JAKA Zu Series, User Manual

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64 Force Control Products
Figure 3-12 Constant Force Mode Programming of JAKA Zu Se
3.1.2.6 Velocity Compliance Control Function
When the force applied to the robot end is greater than the set control force, the robot will stepwise decelerate
as per the set speed steps until the value detected by the sensor is less than the set control force or the robot
decelerates to a halt. To use the velocity compliance control function, follow the steps below:
a.
Correctly construct the sensor system to ensure that the sensor is operating properly;
b.
As shown in Figure 3-13, write a program with the program blocks of [Set force control coordinate
system], [Velocity compliance parameter setting], and [Compliance control force], [Activate the velocity
compliance control] and [Inactivate the velocity compliance control]. The scene for the example
program in Figure 3-13 is that the robot reciprocates in the x direction while controlling the contact
force;
CAUTION:
Please design a safe trajectory and correct speed for the robot.
c.
The function of the "Set force control coordinate system" program block is the same as that of the
coordinate system selection in the configuration page of the manual operation interface;
d.
Tap the "Compliance control force" program block to enter the "Compliance control force editing"
interface, and fill in the force value for the direction that requires force control. 0 means no force control
in this direction;
e.
Tap the "Velocity compliance parameter setting" program block to enter the "Speed compliance control
edit" interface, check the desired reduced model and fill in the corresponding speed level;
CAUTION:
Place the [Set force control coordinate system] and [Velocity compliance parameter setting] modules above
the [Activate the velocity compliance control] module. Otherwise, they may not function properly. Additionally,
after using force control, be sure to add the [Inactivate the velocity compliance control] module. If you run the
[Activate the velocity compliance control] module again without first executing the [Inactivate the velocity
compliance control] module, it may cause the robot to move dangerously.