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Force Control Products
To use the motion stop conditions function, follow the steps below:
a.
Correctly construct the sensor system to ensure that the sensor is operating properly;
b.
Write a program using the [motion stop conditions] instruction block as shown in Figure 3-14. The
scene for the example program in Figure 3-14 is that a robot reciprocates in the z direction, detects the
force during the descent, and immediately rises if the detected value exceeds the threshold.
CAUTION:
Please design a safe trajectory and correct speed for the robot.
WARNING:
When using the motion stop conditions, the robot's motion speed must not exceed 300 mm/s, with the
acceleration no more than 300 mm/s
2
. If the robot is carrying a load, set a lower speed and acceleration.
Furthermore, set a lower motion speed and acceleration for specific applications to ensure the robot can stop
quickly after a force is detected. Otherwise, it may result in hardware damage. Note that even if the program
appears to run normally during testing, the sensors or other hardware components could potentially fatigue
and fail due to prolonged, repeated heavy pulling, squeezing, or bending. Therefore, it is crucial during testing
to monitor whether the force and torque exceed the sensor's range throughout the entire motion process,
particularly at the moments before and after the motion stop conditions are triggered.
c.
Tap the "Motion stop conditions" program block, check the direction to be detected and set the required
threshold in the pop-up "Motion stop conditions" interface. Note that if the upper limit and lower limit are
checked at the same time, the lower limit must be less than the upper limit (In general, the lower limit
should be set to a negative value);
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 3-14 Motion Stop Conditions Programming of JAKA Zu Se
Содержание Zu Series
Страница 1: ...JAKA ROBOTICS Force Control Products JAKA Se and JAKA Sp...
Страница 3: ......
Страница 4: ......
Страница 17: ...Version 3 1 0 13 M3 2 0 M4 4 0 M5 8 0 M6 13 0 M8 35 0...
Страница 41: ...Version 3 1 0 37 Figure 2 36 Installation and Dimensions of the Force Sensor Indicator light...
Страница 61: ...Version 3 1 0 57 Figure 3 8 Force Display Interface of the App...
Страница 75: ...Version 3 1 0 71 Figure 3 19 Force Display Interface of the App...
Страница 79: ...Version 3 1 0 75 Figure 3 21 Collision Detection Function Settings of JAKA Zu Sp...