot in three-
dimensional space and grasp or release objects with the gripper (if a gripper is installed).
Do not modify this equipment without authorization of the manufacturer.
The Normal Use Definition contains some fundamental information to the proper operation
of the robotic arm. arm.
It is not recommended to use the arm under heavy rain or snow.

KINOVA JACO™ Prosthetic robotic arm user guide 10
6 DOF Curved Wrist Components
This section shows the components of the 6 DOF curved wrist robotic arm.

KINOVA JACO™ Prosthetic robotic arm user guide 11
External Connectors
This section describes the external connectors of the robotic arm controller base.
The following figure shows the external connectors located on the arm controller base.
The panel at the back of the controller has four connectors and a power on / off switch.
The power on /off switch is used to power up or power down the robotic arm.
The power connector port is used to connect the robotic arm to electrical power.
The joystick / controls port is used to plug in controls for the arm.
The USB port is used to connect to a computer.
The control Port and Power Connector are intended to be connected only with a Kinova
approved device. Connecting other devices may result in bad performance or even make your
arm inoperable and void your warranty.
Do not override 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.

KINOVA JACO™ Prosthetic robotic arm user guide 12
JACO specifications
This section describes the specifications of the JACO robotic arm.
Table 1:
Total weight 5.2 kg
Reach 90 cm
Maximum payload • 1.6 kg (mid-range continuous)
• 1.3 kg (full-reach peak / temporary)
Materials Carbon fiber (links), Aluminum (actuators)
Joint range (software limitation) ± 27.7 turns
Maximum linear arm speed 20 cm / s
Power supply voltage 18 to 29 VDC
Average power 25 W (5 W in standby)
Peak power 100W
Water resistance IPX2
Operating temperature -10 °C to 40 °C *
* The robotic arm may be used outside this temperature range, but only for a limited time.
For more details, contact your local distributor.

KINOVA JACO™ Prosthetic robotic arm user guide 13
Markings and Labels
This section describes markings / labels on the robotic arm.
Please note that these labels may slightly differ from the ones accompanying your device
depending of your country. The following figure depicts the information about the label affixed
on the robotic arm controller.

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Kinova joystick controller
The Kinova standard controller is a three-axis joystick mounted on a support. The controller
iincludes five independent push buttons and four external auxiliary inputs (on the back side).

KINOVA JACO™ Prosthetic robotic arm user guide 15
Joystick movements and modes
The Kinova joystick allows to control the arm in a “2-axis” or “3-axis” mode. The “2-axis” mode
will disable the joystick twist rotation.
The following table shows the button default factory settings for using the joystick in a 2-axis
and 3-axis modes.
Table 2: Default joystick button settings
Buttons One click Hold 2 sec (Hold until
position is reached)
Deactivate / Activate Joystick Change joystick operating
mode (2-axis Vs 3-axis)
--- Home / Retracted function
3-Axis
1 Deactivate / Activate Drinking mode ---
2 --- Set Position
3 --- Go to pre-set position
A Reach Finger mode Decrease speed
B Reach Translation & Wrist mode Increase speed
Ext1 Reach Finger mode Decrease speed
Ext2 Reach Translation and Wrist mode Increase speed
Ext3 -- Home / Retracted function
Ext4 Deactivate / Activate Drinking mode --
2-Axis
1 Deactivate / Activate Drinking mode ---
2 Reach Wrist orientation
& Finger mode
Decrease speed
3Reach Translation-X/Y &
Translation-Z / Wrist rotation mode
Increase speed
A --- ---
B --- ---
Ext1 Reach Wrist orientation
& Finger mode
Decrease speed
Ext2 Reach Translation-X/Y &
Translation-Z / Wrist rotation mode
Increase speed
Ext3 -- Home / Retracted function
Ext4 Deactivate / Activate Drinking mode --

KINOVA JACO™ Prosthetic robotic arm user guide 16
Kinova Joystick LED feedback
The Kinova joystick offers visual feedback:
• Blue lights : Feedback on control mode
• Green lights : Feedback on arm power
• Red lights : Feedback on error

KINOVA JACO™ Prosthetic robotic arm user guide 17
Kinova joystick Blue LEDs feedback
This section describes the blue LED feedback on the Kinova controller.
The blue LEDs on the controller give feedback on the current control mode. The interpretation
of the blue mode LED indicators is described in the following table.
Table 3: Control mode feedback
Blue LED indication Control Mode
Translation (X-Y-Z)
Wrist
Fingers
Drinking mode (to be used with wrist rotation mode)
3-Axis
Disabled controller
Translation (X-Y)
Translation (Z) / Wrist Rotation
Wrist Orientation
Fingers
Drinking mode (to be used with wrist rotation mode)
2-Axis
Disabled controller
When no blue lights are visible, the controller is disabled. To enable the controller, you must
either proceed with the following options:
• The On/Off button must be pushed
• The arm must be set in its HOME position by holding the HOME/RETRACTED function until
the arm stops moving.

KINOVA JACO™ Prosthetic robotic arm user guide 18
Kinova joystick Green LEDs feedback
This section describes the green LED feedback on the Kinova controller.
The green lights offer visual feedback on the power status of the arm.
Table 4: Power status feedback
Green LED indication Power Status
Flashing The arm has just been turned on and the internal
communication is synchronizing. The arm is not yet ready to
use.
Solid The arm is powered and ready to use.

KINOVA JACO™ Prosthetic robotic arm user guide 19
Kinova joystick Red LEDs feedback
This section describes the red LED feedback on the Kinova controller.
The red lights offer visual feedback on possible errors that may occur while operating the arm:
Table 5: Error status feedback
Red LED indication Cause of the Error Status Action to resolve the
situation
The weight that is being lifted
is too heavy or too much force
is applied on the arm.
Safely put down the object, or
release force applied on the
arm, and wait until red lights
turn off.
The temperature of a section
of the arm is too high.
The usage of the arm is
excessive and doesn’t
respect the normal use
definition. Safely put down
any object that is in the
gripper, bring back the arm to
its RETRACTED position, and
wait until red lights turn off.
Flashing
The input voltage to the arm
(or batteries) is too low or too
high.
Safely put down any object
that is in the gripper,
bring back the arm to its
RETRACTED position.
Ensure the power supply is
appropriate, connections
are secure and batteries are
charged properly before using
the arm again.
Solid
The arm is in fault Turn off the arm and turn
it back on. If the problem
remains, contact your
distributor or Kinova.

KINOVA JACO™ Prosthetic robotic arm user guide 20
Operating principles and Cartesian mode
This section describes at a high level the control of the arm using the joystick in Cartesian
mode.
Operating principles
The operating principles are very simple and intuitive. The robotic arm may be operated through
several controllers. The following sections present the general control principles through
Kinova’s joystick.
Basic movements
The normal control of the robotic arm with the joystick is said to be Cartesian. The user
commands the end-effector’s translations (position variations) with respect to the base and the
rotations (orientation variations) around the end-effector’s reference point. The different joints
are piloted automatically following the given command.
In “Translation mode”, the user controls the position of the gripper in space. The gripper will
always keep its parallelism with the arm’s base. Translation X refers to left/right movements of
the gripper. Translation Y refers to front/back movements of the gripper. Translation Z refers to
up/down movements of the gripper.
In the “Wrist mode”, the user controls the position of the gripper around its center point
(reference point) which will not move (or move slightly) when operating in this mode. Lateral
orientation refers to a thumb/index circular movement of the wrist around the reference point.
Vertical orientation refers to a top/bottom circular movement of the wrist around the reference
point. Wrist rotation refers to a circular movement of the gripper around itself.
The “Drinking mode” is to be used with the wrist rotation only. While operating the Jaco² arm
in “Drinking mode”, the reference point (normally set in the middle of the gripper), is offset in
height and length to produce a rotation around another point in the space of the arm.
In the “Finger mode”, the user controls the opening and closing of the fingers.
Note: The arm will sometimes respond differently to a given command than described in this
section. This may be due to the singularity and collision avoidance algorithms embedded in the
kinematics. It is a normal protective behaviour of the arm and is position dependent. Both these
avoidance algorithms can be deactivated by the user.