Kinova Link 6 User manual

Link 6 user guide
Optional gripper shown

Contents
Copyright notice........................................................................................................................................1
Disclaimers................................................................................................................................................ 2
Abbreviations.............................................................................................................................................3
Link6 overview......................................................................................................................................... 5
Intended use..............................................................................................................................................6
Unintended uses....................................................................................................................................... 6
Warranty information.............................................................................................................................. 7
Applicable firmware................................................................................................................................. 7
Technical specifications........................................................................................................................... 9
Schematics and dimensions.................................................................................................................. 11
Eective workspace......................................................................................................................13
Components............................................................................................................................................. 15
Base............................................................................................................................................................ 15
Specifications and dimensions of the base of the arm.......................................................... 15
Actuators...................................................................................................................................................16
Wrist interface overview........................................................................................................................ 17
Force torque sensor.................................................................................................................... 20
Mechanical interface...................................................................................................................20
Electrical interface...................................................................................................................... 20
Wrist interface compatibility..................................................................................................... 23
Controller overview................................................................................................................................24
Controller mounting interface...................................................................................................27
Controller electrical and communications interface.............................................................28
Teach pendant overview........................................................................................................................ 31
Industrial I/O panel overview...............................................................................................................32
Industrial I/O power supply.......................................................................................................34
General-purpose digital inputs................................................................................................. 35
General-purpose digital outputs...............................................................................................36
Analog inputs................................................................................................................................38
Analog outputs............................................................................................................................. 38
Emergency stop inputs...............................................................................................................40
Teach pendant bypass inputs.....................................................................................................41
Safety-rated digital inputs......................................................................................................... 42
Wrist I/O................................................................................................................................................... 43
Wrist power supply..................................................................................................................... 44
General-purpose inputs and outputs for the wrist............................................................... 44
Wrist RS-485................................................................................................................................. 44

Gigabit Ethernet on the wrist....................................................................................................45
Safety........................................................................................................................................................46
Precautions.............................................................................................................................................. 46
Safety directives and warnings............................................................................................................ 46
Risk assessment...................................................................................................................................... 49
Safety equipment....................................................................................................................................50
Assessments before using the robot................................................................................................... 50
Stop categories.........................................................................................................................................51
Emergency stop....................................................................................................................................... 51
Move robot arm without power............................................................................................................51
Safety functions.......................................................................................................................................52
List of safety functions................................................................................................................52
Stopping time and distance....................................................................................................... 56
Diagnostic coverage.....................................................................................................................56
Safety modes................................................................................................................................. 57
State timelines of safety functions.......................................................................................................57
SF01 Emergency stop timeline.................................................................................................. 58
SF02 Protective stop timeline....................................................................................................59
SF03 Joint position monitoring timeline.................................................................................60
SF04 Joint speed monitoring timeline......................................................................................61
SF05 Monitored stop timeline................................................................................................... 62
SF06 Protection zone monitoring timeline............................................................................. 63
SF07 TCP and Elbow speed monitoring timeline...................................................................65
Robot safety protections and limits.................................................................................................... 66
Joint limits..................................................................................................................................... 67
Tool center point limits..............................................................................................................68
Elbow limits.................................................................................................................................. 69
Protection zones..................................................................................................................................... 69
Tool sphere.................................................................................................................................... 71
Zones pane.....................................................................................................................................71
Zone shapes...................................................................................................................................74
Exporting or importing all zones into one file....................................................................... 76
Visualization pane........................................................................................................................ 77
Safety I/O..................................................................................................................................................78
Safety inputs................................................................................................................................. 79
Safety outputs............................................................................................................................... 81
State timelines of safety outputs.............................................................................................. 83
Safety checksums....................................................................................................................................87
Parameters that are the basis for the safety checksum........................................................ 87
Arm calibration.......................................................................................................................................88
Exporting calibration files......................................................................................................... 90
Importing arm calibration files................................................................................................. 91
Modes of operation of Link6................................................................................................................ 92
Complete start-up sequence................................................................................................................ 93
State: O........................................................................................................................................93
State: Controller initialization................................................................................................... 94
State: Controller idle................................................................................................................... 95
State: Arm initialization.............................................................................................................. 95

State: Arm maintenance............................................................................................................. 96
State: Monitored stop..................................................................................................................97
State: Fault...............................................................................................................................................98
Operating modes.................................................................................................................................... 99
Mode: Manual Jog......................................................................................................................100
Mode: Hand Guiding................................................................................................................. 102
Mode: Hold-to-Run................................................................................................................... 103
Mode: Automatic.........................................................................................................................105
Recovery mode......................................................................................................................................106
Robot lights and what they mean: a reference................................................................................107
Hardware installation........................................................................................................................... 110
Inside the Link6 boxes........................................................................................................................ 110
Unpacking the arm................................................................................................................................ 111
Considerations before installing the arm......................................................................................... 112
Installing the arm directly to a surface............................................................................................. 112
Installing the arm on a third-party adapter plate...........................................................................114
Unpacking the controller..................................................................................................................... 114
Considerations before installing the controller............................................................................... 115
Installing the controller on a flat surface..........................................................................................117
Connecting the arm to the controller............................................................................................... 118
Installing the teach pendant mount...................................................................................................118
Connecting the teach pendant to the controller.............................................................................120
Connecting power to the controller..................................................................................................120
Connecting a computer to the controller......................................................................................... 121
Connecting a network to the controller........................................................................................... 122
Initial software setup............................................................................................................................ 123
Supported client devices......................................................................................................................123
Logging in...............................................................................................................................................124
Repositioning the arm to use it for the first time...........................................................................126
KortexWebApp layout..........................................................................................................................127
Menu pages..................................................................................................................................128
Indicators, user profile, and power........................................................................................ 130
Robot control panel....................................................................................................................132
System information...............................................................................................................................135
Robot networking and communication.............................................................................................136
User management................................................................................................................................. 138
Adding a user.............................................................................................................................. 139
Editing a user.............................................................................................................................. 141
Deleting a user............................................................................................................................142
Elevating permissions................................................................................................................143
Remote access........................................................................................................................................144
Upgrading software...............................................................................................................................145
Plugins..................................................................................................................................................... 147
Getting the plugins for the robot.............................................................................................147
Installing plugins........................................................................................................................148
Overview of working with plugins..........................................................................................150
Configuring tools................................................................................................................................... 151
Adding tools.................................................................................................................................152

Other actions that can be taken on tools...............................................................................154
Configurations for the robot settings................................................................................................ 155
Configuring the controller for robot controls.......................................................................156
Configuring the arm for robot controls................................................................................. 156
Configuring the force torque...................................................................................................160
Visual programming............................................................................................................................. 162
Overview of the Program page...........................................................................................................162
Variable management...........................................................................................................................164
Program variable management................................................................................................164
Persistent variable management..............................................................................................167
Variables...................................................................................................................................................171
Examples of JSON statements.................................................................................................. 174
Adding a variable to the global namespace........................................................................... 174
Adding a variable to a program................................................................................................177
Selecting a variable.....................................................................................................................181
Deleting a variable that is being used in a program............................................................ 182
Core tiles................................................................................................................................................ 184
Common core parameters in the Tile Configuration pane............................................................185
Basic: Set tile parameters....................................................................................................................186
Basic: Wait tile parameters..................................................................................................................187
Basic: Condition tile parameters........................................................................................................187
Basic: Loop tile parameters................................................................................................................ 189
Basic: Message tile parameters.......................................................................................................... 189
Robot: Waypoints tile parameters..................................................................................................... 190
Waypoint parameters................................................................................................................ 190
Constraint parameters...............................................................................................................195
Custom Frame parameters..................................................................................................... 200
Debug tools for waypoints....................................................................................................... 201
Robot: Matrix tile parameters............................................................................................................203
Industrial I/O: tiles...............................................................................................................................206
Industrial I/O: Read Input tile parameters........................................................................... 207
Industrial I/O: Set Output tile parameters............................................................................207
Industrial I/O: Wait for Input tile parameters......................................................................209
Hand Guiding panel............................................................................................................................. 210
Jog Cartesian panel............................................................................................................................... 211
Translation and rotation from the Jog Cartesian panel....................................................... 211
Additional settings......................................................................................................................212
Jog Angular panel.................................................................................................................................. 213
Additional settings......................................................................................................................214
Program creation...................................................................................................................................215
Creating a program....................................................................................................................216
Debug panel overview.......................................................................................................................... 217
Debugging a program................................................................................................................218
Program is ready to use.......................................................................................................................219
Running a program in Automatic mode................................................................................ 219
Running a program in Hold-to-Run mode............................................................................219
Diagnostics............................................................................................................................................. 221
Built-in self tests...................................................................................................................................221

Status of safety functions......................................................................................................... 222
Status of the controller.............................................................................................................223
Status of the actuators..............................................................................................................229
Status of the wrist..................................................................................................................... 236
Robot monitoring.................................................................................................................................. 237
Overview pane of the Monitoring page..................................................................................238
Detailed pane of the Monitoring page................................................................................... 239
Event notifications................................................................................................................................ 241
Plugins....................................................................................................................................................245
Arm plugin............................................................................................................................................. 245
Industrial I/O plugin.............................................................................................................................245
Controller analog on the Industrial I/O plugin page...........................................................246
Controller digital inputs on the Industrial I/O plugin page................................................247
Controller digital outputs on the Industrial I/O plugin page.............................................248
Wrist analog on the Industrial I/O plugin page....................................................................249
Wrist digital on the Industrial I/O plugin page.................................................................... 250
Accessories.............................................................................................................................................252
Controller wall mount..........................................................................................................................252
Installing the Kinova wall mount............................................................................................ 254
Gigabit Ethernet adapter..................................................................................................................... 255
Dimensions of the Gigabit Ethernet adapter.........................................................................255
Installing the Gigabit Ethernet adapter................................................................................. 256
External emergency stop station........................................................................................................257
Installing an external emergency stop station...................................................................... 257
External 3-position enabling device..................................................................................................258
Installing the external 3-position enabling device............................................................... 259
Maintenance..........................................................................................................................................260
Consumables......................................................................................................................................... 260
Preventive maintenance.......................................................................................................................261
Daily maintenance......................................................................................................................261
Weekly maintenance.................................................................................................................. 261
Quarterly maintenance............................................................................................................. 262
Yearly maintenance................................................................................................................... 262
Unscheduled maintenance.................................................................................................................. 262
Fastener maintenance..........................................................................................................................263
Servicing.................................................................................................................................................265
Disposal................................................................................................................................................. 266
Troubleshooting.................................................................................................................................... 267
Issues related to hardware..................................................................................................................267
Why does the controller have no power?.............................................................................. 267
Why is the robot not powering on?........................................................................................ 267
Why is the robot moving in joint Hand Guiding mode by itself?...................................... 268

Why is the snapshot button not working?............................................................................ 268
Why is my tool not working?.................................................................................................. 268
Emergency stop..........................................................................................................................269
Why is the wrist enabling device not enabling Hand Guiding mode?...............................269
Why is the controller hot?....................................................................................................... 270
Issues related to safety elements.......................................................................................................270
Why can I not edit any safety configurations?..................................................................... 270
Why is the external safety device not working?...................................................................270
Why is the robot stuck in Reduced mode?............................................................................ 271
Issues related to modes of operations...............................................................................................271
Why is Manual mode disabled?................................................................................................271
Why can the robot not exit recovery mode?..........................................................................271
Issues related to plugins......................................................................................................................272
Why can I not configure Industrial I/Os?.............................................................................. 272
Issues related to programs and programming................................................................................ 272
Why can I not assign a variable to a field?............................................................................ 272
Why are tiles missing in the visual programming interface?..............................................273
Why can I not find a program in the list of programs?....................................................... 273
Why do some of the tiles of an imported program show a question mark?..................... 274
Issues related to KortexWebApp...................................................................................................... 274
Why is the robot not going to the programmed position?..................................................274
Why is the computer not connecting to KortexWebApp?..................................................275
Why is KortexWebApp not responding on my computer?................................................ 276
Why is there a pop-up requesting visual confirmation of the robot pose after the
robot reboots?........................................................................................................................276
Glossary.................................................................................................................................................. 277
A................................................................................................................................................................277
B................................................................................................................................................................277
C............................................................................................................................................................... 278
D............................................................................................................................................................... 278
E................................................................................................................................................................279
F...............................................................................................................................................................280
G.............................................................................................................................................................. 280
H.............................................................................................................................................................. 280
I.................................................................................................................................................................281
J.................................................................................................................................................................281
K............................................................................................................................................................... 281
L............................................................................................................................................................... 282
M.............................................................................................................................................................. 282
N...............................................................................................................................................................283
O...............................................................................................................................................................283
P............................................................................................................................................................... 283
R............................................................................................................................................................... 285
S............................................................................................................................................................... 286
T............................................................................................................................................................... 286
U............................................................................................................................................................... 287
W.............................................................................................................................................................. 287

EN UG-020 Link 6 user guide r1.0 1
Copyright notice
The information in the Link6 user guide contains proprietary information and, as such, no part
may be reproduced, in part or in whole, or transmitted in any form or by any means, electronically
or mechanically, including photocopying, recording, or any information or storage retrieval
system, without prior permission in writing from Kinova.
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EN UG-020 Link 6 user guide r1.0 2
Disclaimers
Kinova® and the Kinova logo are registered trademarks of Kinova inc., herein referred to as
Kinova.
Kortex™ is a trademark of Kinova inc.
All other brand and product names are trademarks or registered trademarks of their respective
owners.
Kinova continually works towards improving the reliability and performance of its products.
Kinova does its best to ensure the content of all their user guides is accurate and precise with
respect to the latest version of their products. However, Kinova does not take responsibility for
any erroneous or missing information.
The images in this document may appear differently from what is installed in your environment. If
this arises, make sure you have the correct guide for the robot that you have installed.
Note: The user guide may be updated from time to time. Please make sure to look at the
latest version on our website.
The version of this document is in the header of the pages of the document.
Any questions or comments concerning this document, the information it contains or the product
it describes may be addressed through suppor[email protected].
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EN UG-020 Link 6 user guide r1.0 3
Abbreviations
AC alternating current
ADC Analog/Digital converter
AWG American Wire Gauge
BCD Binary Coded Decimal
BIST built-in safety test
CPU central processing unit
CRC Cyclic redundancy check
cUL tested to Canadian standards by Underwriters' Laboratories
DC direct current
DIN Deutsches Institut für Normung
DoF degrees of freedom
EFT Electrical Fast Transient
EFT/B refer to EFT
EMI electromagnetic interference
ESD electrostatic discharge
E-stop emergency stop
FCCU Fault Collection and Control Unit
FPU floating point unit
FRAM Ferroelectric Random Access Memory
FT Force Torque
GPU graphics processing unit
GUI Graphical User Interface
HMI human machine interface
IEC International Electrotechnical Commission
I/O input output
LSB Least Significant Bit
LOTO Lockout Tagout
MAC Media Access Control
MCU Main Control Unit
MPU Main Processing Unit
NAVRAM Non-volatile Random Access Memory
NC Normally Closed
NPN Negative logic
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EN UG-020 Link 6 user guide r1.0 4
OSSD Output Signal Switching Device
PCB printed circuit board
PE protective earth
PFL Power and Force Limiting
PLC programmable logic controller
PLd Performance Level d
QEI Quadrature Encoder Interface
RAM random access memory
RTU remote terminal unit
SBC System Basis Chip
SC stop category
SCCR Short-circuit Current Rating
SCU Safety Control Unit
SPI Serial Peripheral Interface
SWU a file format, used by Kinova, to package firmware updates
TCP Tool Center Point
TCP/IP Transmission Control Protocol/Internet Protocol
UL Underwriters Laboratories
USB Universal Serial Bus
2V5 2.5 V
3V3 3.3 V
VDS Drain-source voltage
VMON Voltage Monitor
VREF Voltage Reference
XCOM Cross communication
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EN UG-020 Link 6 user guide r1.0 5
Link6 overview
The Link6 is an arm with six degrees of freedom (DoF), a powerful controller, and a Kinova teach
pendant. It works under the Kortex software framework and KortexWebApp. KortexWebApp
works on the teach pendant and from a web browser on a remote computer.
Each axis is a joint and the part of the arm between each joint is a link. The robot parts from base
to wrist are referred to as the arm. The arm has six parts. The remaining parts of the robot are the
controller and the teach pendant.
1 Teach pendant
2 Wrist
3 Forearm
4 Elbow
5 Arm
6 Shoulder
7 Base
Figure 1: Link6 8 Controller
The robot can be manipulated by one hand. The wrist has a set of buttons on it that are used for
toggling between Cartesian and Joint Hand Guiding, waypoint capturing, moving the arm, and end
effector actions. With these buttons on the wrist, it is easy to teach the robot the movements it
needs to learn.
Thanks to the modular design of the robot, a variety of optional interfaces are available to
connect end effectors. Each of these optional interfaces has no visible cables. Also, Kinova
offers a variety of optional parts.
• Kinova wall mount kit attaches the controller to walls.
• Graphics card kit is required, in some cases, for cameras and the vision module.
• Robotiq Adapter attaches directly to the wrist and is compatible with multiple tools by Robotiq.
• Gigabit Ethernet Adapter flange attaches directly to the wrist and is compatible with third-party
Vision adapters.
• The flange attaches to the OnRobot ISO adapter, as well as the OnRobot RG2 Gripper.
•Emergency stop attaches to the controller.
• One or more enabling devices attach to the controller.
The end of the arm has a force torque sensor built into it. With the force torque sensor, hand
guiding Link6 is smooth.
At the end of the arm is an end effector. The end effector may be a gripper, polishing disk, nail
gun, screwdriver, tool changer, and so on. It is the only part of the robot that is in direct contact
with the piece being manipulated.
The controller can be considered the brain of the robot. It is stored on an accessible location on
the floor, table, wall, or in a cabinet; store it wherever it makes it easy to power on or off the robot.
Some installations of the controller require the optional Kinova wall mount kit.
Related topics
Components on page 15
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EN UG-020 Link 6 user guide r1.0 6
Accessories on page 252
Intended use
Link6 is intended for typical industrial applications to manipulate objects and tools in a non-
explosive environment.
To ensure safe operation for all intended uses, perform a risk assessment and mitigate all the
risks to a safe, acceptable level. Use the robot in industrial applications only and within the stated
specifications.
There are many different types of industrial applications in which Link6 can be used.
• Material handling
• Small parts assembly
• Machine tending
• Packaging
• Palletizing
• Bin picking
• Screw driving
Important: The list of industrial applications is not exhaustive.
When deciding how you can use the robot, keep in mind that the arm, controller, and teach
pendant of Link6 is designed to have an ingress protection rating of 54 (IP54). The first number
indicates the level of protection from objects, such as dust; the second number indicates the
level of protection from water. Therefore, an IP rating of 54 indicates two things about Link6.
• The robot is designed to have limited protection against dust and other small objects. It is
limited because some small particles may still enter the robot. However, the robot can still
operate with some particles in it.
• The robot is designed to be protected from splashes of water from all directions.
Related topics
Safety on page 46
Unintended uses
Link6 is not intended to work in certain applications because it can damage the robot system, or
lead to serious injury to, or death of, the user.
Kinova is not responsible for any damage caused to the robot system when the robot is not used
as intended.
There are many different types of industrial applications in which Link6 cannot be used.
• Flammable environments
• Radioactive environments
• Liquid environments, including water
• Outdoor climate conditions
• Medical applications
• Life critical applications
There also are a number of uses that can damage the robot and cause injury or death.
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EN UG-020 Link 6 user guide r1.0 7
• Using the robot without first performing a risk assessment
• Climbing on the robot while it is in its box or on the robot when it is not in its box
• Standing on the controller
• Placing liquids, such as cups of coffee or tea, directly on the controller
DANGER: Do not use the robot in conditions that do not conform with the ingress
protection rating of IP54.
Important: The lists of unintended uses is not exhaustive. There are many more
unintended uses that are not cited.
Important: Link6 does not support Power and Force Limiting (PFL) collaborative mode as
described by ISO TS 15066.
Notice: Kinova assumes no liability of any kind if safety measures are not followed.
Please read all the information concerning this product before using it.
Warranty information
Subject to the terms of this clause, Kinova warrants to the End User that the Products are free
from defects in materials and workmanship that materially affect their performance for a period
of twelve (12) months from the date Kinova ships the Products to the End User, known as the
"Delivery Date".
Kinova agrees to repair or replace, at Kinova's discretion, all Products that fail to conform to the
relevant warranty provided that:
1. notification of the defect is received by Kinova within the specified warranty period;
2. the allegedly defective Products are returned to Kinova, at the End User's expense, with prior
authorization from Kinova within thirty (30) days of the defect becoming apparent;
3. the Products have not been altered, modified, or subject to misuse, incorrect installation or
maintenance, neglect, accident, or damage caused by excessive current or having been used
with incompatible parts;
4. the End User is not in default under any of its obligations under this Agreement;
5. replaced Products must have the benefit of the applicable warranty for the remainder of the
applicable warranty period.
If Kinova diligently repairs or replaces the Products in accordance with this section, it will be
deemed to have no further liability for a breach of the relevant warranty.
Allegedly defective Products returned to Kinova in accordance with this contract will be returned
to the End User if found by Kinova on examination not to be defective. Kinova may 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.
Applicable firmware
The current version of the guide reflects a specific version of the firmware used in Link6.
Whenever there is a change in the firmware, there usually is a change in the user guide. Always
make sure the guide is matching the installed firmware.
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EN UG-020 Link 6 user guide r1.0 8
If you are using an earlier firmware or software version, some of the features discussed in the
document may not apply to your installation. To upgrade firmware and software, download the
packages from the product technical resource page on the Kinova website and install them from
the KortexWebApp Upgrade page.
Table 1: Firmware associated with the guide r1.0
Software Version
Firmware 3.1.0
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EN UG-020 Link 6 user guide r1.0 9
Technical specifications
The Link6 is a modern, robust, and collaborative-capable robot for all industries that want to
benefit from automation.
Table 2: General
Degrees of freedom (DoF) 6
Continuous payload
(full range, at 200 mm from wrist, for optimal performance)
6.0 kg
Maximum semi-dextrous reach 1000 mm
Maximum Cartesian translation speed 1.85 m/s
Repeatability according to ISO 9283 specification up to 0.1 mm
Power supply voltage and frequency 110-240 VAC, 50-60 Hz
15 A at 120 VAC
7.5 A at 240 VAC
SCCR 5 kA
Recommended overcurrent protection device rating
opens in less than 400 ms
Ingress protection rating (arm and controller) IP54
Ambient operating temperature 0 °C to 40 °C
Arm weight (with 5 m cable) 23.45 kg
Arm materials Aluminum, ABS plastic
Installation orientation All
Acoustic noise level 70 dBA
Robot base footprint diameter 149 mm
Lifetime 35000 hrs
Table 3: Integrated force torque sensor
Range force/torque Fx, Fy, Fz, Tx, Ty, Tz 200 N / 20 N·m
Repeatability force/torque Fx, Fy, Fz, Tx, Ty, Tz 0.5 N / 0.05 N·m
Table 4: Actuators
Joint 1, 2, 3 range ± 360°, 180 °/s
Joint 4, 5, 6 range ± 360°, 300 °/s
Actuators sensors Redundant position, current, voltage and estimated
torque
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EN UG-020 Link 6 user guide r1.0 10
Table 5: Interfaces
Programming Visual programming
Controller interfaces USB 3.0, Ethernet
Digital: 16 inputs (8 redundant safe), 16 outputs (8
redundant safe)
General purpose analog: 4 programmable input/output
Controller I/O
General purpose digital: 8 inputs, 8 outputs
Digital: 8 programmable input/output
Analog: 2 programmable input/output
Wrist I/O
Modbus RTU, Gigabit Ethernet, 24 V supply @ 4 A
Wrist - Mechanical Flange ISO 9409-1-50-4-M6
Table 6: Controller
Controller dimensions (without covers, feet, and protrusions) 454 mm x 208 mm x 395 mm
Controller dimensions (with covers; without feet and
protrusions)
Controller weight (approx.) 17.6 kg
Processor Intel® Core™ i7 processor1
Optional GPU Up to NVIDIA RTX™ 3090
RAM: 8 GB DDR4Memory
Storage: 128 GB SSD
Table 7: Teach pendant
General 12.1’’, touch capacitive, IP54
Weight (approx.) 2 kg
Table 8: Safety
Notice: All safety specifications are currently in progress.
Certification Developed according to UL1740, as well as ISO
10218-1:2011, and EU directives
Safety functions All safety functions PLd Cat3 (developed according to
ISO 13849-1/-2:2015)
1Intel, the Intel logo, and Intel Core are trademarks of Intel Corporation or its subsidiaries.
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EN UG-020 Link 6 user guide r1.0 11
Table 9: Main accessories (optional parts)
Up to: 1920 x 1080 @ 30 fps with
FOV 65° ± 3°
Focusing range: 30+ cm
Vision module
0.6 kg
Robotiq, OnRobot, Gigabit
Ethernet
Tool adapters with mounting hardware
0.2 kg
Controller wall mount kit 1 kg
E-Stop button 0.2 kg
Related topics
Accessories on page 252
Schematics and dimensions
The dimensions of the arm and the controller are important for integration purposes. The arm
must be placed such that it can perform the desired task safely.
Remember: Add the height of the end effector and its required workspace to Link6,
as well as the height of the surface on which the base is installed, for an accurate
assessment of the amount of space required to install a robot.
Each joint can turn as much as +360° and -360°. Trying to turn more than that when manually
backdriving the robot can break the internal wiring. The maximum amount each joint can turn can
be modified on the Joint Limits in KortexWebApp.
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EN UG-020 Link 6 user guide r1.0 12
53.00
xy
z
485.00
110.24 87.08 92.00 62.96 76.92
86.00
222.75
152.16
137.50
69.25
91.70
Figure 2: Arm dimensions in millimeters
The controller is a box that sits on a table, floor, wall, or in a cabinet near the arm.
Note: To install the controller in a cabinet or on a wall, use the Kinova wall mount. The wall
mount is an optional accessory.
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