JAKA Zu Series, Руководство пользователя

Страница: 74 / 80

70 Force Control Products
3.2.2.
Usage of JAKA Zu Sp
Precautions for Using JAKA Zu Sp:
a. As the integrated force sensor is a precision instrument, please use it within the range specified in the
manual, especially when the load is greater than the rated load, the product may fail. Please ensure the
load in each direction of the force sensor is within the load range;
b. Ensure the load of the robot end sensor is set accurately. If it is inaccurate, the robot may make false
collision alarms. If you're unable to accurately determine the load, consider reducing the robot's
collision sensitivity, provided the conditions allow for it;
c. Ensure that the X-axis positive direction of the sensor is consistent with that of the robot base
coordinate system (direction of the aviation plug), or set the user coordinate system to ensure the
consistent direction;
d. Ensure that both the force sensor and the control cabinet are configured with the same network
segment;
e. When using the traction teaching or constant force compliance function, make sure the robot end has
no contact with the environment in the initialization stage of the sensor;
f. Please avoid rigid contact or rigid connection between the robot end tool and the environment during
traction teaching;
g. If the robot trembles, shakes, becomes unstable and drifts during use, please immediately turn off the
force control mode in use or press the emergency stop button to avoid property damage or personal
injury.
3.2.2.1 Real-time Display of External Force Function
Tap [View] in the manual operation interface to check the contact external force value in real time. You can
check the corresponding force data curve by turning on/off the toggle switches in front of Fx, Fy, Fz, Mx, My,
and Mz. If the [Real time] toggle switch is on, the force data curves will be continuously refreshed in real time.
If it is off, the refreshing will stop and the last set of force curve data recorded will be displayed.
CAUTION:
When you're not in drag mode or are exiting it, if you check [Initialization] (See section 3.2.2.3 Traction
Teaching Function), the system will compensate the sensor offset, load, etc. in real time. Therefore, if you tap
the [View] button to check the force data, you will find that all the force data is 0. In this case, you need to
check [Do not initialize] and tap [Confirm] to check the data.
CAUTION:
When you're not in drag mode or are exiting it, if you select [Initialization] while there's a contact force
between the robot end and its environment, the contact force will be seen as a obtained bias. However, if you
select [Do not initialize] and tap [Confirm] or enter drag mode while a contact force still exists, a force bias
opposite to this contact force will be created in the system once the contact force disappears. This means that
even when no force is being applied to the robot end, the system might mistakenly think that the robot end is
experiencing a force equal and opposite to the previous contact force. Please exercise caution.