JAKA Zu Series, Руководство пользователя

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Version: 3.1.0 63
CAUTION:
For all motion commands between the program blocks "Activate constant force compliance control" and
"Inactivate constant force compliance control", please select the joint motion mode, and set the speed to be
less than 100 mm/s to improve accuracy.
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 "Constant force compliance parameter setting" program block to enter the "Constant
compliance control editing" interface. The meanings of the parameters [Damping force] and
[Springback] are consistent with the traction teaching configuration parameters in the manual operation
interface. Set the [Damping force] based on the environmental stiffness (i.e. the hardness of the contact
surface). Generally, the greater the environmental stiffness is, the greater [Damping force] is required.
In addition, you can set the [Constant force] according to the desired contact force;
CAUTION:
When you modify the parameters for [Damping force] and [Springback] here, the parameters with the same
names on the teaching editing page of the manual operation interface will also be updated, and the same
applies in reverse.
CAUTION:
Place the [Set force control coordinate system] and [Constant force compliance parameter setting] modules
above the [Activate constant force compliance control] module. Otherwise, they may not function properly.
Additionally, after using force control, be sure to add the [Inactivate constant force compliance control]
module. If the [Activate constant force compliance control] module is executed again without executing the
[Inactivate constant force compliance control] module, it may cause the robot to move dangerously.
e.
The [Initialization] in the "Activate constant force 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 previous section for details) to avoid accidents.