JAKA Zu sp使用手册 -英文版.pdf - 第10页
10 JAKA Zu Sp e. F/T s ensor initializati on is rec ommended at intervals. As figure 7 s hown, three pr ogram instructi ons ar e needed. 【 Turn on constant force compliance c ontrol 】 initializati on, all param eters are…
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[exit] the drag and teaching mode and increase the amount of damping force setting.
Fig 6. Dragging function
Chapter 5 Use Notice
a. If setting the payload incorrectly, the robot may encounter collision detection falsely.
Operator shall ensure that the payload setting is accurate or reduce collision sensitivity if conditions permit.
b. Make sure that the F/T sensor and robot controller are configured in the same network segment.
c. Make sure that the aviation plug direction of the robot base shall be consistent with the X+ direction of the
sensor. Coordinate system of the F/T sensor is shown in figure 10.
d. The F/T sensor’s IP is not recommended modified. If needed, please feel free to contact our technical
support.
10 JAKA Zu Sp
e. F/T sensor initialization is recommended at intervals. As figure 7 shown, three program instructions are
needed. 【Turn on constant force compliance control】 initialization, all parameters are set 0 and no boxes
are checked in 【Constant force compliance parameter setting】,【wait】 1 second.
Fig 7. F/T sensor initialization
Table 1. The reference tightening torque for screws
Metric System
British System
Reference
values(Nm)
M3
#6
2.00
M4
#8
4.00
M5
#10
8.00
M6
1/4’’
13.00
M8
5/16’’
35.00
M10
3/8’’
45.00
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Chapter 6 Sensor Size of Each type of JAKA zu sp
6.1 JAKA Zu3 sp
图 8. F/T Sensor 2-D drawing
图 9. Flange 2-D drawing
图 10.
Coordinate system of F/T sensor