JAKA Zu Series, Руководство пользователя

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32 Force Control Products
The sensor installation procedure is as follows:
a.
Please ensure that the surfaces of the robot end, mounting flange and sensor are free of damage or
foreign objects. If the contact is non-uniform due to factors such as the inclusion of foreign objects,
gaps will be formed between them. As a result, the product may not meet IP64 compliance and would
have reduced output quality.
b.
Separate the sensor from the mounting flange. When the sensor leaves the factory, the mounting
flange and the sensor are connected by six embedded hexagon socket screws. Use a 3 mm Allen key
to loosen them, so as to separate the mounting flange from the sensor, as shown in Figure 2-28.
c.
Install the mounting flange on the robot: Use φ5 positioning pins to position the mounting flange and
the robot, and use four M6 hexagon socket screws to fix them. The positioning pins make it easy to
install and connect the device repeatedly, and they will not affect sensor performance if not used.
Gradually tighten the screws according to the diagonal sequence shown in Figure 2-27 to deliver
uniform contact between the sensor and the robot or adapter tooling.
CAUTION:
Before installing the sensor, please keep the XY directions of the sensor coordinate system consistent with
that of the robot end flange coordinate system, that is, keeping the direction from the center of the robot end
flange to the TIO consistent with the -Y direction of the sensor. Inconsistent installation directions may affect
subsequent use.
1
3
2
4
5
6
Figure 2-27 Screw Tightening Sequence Figure 2-28 Loosen Embedded Screws Using a 3mm Allen Key
d.
Fasten the sensor to the mounting flange. Use the positioning pins to position the sensor and the
mounting flange, and check that the mounting direction of the sensor is consistent with the use
direction of the device. Fasten the sensor with six embedded screws. Insert a 3mm Allen key into the
mounting hole on the sensor tool end flange. Turn it in the direction of the right-hand thread to secure
the screw in place.
e.
Connect the tool interface of the robot to the sensor tool end flange. The sensor tool end flange comes
with four M6 screw holes and φ6 pin holes for connecting device or tools. The positioning pins for the
sensor tool end flange make it easy to install the device and tools repeatedly, and they will not affect
sensor performance if not used.