JAKA Zu se使用手册 - 英文版.pdf - 第14页
14 JAK A Zu Se Chapter 6 Appendix 6.1 Descri ption of sensor I 1.1 Overview This strain type six-ax is force/torque sensor can detect three forces and three torques simultaneously. The sensor detects the relative deforma…
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Chapter 5 JAKA Zu Se Precautions for Use
a. The integrated force sensor is a precision instrument. Please be sure to use the product within
the specification range specified in the manual. In particular, the working condition with the load
greater than the rated load may cause a product failure. Please ensure that all directions of the force
sensor are within the load range;
b. Ensure that the load setting in the robot sensor side is accurate;
c. Ensure that the X+ direction of the sensor is consistent with the X+ direction of the robot
flange; Or set the tool coordinate system to ensure the same direction;
d. Before entering force control, there shall be no contact force between the robot side and the
external environment.
14 JAKA Zu Se
Chapter 6 Appendix
6.1 Description of sensor I
1.1 Overview
This strain type six-axis force/torque sensor can detect three forces and three torques
simultaneously. The sensor detects the relative deformation between the "Tool Side Flange" and the
"Body" caused by the applied force, and uses a resistance strain gauge to measure changes in the
sensor's elastic unit. The sensor contains an embedded system, which can collect and process the
signal changes of the resistance strain gauge in real time, and output the magnitude and direction of
the applied force in real time, with high precision and high response capability. When using the
sensor, please install it correctly avoid interference with the output result.
1.2 Sensor Installation
The sensor mounting hole position and mounting dimensions are as follows.
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Sensor Size
a. Before installation, please check that there is no damage or foreign matter on the surface of
installation equipment, adaptor plate and sensor. If the contact is not uniform due to foreign matters
and other factors, a gap will be formed between the equipment (or adaptor board) to be installed,
which cannot guarantee the IP64 performance of the product and will impact the output effect of the
actual sensor.
b. Separate the sensor from the adaptor plate and install the adaptor plate on the robot side
flange. It is important to note that before the installation of the sensor, the X and Y directions of the
sensor coordinate system shall be guaranteed to be consistent with the X and Y directions of the
robot side flange coordinate system through pre-installation, that is, the TIO direction of the robot
side flange center shall be consistent with the -Y direction of the sensor. If the installation direction
is inconsistent, it will affect the subsequent use.
c. Tighten the connection between the sensor and the adaptor plate. 6 M5 hexangular set bolts
shall be gradually tightened diagonally to make uniform contact between the sensor and the adapter
plate.