Kinova JACO User manual

Jaco® assistive
robot
User guide

Contents
Disclaimer..................................................................................................................................................................1
About this document.............................................................................................................................................2
Symbols, definitions, and acronyms................................................................................................................ 3
Warranty................................................................................................................................................................... 5
Safety / warnings.................................................................................................................................................. 6
Jaco robotic arm..................................................................................................................................................... 9
General information..............................................................................................................................................9
Components.............................................................................................................................................................9
Robot external connectors................................................................................................................................ 9
Specifications........................................................................................................................................................ 10
Robot control modes...........................................................................................................................................11
Home / retract positions...................................................................................................................................12
Installation, configuration, and operation of the robot..........................................................................13
Normal use definition.........................................................................................................................................13
Electromagnetic interference from radio wave sources....................................................................... 14
Operating and controlling the robot............................................................................................................. 15
Kinova joystick controller......................................................................................................................15
Packing materials................................................................................................................................................23
OLED display accessory.....................................................................................................................................24
OLED: General information.............................................................................................................................24
Dimensions............................................................................................................................................................24
Identification of parts........................................................................................................................................24
Specifications........................................................................................................................................................25
Installation guidelines.......................................................................................................................................26
Connecting the display......................................................................................................................................27
The OLED display................................................................................................................................................ 28
Precautions................................................................................................................................................28
Power-up sequence................................................................................................................................29
Screen sections........................................................................................................................................30
Movements display................................................................................................................................ 36
Sleep mode................................................................................................................................................ 37
Major errors...............................................................................................................................................37
Joystick and communication error.................................................................................................... 37
Communication Lost error................................................................................................................... 38

Lift arm accessory..............................................................................................................................................39
Lift arm: General information........................................................................................................................39
Lift arm specifications....................................................................................................................................... 41
Lift arm components..........................................................................................................................................41
Lift arm limit switch.......................................................................................................................................... 42
Controlling tilt back / forward control........................................................................................................43
Using the swing-away mechanism.............................................................................................................. 44
Cleaning, maintenance, and disposal............................................................................................................46
Contacting support............................................................................................................................................. 48

Jaco® assistive robot User guide 1
Disclaimer
Kinova®, Kinova OLED display, and the Kinova 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 through the Kinova website support page:
www.kinovarobotics.com/support
Kinova may use or distribute whatever information you supply in any way it believes appropriate
without incurring any obligations to you.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 2
About this document
This document contains information on the installation and operation of the Jaco® assistive robotic
arm, as well as its accessories, the OLED display (PD 0508 0001) and the Lift Arm.
Read all instructions before using this product.
Read all warnings on the product and in this guide.
Follow all instructions.
Keep these instructions for future reference.
This document contains information regarding product setup and operation. It is intended for:
• Kinova product end users
• Field service, customer support and sales employees of authorized Kinova distributors
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 3
Symbols, definitions, and acronyms
Throughout the manual, icons are used to draw the reader’s attention. Each icon or symbol is
explained.
Important information regarding the safety related to the product and the user
Warning: Safety measure that could lead to injury if ignored
Tip on the maintenance, operation and manipulation of Kinova’s products
Notice: General important information and good practice
Caution: Safety measure that could lead to equipment damage if ignored
Refer to accompanying documents
Pinch point
Medical device
Serial number
Date of manufacturing
Manufacturer Kinova inc.
4333 boulevard de la Grande-Allée
Boisbriand, Québec J7H 1M7
Direct current
Alternating current
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 4
Operating temperature range
Compliance with WEEE2 directive; Waste electrical and electronic equipment
Compliance with ROHS 32 directive; Restriction of hazardous substances
Type BF Applied Part device
European Union (EU) mandatory conformity marking
Kinova assumes no liability of any kind if safety measures are not followed. Please read all the
information concerning this product before using it.
This document is addressed to Kinova’s authorized, certified partners, distributors and end users.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 5
Warranty
This section describes the warranty terms of Kinova inc.
Subject to the terms of this clause, Kinova inc., 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"). The
exception of this warranty is the Lift arm, which has a 1 year protection against defects in materials
or workmanship.
Kinova agrees to repair or replace (at Kinova's option) all Products that 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.
Warranty claims shall be voided if:
• Conditions specified in the user manual are ignored.
• The device is used outside the normal use definition.
• Any part of the appliance is modified or opened.
• Repairs or replacements are carried out by anyone other than a certified and approved
professional.
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.

Jaco® assistive robot User guide 6
Safety / warnings
Follow basic safety rules when working with the Jaco, OLED display, and Lift Arm to avoid injury or
damage to the equipment.
Jaco and OLED display considerations
It is not recommended to use the robot under heavy rain or snow.
Be careful not to hit the robot on a doorframe. The impact could damage the inner components
or break the frame of the robot, which would create an electrical shock hazard. Always ensure there
is sufficient space for the robot to go through the door; also ensure the door cannot close on the
robot.
Never use the Home / Retract 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 robot.
When the power is turned off, the robot 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 robot under water or snow.
When lifting weight near the maximum load and reach, and you receive a warning, put down
the object in the gripper, bring the robot back to the Home or Retract position and wait until the
warning goes away before using it again.
The wheelchair mode (wheelchair / seat motorization / arm) must never be switched while
operating the robot. There is a risk of user contact with the moving robot associated with switching
the mode during operation.
Do not block the robot movement when it is performing a Retract position trajectory.
Any adjustment (mechanical, electrical or programming) done to a wheelchair already
equipped with a robotic arm may have a critical impact on the robot functionality or safety. Always
instruct the personnel or company that will be responsible for servicing your wheelchair to contact
the local Kinova representative before doing any changes.
When reinstalling Jaco at home, verify the retract position is still properly adjusted; that is,
make sure the robot gripper, and elbow if possible, is resting on some fixed part of the wheelchair,
so that the motor power is used minimally to maintain this position. Contact Kinova Support if the
retract position needs to be adjusted.
Lift arm considerations
[phone] kinovarobotics.com
© 2021 Kinova inc. All rights reserved.