JAKA Zu Series, User Manual

Page: 69 / 80

Version: 3.1.0 65
f.
The [Initialization] in the "Activate the velocity compliance control" program block plays the same role as
the initialization check box in the traction teaching configuration of the manual operation interface.
When using this function for the first time, you must select [Initialization] and make sure that the robot
end does not contact with the environment when the program runs to this point. In addition, due to the
temperature drift of the sensor, it is recommended to select [Initialization] when no external force is
applied to the robot end, so as to re-compensate the sensor after the robot has been running for a
period of time.
WARNING:
After the device is installed, the robot is powered on again, the robot is recovered from a fault, or the sensor is
powered on for a long time, do not use this function until you've confirmed that the traction teaching function is
not reporting any errors (See the "Traction Teaching Function" section for details) to avoid accidents.
Figure 3-13 Velocity Mode Programming of Jaka Zu Se
3.1.2.7 Motion Stop Conditions Function
In the motion stop conditions setting interface, check the direction to be monitored and set the upper limit or
lower limit. When the contact force is less than the lower limit or greater than the upper limit, the motion stop
conditions are triggered. [Motion stop conditions] monitor only the next motion instruction. If the motion stop
conditions are triggered, the robot will immediately stop executing the current instruction and directly executes
the next motion instruction from the current position to the end position of the next motion instruction.
速度
进给深度
编程速度
中等速度
最低速度
进给阻力增加
降低运动速度
提高运动速度
Speed
Programming
speed
Medium
speed
Minimum
speed
Increase of feed
resistance
Reduce movement speed
Increase movement speed
Feed depth