JAKA Zu se使用手册 - 英文版.pdf - 第15页

JAKA Zu Se 15 Sensor Size a. Before inst allation, please check that there is no damage or foreign m atter on the surface of installation equipment, adaptor pl ate and sensor. If the contact is not uniform due to foreign…

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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.

JAKA Zu Se 15

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.

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Schematic Diagram of Connection and Installation of the Sensor and Equipment

d. Connect the output flange to the output side of the sensor. The mechanical interface of the

output flange shall be the same as that of the robot side flange.

1.3 Basic Sensor Parameters

Fx/Fy(N)

200

Fz(N)

360

Mx/My(Nm)

Mz(Nm)

Overload level

(%)

500

Accuracy (%)

0.5

Precision (%)

0.1

Protective class

IP64

Operating

temperature (°C)

5~80

Power supply

voltage (V)

12~24

Communication

Interface

Ethernet

System

Resolution (Bit)

Precision: Precision is the evaluation index symbolizing the extent of consistency between

multiple measured values, that is, the output curve consistency degree obtained by the sensor when

the input is tested for multiple times in a unified direction. The precision of reproducibility is the

percentage of the standard deviation of the output error to the rated output (%FS).

Accuracy: Accuracy is the evaluation index of the deviation degree between the measured value

and the true value. Accuracy refers to the percentage of the standard deviation of the deviation

between the output and the theoretical truth value and the rated output (%FS).