JAKA Zu Series, Руководство пользователя

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50 Force Control Products
Figure 3-2 Se System Configuration Interface (I/III Network Port Type)
h.
Open the "Manual operation" page, tap [Configure], check [Do not initialize], tap [confirm], and close
the page. Then tap the [View] button on the right, and turn on all the toggle switches (Fx, Fy, Fz, Mx,
My, Mz, and real-time). Slightly push or pull the sensor. If the graph fluctuates, the sensor
communication is normal (See the usage of the real-time display of external force function for details);
Note: If the communication fails, please check whether the sensor hardware is in good condition and
whether the wiring and configurations are correct. Then restart the sensor and the robot as follows: Power
off the sensor → unplug the network cable → power off the robot and the CAB → plug the network cable
into the corresponding interface on the CAB → power on the sensor → turn on the CAB → redo the
configurations. If the problem persists after restarting, please contact us. Any unauthorized attempt to
disassemble and repair the sensor, robot, CAB or cable is NOT allowed.
i.
After normal sensor communication is established, set the load parameters: Tap [Settings] → [Hardware
and communication] → [End sensor] → [Load setting], and tap the input box under the [Tools (manual)]
bar on the left to manually input the mass and centroid position of the end tool connected to the sensor,
or use the auto load identification function (See the "Usage of JAKA Zu Se" section for details). Once
the load identification data has been verified (or after manually entering the load data), tap the toggle
switch at the upper right of the interface to change its status from [Run] to [Edit], and tap the [Confirm]
button at the bottom of the interface. After "Setting succeeded" pops up, tap the toggle switch at the
upper right of the interface again to change its status from [Edit] to [Run]. At this point, the sensor is
basically set up;