JAKA Zu sp使用手册 -英文版.pdf - 第9页

JAKA Zu Sp 9 [exit] t he drag and teaching mode and i ncrease the am ount of damping force setti ng. Fig 6. Dragging function Chapter 5 Use Notic e a. If setting the payload incorrectly , the robot may enc ounter collisi…

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Fig 5. Collision detection function

b. Dragging and teaching mode

As shown in figure 5, after setting the communication IP, port number and payload,in the

Manual interface, click

【

Configure

】

to select the dragging axis. Click

【

Drag

】，

then operator can

lead the robot to move at a low speed. 【Damping force】 is the constant resistance when the robot

runs. The greater the dampling force is, the greater the force required to push the robot through

dragging and teaching.

【

Damping force

】

values are recommended greater than 40N.

【

springback

】

can make the robot return to the position initialized when the dragging and teaching mode is turned

on. The farther the robot is from the initialization position, the greater the force required to push the

robot through dragging and teaching.【springback】 values are usually set to 0 when using the

dragging and teaching mode. If the robot vibrates during the dragging and teaching process, please

JAKA Zu Sp 9

[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.

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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)

2.00

4.00

#10

8.00

1/4’’

13.00

5/16’’

35.00

M10

3/8’’

45.00