JAKA Zu Series, Руководство пользователя

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56 Force Control Products
3.1.2.
Usage of JAKA Zu Se
Precautions for using JAKA Zu Se:
a. As the integrated force sensor is a precision instrument, please use it within the range specified in the
manual. 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;
c. Ensure that the X-axis positive direction of the sensor is consistent with that of the robot flange, or set
the tool coordinate system to ensure the consistent direction;
d. 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;
e. Please avoid rigid contact or rigid connection between the robot end tool and the environment in force
control functions other than motion stop conditions and velocity compliance control functions;
f. 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.
3.1.2.1 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. You can tap a
dot on the curve to check the corresponding force data recorded.
If you check [Initialization] in the [Configure] interface, the interface will display the actual force values
measured after sensor offset and load compensation. If you check [Do not initialize], the interface will display
the sensor's original readings.
CAUTION:
When the sensor is initializing (i.e., when check [Initialization] and tap [confirm], or turn on the drag toggle
switch while [Initialization] is checked, or the initialization set in the program is executed), if there's a contact
force between the robot end and the environment, this contact force at that initializing moment will be seen as
an sustained offset of the system. If you directly use the force control function with this offset uncleared, after
the robot end loses contact, the system may mistakenly assume that the robot end is subjected to a force
equal and opposite to the previous contact force, causing the robot to move toward the direction of the original
contact, which is dangerous. To clear this offset, please isolate the robot end from the environment. Open the
[Configure] interface, check [Initialization] and tap [Confirm].