JAKA Zu
®
7 - V1.1 27
give high forces in the radial direction (away
from the base), but at the same time, low speeds. Similarly, the short
leverage arm, when the tool is close to the base and moving tangential
(around) the base, can cause high forces, but also at low speeds. Pinching
hazards can be avoided, for instance, by removing obstacles in these areas,
placing the robot differently, or by using a combination of safety planes and
joint limits to remove the hazard by preventing the robot moving into this region
of its workspace.
5.2 Collision Detecting
Collision detecting includes the contents as shown in the following table.
Collision Stop
Collision torque: The maximum of torque when collision happened.
Collision impulse: The maximum of impulse when collision happened.
Collision is violation that will happen only under abnormal circumstance. The system will automatically
shut down to protect the robot and inform the operator to ensure the safety usage when collision is detected.
Collision Stop
Parameter
Detecting Time
Stop Time
Reacting Time
Collision torque
100N·m
200ms
500ms
1000ms
Collision impulse
80N·s
80ms
300ms
500ms
5.3 End Effector Button
If the robot is under the normal stop mode, the operator can press and hold the end effector buttons to
activate the free-drive mode. Meanwhile, release the button, it will go back to the normal mode. Four colors of
the button standing for four working status, as shown in the following table.
COLOR
WORKING MODE
BLUE
Power-on default mode
GREEN
Enabled, position mode
RED
Fault
ORANGE
Free-drive mode
Fig 5-2
