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JAKA C Series Hardware User Manual

3.

C 12 workspace

4.1.4

Robot Rotation Direction

See 3.4 for robot rotation range, rotation direction is as follows

：

Take the zero orientation of the robot as an example (the angle of each joint of the robot is 0 °):

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Summary of Contents for C Series

Page 1: ...JAKA Robotics Hardware User Manual JAKA C Series Original Instructions en File Version 3 2 Robot C 5 C 7 C 12 Control Cabinet CAB V2 1 A...

Page 2: ...aw this manual does not constitute any form of express or implied representation or warranty of JAKA neither constitute a guarantee of merchantability suitability for specific purposes achievement of...

Page 3: ...stance 14 2 3 Safe Mode 14 2 4 Three Position Enable Device Optional 15 Chapter 3 Quick Start 16 3 1 Overview of Robot Components 16 3 2 Robot 16 3 2 1 End of the Robot 17 3 2 2 Tool flange button and...

Page 4: ...5 3 5 Analog 42 5 3 6 High Speed Interface 43 5 3 7 Remote Control Interface 43 5 4 Bottom Panel Interface of the Control Cabinet 44 5 4 1 Power Adaptation 45 5 4 2 Power Connection 46 5 4 3 Robot Co...

Page 5: ...ies are intelligent lightweight 6 DOF modular collaborative robots falling into the JAKA modular collaborative robot series Product List When you buy one of the whole set of the JAKA C series robots t...

Page 6: ...erous hot surface that may result in injuries to personnel if touched 1 3 Safety Precautions This section focuses on the protection for operators and the relevant precautions of the first installation...

Page 7: ...dequate space available for unobstructed movement of the robotic arm 3 To prevent damage refrain from connecting safety equipment to the standard I O interface use safety I O interface 4 Confirm the a...

Page 8: ...ions of how to design install and operate the robot nor does it involve any peripheral equipment that may affect the security of the robot system It is the responsibility of users of JAKA robot to ens...

Page 9: ...powered up for the first time The risk assessment performed by integrator to identify safety configuration settings assess whether additional emergency stop buttons or other protective measures requi...

Page 10: ...r the 3 position enabling device must be pressed to enable motion in manual mode and the robot is under deceleration control 5 Test whether the emergency stop output of the system can actually bring t...

Page 11: ...t is stable and dry When the robot is hoisted corresponding measures should be taken for positioning to avoid damage caused by accidental movement When moving the robot from its packaging to the insta...

Page 12: ...File Version 3 2 12 62 JAKA C Series Hardware User Manual A Product label B Beware of collision C Beware of pinching D Beware of electric shock E Grounding F Warning hot surface...

Page 13: ...File Version 3 2 13 62 JAKA C Series Hardware User Manual Note Product labels and robot model figures are only for reference actual varies by robot model...

Page 14: ...pressed or a safety protection function is triggered the stop distance is the distance the end of the robot moves during the safety stop time Among them pressing the emergency stop button falls into C...

Page 15: ...does not include this device The three position enabling safety input interface is available for users and the design meets the certification requirements For this optional device please contact the...

Page 16: ...also arranged at the end of the body to indicate the robot s state 2 Robot connection cable Connect the robot and the control cabinet 3 Operation terminal The equipment for users to program set parame...

Page 17: ...of the robot The positions of the ring shaped indicator and the button are shown in Figure 3 3 and the color indication meanings are shown in Table 3 1 When the robot runs a program you may press the...

Page 18: ...REE is pressed the robot can program in teaching mode where users can directly drag the robot to the expected point POINT button is used with the robot operating software JAKA Zu APP When this button...

Page 19: ...enable button at the same time until the indicator of flange to turn green which means the robot is enabled Disable robot With the robot enabled press and hold the lock button and then press the enab...

Page 20: ...hen the controller program is running normally After the robot is enabled the control stick indicator flashes green Note Once the control cabinet is powered on the control stick will beep twice per se...

Page 21: ...in 188mm 7 4in Material Aluminum alloy PC Length of robot connection cable 6m 236in Length of control stick cable 6m 236in 2 Technical specification of the control cabinet Model CAB 7 CAB 12 Matching...

Page 22: ...connect the robot to the end effector The end effector can move and rotate in the workspace of the robot This chapter will introduce the basic precautions during the installation of each component of...

Page 23: ...ose a robot installation location the cylindrical space right above and below the robot must be considered to try to avoid moving the tool to the cylindrical space Because this will cause the tool to...

Page 24: ...File Version 3 2 24 62 JAKA C Series Hardware User Manual 2 C 7 workspace...

Page 25: ...ies Hardware User Manual 3 C 12 workspace 4 1 4 Robot Rotation Direction See 3 4 for robot rotation range rotation direction is as follows Take the zero orientation of the robot as an example the angl...

Page 26: ...e rotation is positive 2 Joint 2 Facing the lid the clockwise rotation is positive and the counterclockwise rotation is negative 3 Joint 3 Facing the lid the clockwise rotation is positive and the cou...

Page 27: ...on is positive and the counterclockwise rotation is negative 6 Joint 6 Facing the indicator light lid the clockwise rotation is positive and the counterclockwise rotation is negative 4 2 Installation...

Page 28: ...d supports mounting in any direction including ceiling table and wall mounting Several typical installation methods are shown below 1 Table mounting 2 Ceiling mounting 3 4 Wall mounting Base mounting...

Page 29: ...Robot Screw Size Recommended Tightening Torque N m Mounting Surface Torque N m Through Hole mm Pin Hole mm C 5 M8 40 3000 9 8 C 7 M8 40 3000 9 8 C 12 M8 40 3800 9 8 The picture below shows the install...

Page 30: ...File Version 3 2 30 62 JAKA C Series Hardware User Manual 1 C 5 C 7 base mounting size drawing...

Page 31: ...o these screw holes the screws need to be fastened with a torque of 15N m If you need to adjust the position of the tool very accurately refer to the side nail hole on the tool flange to drill a 6mm n...

Page 32: ...tests before leaving the factory Therefore there will be traces of use in the installation hole which is not a quality problem and does not affect its use 3 If the robot is not fixed on the pedestal f...

Page 33: ...ffective payload of the robot The maximum effective payload of the robot is related to the offset of the robot s gravity center and degree of the offset is related to the distance between the center o...

Page 34: ...File Version 3 2 34 62 JAKA C Series Hardware User Manual...

Page 35: ...r the introduction of the I O function in the control cabinet refer to 5 3 Danger 1 Ensure that all equipment strictly prohibited to get wet with water is kept dry If water gets in the product cut off...

Page 36: ...P8 USB3 0 interface P9 and Ethernet interface P10 and the USB interface and the Ethernet interface are retained for internal use If needed contact the JAKA technical support personnel The layout is s...

Page 37: ...ply is positive and the default short connector is connected to the internal 24V P4 DO 9 16 8 digital outputs 1 DO9 Digital output 9 PNP type 1A continuous current output ability 2 DO10 Digital output...

Page 38: ...r is connected to the internal GND 9 SI2 Protective stop function input 2 the default short connector is connected to V 10 SI1 Protective stop function input 1 the default short connector is connected...

Page 39: ...ntrol cabinet provides two fixed safety function input interfaces user can configure the interfaces for emergency stop and protective stop of the robot EI and SI stand for emergency stop and protectiv...

Page 40: ...p switch wiring 3 Protective stop switch The protective stop function supports automatic recovery See JAKA Software Manual for details The door switch is an application case of the protective stop dev...

Page 41: ...ic connection method is as follows 1 Dry contact signal as input Figure 5 8 Dry contact input wiring When the dry contact is input one wire is connected to V and the other is connected to the DI speci...

Page 42: ...it The digital output module wiring is shown in the following figure Figure 5 12 Digital output wiring Digital output module can be controlled through the DO function of the APP The load needs to be c...

Page 43: ...al on the power terminal Use the equipment working in the current mode The sensitivity of the current signal is lower than the interface 5 3 6 High Speed Interface P6 high speed interface HSI can be c...

Page 44: ...ON wiring 2 The remote OFF control wiring method is as follows Figure 5 15 Remote OFF wiring Note Remote ON and OFF interfaces cannot be short at the same time 5 4 Bottom Panel Interface of the Contr...

Page 45: ...secure cables in place 5 4 1 Power Adaptation Different countries and regions have different standards and JAKA will provide corresponding plugs when exported overseas The specific standards are as fo...

Page 46: ...1 2006 Safety of Machinery Electrical Equipment and UL508A Safety Standard for Industrial Control Panels To prevent personnel injury or property loss caused by the unreasonable release of dangerous e...

Page 47: ...flange of the robot which includes two digital inputs two digital outputs and two analog inputs and can multiplex the two channel RS485 signal at the same time For the definition of the interface see...

Page 48: ...TIO analog input interface circuit TIO supports 2 channel analog voltage input interfaces The voltage input range is 0 10V the analog voltage positive terminal is connected to AIN1 AIN2 and the intern...

Page 49: ...red wire 0V is connected to the power negative electrode gray wire and the signal wire is connected to the DI digital input blue or green wire Figure 5 21 NPN type input 3 PNP type device The connect...

Page 50: ...load is connected to the external input circuit and the power negative electrode gray wire is connected to the external 0V power supply Figure 5 23 NPN type output wiring 2 When the digital output in...

Page 51: ...iring method is RS485 is connected to RS485 yellow or brown wire RS48 is connected to RS48 orange or white wire the positive electrode is connected to the power positive electrode red wire and the neg...

Page 52: ...st be updated 2 Replace a failed component with a new one with the same component number or an equivalent approved by JAKA 3 Reactivate all disabled safety measures immediately after the work is compl...

Page 53: ...sy to generate static when kept in extremely dry conditions The shock of electrostatic discharge may damage the semiconductor Please store it in an anti static bag 4 Other environment condition Please...

Page 54: ...receipt together with the date of purchase shall be required as evidence for invoking the Warranty The warranty must be submitted within two months of the Warranty default becoming evident JAKA has th...

Page 55: ...200 00 250 00 33 Speed 66 Speed 100 Speed Stop Time ms 100 Reach 66 Reach 33 Reach 0 00 50 00 100 00 150 00 200 00 250 00 300 00 350 00 33 Speed 66 Speed 100 Speed Stop Distance mm 100 Reach 66 Reach...

Page 56: ...Reach 66 Reach 33 Reach 0 00 50 00 100 00 150 00 200 00 250 00 300 00 350 00 400 00 450 00 33 Speed 66 Speed 100 Speed Stop Distance mm 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 300 33 Speed 6...

Page 57: ...Speed 66 Speed 100 Speed Stop Time ms 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 300 33 Speed 66 Speed 100 Speed Stop Distance mm 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 33 Speed 66 Sp...

Page 58: ...Speed Stop Time ms 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 300 350 33 Speed 66 Speed 100 Speed Stop Distance mm 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 300 33 Speed 66 Speed 100 Spe...

Page 59: ...100 Speed Stop Time ms 100 Reach 66 Reach 33 Reach 0 00 50 00 100 00 150 00 200 00 250 00 300 00 350 00 33 Speed 66 Speed 100 Speed Stop Distance mm 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 33...

Page 60: ...Speed 100 Speed Stop Time ms 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 300 350 400 33 Speed 66 Speed 100 Speed Stop Distance mm 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 300 350 400 33 S...

Page 61: ...sion protection Collision is estimated by multi methods such as Joint torque joint position mismatch and TCP position mismatch Detection of collision initiate a safe state Cat 2 stop PLd Cat 3 SF15 Ad...

Page 62: ...JAKA ROBOTICS CO LTD Add Building 33 35 610 Jianchuan Rd Minhang District Shanghai E mail support jaka com Web www jakarobotics com...

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