JAKA Zu Series, Руководство пользователя

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Version: 3.1.0 3
2.1.4.
Type V Force Sensor ............................................................................................................................ 24
2.1.4.1 Overview ................................................................................................................................................................. 24
2.1.4.2 Sensor Installation .................................................................................................................................................. 25
2.1.4.3 Wiring of the Sensor ............................................................................................................................................... 26
2.1.4.4 Sensor Specifications .............................................................................................................................................. 28
2.1.4.5 Precautions for Use ................................................................................................................................................. 28
2.1.4.6 Reference Tightening Torques for Sensor Mounting Bolts ...................................................................................... 28
2.1.5.
Type VI Force Sensor ........................................................................................................................... 30
2.1.5.1 Overview ................................................................................................................................................................. 30
2.1.5.2 Sensor Installation (JK-SE-VI-200, JK-SE-VI-400, JK-SE-VI-H) .................................................................................... 31
2.1.5.3 Sensor Installation (JK-SE-VI-400S) .......................................................................................................................... 34
2.1.5.4 Sensor Installation (JK-SE-VI-200N, JK-SE-VI-400N, JK-SE-VI-800N, JK-SE-VI-400NS, JK-SE-VI-1200NS) .................. 36
2.1.5.5 Sensor Specifications .............................................................................................................................................. 38
2.1.5.6 Precautions for Use ................................................................................................................................................. 38
2.1.5.7 Reference Tightening Torques for Sensor Mounting Bolts ...................................................................................... 39
2.1.6.
Type VII Force Sensor .......................................................................................................................... 40
2.1.6.1 Overview ................................................................................................................................................................. 40
2.1.6.2 Sensor Installation .................................................................................................................................................. 40
2.1.6.3 Wiring of the Sensor ............................................................................................................................................... 42
2.1.6.4 Sensor Specifications .............................................................................................................................................. 43
2.1.6.5 Precautions for Use ................................................................................................................................................. 44
2.1.6.6 Reference Tightening Torques for Sensor Mounting Bolts ...................................................................................... 44
2.2. JAKA Z
U
S
P
H
ARDWARE
I
NSTALLATION
.................................................................................................... 45
2.2.1. Type IV Force Sensor ................................................................................................................................. 45
2.2.1.1 Overview ................................................................................................................................................................. 45
2.2.1.2 Sensor Installation .................................................................................................................................................. 45
2.2.1.3 Wiring of the Sensor ............................................................................................................................................... 46
2.2.1.4 Sensor Specifications .............................................................................................................................................. 46
2.2.1.5 Precautions ............................................................................................................................................................. 47
2.2.1.6 Reference Tightening Torques for Sensor Mounting Bolts ...................................................................................... 47
3. SOFTWARE USAGE
.................................................................................................................................... 48
3.1. J
AKA
Z
U
S
E
S
OFTWARE
U
SAGE ................................................................................................................. 48
3.1.1.
Jaka Zu Se System Construction .......................................................................................................... 48
3.1.1.1 System Construction of Type I and Type III Sensors ................................................................................................ 48
3.1.1.2 System Construction of Type II and Type V Sensors ................................................................................................ 51
3.1.1.3 System Construction of Type VI Sensor ................................................................................................................... 53
3.1.2.
Usage of JAKA Zu Se ............................................................................................................................ 56
3.1.2.1 Real-time Display of External Force Function ......................................................................................................... 56
3.1.2.2 Auto Load Identification Function ........................................................................................................................... 58
3.1.2.3 Safety Function ....................................................................................................................................................... 59