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Force Control Products
Figure 3-11 JAKA Zu Se Traction Teaching Function Settings
Note: Due to factors such as sensor temperature drift, if the robot position drifts in the drag mode, please tap
the toggle switch to exit the drag mode, check [Initialization] in the configuration interface, and then enter the
drag mode to redo sensor compensation; If you do not use the traction teaching function, please tap the
toggle switch in time to exit the drag mode.
3.1.2.5 Constant Force Compliance Function
The constant force compliance function can ensure that the contact force between the robot end and the
environment is close to the set value. To use the constant force compliance function, follow the steps below:
a.
Correctly construct the sensor system to ensure that the sensor is operating properly;
b.
As shown in Figure 3-12, write a program with the program blocks of [Set force control coordinate
system], [Constant force compliance parameter setting], [Activate constant force compliance control]
and [Inactivate constant force compliance control]. The scene for the example program in Figure 3-12
is that the robot makes a linear motion in X and Y directions (i.e., "wiping a table plane") on the XY
plane (such as a horizontal desktop) while controlling the contact force (i.e., pressing force) in the Z
direction. The "down" point only decreases in the Z direction compared with the "start" point, but it is
still higher than the plane to be pressed to avoid contact with the plane. In addition, compared with the
"down" point, the "target" point only changes in the X and Y directions, and the "up" and "target" points
are set to the same point (Since the robot will automatically press the plane after the force control is
turned on, its height in the Z direction will actually be lower than the position set by the target point
when the motion is finished);
CAUTION:
Please design a safe trajectory for the robot to make sure there will be no contact other than in the force-
controlled direction during the robot's motion.
Summary of Contents for Zu Series
Page 1: ...JAKA ROBOTICS Force Control Products JAKA Se and JAKA Sp...
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Page 17: ...Version 3 1 0 13 M3 2 0 M4 4 0 M5 8 0 M6 13 0 M8 35 0...
Page 41: ...Version 3 1 0 37 Figure 2 36 Installation and Dimensions of the Force Sensor Indicator light...
Page 61: ...Version 3 1 0 57 Figure 3 8 Force Display Interface of the App...
Page 75: ...Version 3 1 0 71 Figure 3 19 Force Display Interface of the App...
Page 79: ...Version 3 1 0 75 Figure 3 21 Collision Detection Function Settings of JAKA Zu Sp...
