JAKA Zu Series Original Instructions Manual Download

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Hardware User Manual

JAKA Zu Series

Original Instructions (en)

File Version: 3.4

Robot: Zu 3, Zu 5, Zu 7, Zu 12, Zu 18

Control Cabinet: CAB 2.1

Summary of Contents for Zu Series

Page 1: ...Hardware User Manual JAKA Zu Series Original Instructions en File Version 3 4 Robot Zu 3 Zu 5 Zu 7 Zu 12 Zu 18 Control Cabinet CAB 2 1...

Page 2: ...reinafter referred to as the products The information contained in the manual is provided as is and is subject to the relevant laws and legislation To the maximum extent permitted by law this manual d...

Page 3: ...nt 11 2 7 Pre use Assessment 12 2 8 Emergency Stop 12 2 9 Movement Without Drive Power 12 2 10 Labels 13 3 Safety Functions 15 3 1 Stop Category 15 3 2 Safety Stop Time and Distance 15 3 3 Safety Mode...

Page 4: ...ntrol Cabinet Size 43 9 3 Electrical Warnings and Precautions 43 9 4 Front Panel Interfaces 44 9 4 1 Definition of Front Panel Interfaces 44 9 4 2 Digital I O Interfaces 46 9 4 3 Safety I O Interfaces...

Page 5: ...13 1 2 Manufacturer Test Certification 60 13 1 3 Declaration According to EU Directives 60 14 Warranties 61 14 1 Product Warranty 61 14 2 Disclaimer 61 Appendix 62 Appendix 1 Stop Time and Distance 62...

Page 6: ...ative robots falling into the JAKA modular collaborative robot series Product List When you buy a whole set of the JAKA Zu series robots the delivery you will receive is as shown in the following tabl...

Page 7: ...sioning staff Maintenance staff Integrators 1 3 References Documentation referred to in the manual 1 5 JAKA Zu App Software User Manual 1 7 1 JAKA App Software User Manual JAKA MiniCab Hardware User M...

Page 8: ...lly dangerous hot surface that may result in injuries to personnel if touched 2 3 Warnings and Cautions This section focuses on the protection for operators and the relevant precautions of the first i...

Page 9: ...robot s safety configuration 5 Ensure that tools and obstacles do not possess sharp corners or points and maintain a safe distance between all personnel and the robot 6 Connecting the robot to differ...

Page 10: ...t responsible for errors or omissions in this manual and reserve the right of final interpretation of this manual Risk When there is interaction between operators and the robot there is inevitably dir...

Page 11: ...collision alarm when the robot is in contact with the external environment showed as a percentage The higher the percentage the greater the force required for the robot to stop 2 Momentum limit refer...

Page 12: ...ire system into a safety state 6 Test whether the system connected to the robot moving output robot non stop output reduced mode output or non reduced mode output can actually detect output changes 7...

Page 13: ...tructions and warnings on the labels to ensure safety Do not remove the labels at will and remote stick labeled parts or units and their surrounding area with caution to avoid damage to the labels Pro...

Page 14: ...ounding F Warning hot surface Note Product labels and robot model figures are only for reference actual varies by robot model JAKA Robotics Co Ltd Building 6 No 646 Jianchuan Road Minhang District Sha...

Page 15: ...hem pressing the emergency stop button falls into Cat 1 while triggering the safety protection function falls into Cat 2 During this period the robot is still moving and may harm the personnel or othe...

Page 16: ...ding function in the software the robot can only be moved and controlled after the three position switch is pressed to a middle point See 9 4 1 Definition of Front Panel Interfaces 9 4 3 Safety I O In...

Page 17: ...ndicate the robot s state 2 Robot connection cable Connect the robot and the control cabinet 3 Control cabinet The control cabinet includes the core computing components and various electrical interfa...

Page 18: ...cabinet power cable control stick cable Ethernet cable if any and TIO cable if any in sequence Refer to 8 1 4 Robot Connection Cable Interface 9 5 Bottom Panel Interfaces 8 1 3 Tool I O Port 9 Flip th...

Page 19: ...st two individuals are required for lifting and securing the robot during transportation One person should hold the connection places between joint 1 and lower arm with both hands while the other hold...

Page 20: ...4 85 265 Joint 5 360 Joint 6 360 Joint speed Joint 1 180 s 180 s 180 s 120 s 120 s Joint 2 180 s 180 s 180 s 120 s 120 s Joint 3 180 s 180 s 180 s 120 s 180 s Joint 4 220 s 180 s 180 s 180 s 180 s Joi...

Page 21: ...kg 39 683lb IP IP44 Control cabinet I O port 16 digital inputs 16 digital outputs 2 analog inputs or outputs Control cabinet I O power supply 24VDC Communication mode TCP IP Modbus TCP Modbus RTU PROF...

Page 22: ...ght to go off indicating that the robot is powered off Enable robot When the robot is powered on press and hold the lock button and then press the enable button at the same time until the ring shaped...

Page 23: ...nabling robot are as follows 1 Power up control cabinet Press the power button The buzzer makes a noise and the control cabinet is powered up 2 Unlock the control stick Press and hold the lock button...

Page 24: ...together with a pause resume button and there are two buttons on the outside of the flange 1 2 3 4 5 6 7 8 9 10 11 8 1 Robot uttons and Interfaces 8 1 1 Ring Shaped Light There is a ring shaped light...

Page 25: ...utton is pressed the corresponding position will show up in the programming interface of App as a command See 1 5 JAKA Zu App Software User Manual for details WARNING The use of FREE button requires u...

Page 26: ...e electrode 24V 12V switchable configurable for enabling or disabling continuous current capacity 1A peak output current up to 2A 2 DI1 I Blue Digital input 1 configurable to be PNP or NPN input 3 DI2...

Page 27: ...1 5 JAKA Zu App Software User Manual 1 Dry contact input When the DI input is configured as NPN type The dry contact input switch type input is connected to GND of TIO gray wire at one end and to the...

Page 28: ...side of external device is connected to GND of TIO gray wire 3 RS485 signal Using the RS485 function the wiring method external RS485 is connected to RS485 of TIO yellow or brown wire external RS485 i...

Page 29: ...e is connected to the 24V of TIO red wire and 0V of external device is connected to the GND of TIO gray wire 8 1 4 Robot Connection Cable Interface Use the robot connection cable provided by JAKA to c...

Page 30: ...ction cable while the robot is not powered off 2 Do not extend or modify the original cable 8 2 Robot Si e The size of the JAKA Zu series robots are shown below During the installation you must consid...

Page 31: ...elow When you choose a robot mounting 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...

Page 32: ...File Version 3 4 32 73 JAKA Zu Series Hardware User Manual 1 Zu 3 workspace 2 Zu 5 workspace...

Page 33: ...File Version 3 4 33 73 JAKA Zu Series Hardware User Manual 3 Zu 7 workspace 4 Zu 12 workspace...

Page 34: ...ile Version 3 4 34 73 JAKA Zu Series Hardware User Manual 5 Zu 18 workspace 8 4 Robot Rotation Direction See 6 1 Robot Technical Specification for robot rotation range rotation direction is as follows...

Page 35: ...damaged Robots should not be installed in water or a humid environment 8 5 2 Robot Mounting JAKA s robot can be mounted at any position and supports mounting in any direction including inverted floor...

Page 36: ...leration will cause the robot to give a false alarm of collision and stop WARNING Do not connect the power during the robot mounting process Model Screw Si e Screw Quantity Recommended Tightening Torq...

Page 37: ...File Version 3 4 37 73 JAKA Zu Series Hardware User Manual 2 Zu 5 Zu 7 base drawing...

Page 38: ...File Version 3 4 38 73 JAKA Zu Series Hardware User Manual 3 Zu 12 Zu 18 base drawing...

Page 39: ...a torque of 13Nm 115 05lbf in 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 0 236in nail hole on the tool flange and loc...

Page 40: ...mounting or wall mounting is adopted the rigidity and stability of the mounting plane should be ensured for it is very dangerous to mount the robot on the wall or ceiling with insufficient intensity...

Page 41: ...File Version 3 4 41 73 JAKA Zu Series Hardware User Manual 2 Zu 5 payload offset 3 Zu 7 payload offset 4 Zu 12 payload offset 5 Zu 18 payload offset...

Page 42: ...File Version 3 4 42 73 JAKA Zu Series Hardware User Manual Note Offset distance is the center of gravity distance from the center of the flange...

Page 43: ...ral I O 2 All safety related signals are constructed redundancy two independent channels Keeping two channels separate can ensure that the safety function will not be lost when a single failure occurs...

Page 44: ...panel interface of the control cabinet is placed at the first layer after the control cabinet door is opened including 16 digital inputs P1 and P3 16 digital outputs P2 and P4 two configurable analog...

Page 45: ...put 10 PNP type active high 3 DI11 Digital input 11 PNP type active high 4 DI12 Digital input 12 PNP type active high 5 DI13 Digital input 13 PNP type active high 6 DI14 Digital input 14 PNP type acti...

Page 46: ...cted to the internal GND by default 9 OFF Remote Off signal input active high 24V 10 ON Remote On signal input active high 24V P8 1 4 8 V Isolated power supply input and positive electrode and short j...

Page 47: ...e internal power supply Connect internal power Connect external power 9 4 2 1 Digital Input DI The control cabinet is equipped with a 16 PNP type digital inputs active high DI1 DI16 which supports iso...

Page 48: ...ol cabinet is equipped with 16 digital PNP signal outputs DO1 DO16 which supports isolated signal output High side output is used internally and its maximum continuous current can reach 1A But when th...

Page 49: ...g is as follows take DI1 DI9 as an example same as others The wiring for other safety functions is the same as that for the three position enabling function 9 4 4 Safety Interfaces The control cabinet...

Page 50: ...ncy stop switch to ensure safety WARNING 1 If the control stick is detached or disconnected from the robot the emergency stop button is no longer active You must remove the control stick from the vici...

Page 51: ...en using the equipment working in the current mode The sensitivity of the current signal is lower than the interface 9 4 6 High Speed Interfaces P6 high speed interface HSI can be connected to an exte...

Page 52: ...remote on off interface has the same function as the power button of control stick Users can short the on off interface to 12V power or VSB interface 1 The wiring of remote on control is as follows Co...

Page 53: ...es 7 Cable fixing ring Used to secure cables in place 9 5 1 Power Adaptation Different countries and regions have different standards and JAKA supports corresponding plugs when products are exported o...

Page 54: ...to the control cabinet The fuse equipped in the switch is set as 10A by default The power supply should be equipped with at least Grounding Mains power fuse Residual current circuit breaker Power plug...

Page 55: ...n it should be supported by at least 2 people until all screws on the robot base are securely fastened WARNING 1 Ensure that the back or other body parts of operators are not overloaded when the equip...

Page 56: ...me component number or an equivalent approved by JAKA 3 Reactivate all disabled safety measures immediately after the work is completed 4 Record all maintenance operations and save them in technical d...

Page 57: ...n 3 4 57 73 JAKA Zu Series Hardware User Manual 4 Other environmental conditions Please keep it in an environment that does not produce poisonous gas dirt and dust Do not place heavy objects on it dur...

Page 58: ...egistration to the national WEEE register of their country A list of national registers can be found here https www ewrn org national registers national registers The following symbol indicates that t...

Page 59: ...cates that the concentration of hazardous substance in all of the homogeneous materials for this part is below the limit as stipulated in GB T 26572 x indicates that the concentration of hazardous sub...

Page 60: ...ding to EU Directives JAKA robot has been certified according to the following directives Name Description 2006 42 EC Machinery Directive MD JAKA robot meets the basic requirements of the CE MD CE LVD...

Page 61: ...eipt 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 the o...

Page 62: ...p Distance 0 50 100 150 200 250 33 Speed 66 Speed 100 Speed Stop Time ms 100 Reach 66 Reach 33 Reach 0 50 100 150 200 250 33 Speed 66 Speed 100 Speed Stop Distance mm 100 Reach 66 Reach 33 Reach 0 50...

Page 63: ...6 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 50 100 150 200 250 300 33 Speed 66 Speed...

Page 64: ...ed 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 33 Reach 0 50 100 15...

Page 65: ...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 66: ...3 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 S...

Page 67: ...0 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 Sp...

Page 68: ...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 3...

Page 69: ...ch 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 Speed 66 Speed 100 Speed Stop Time ms...

Page 70: ...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 Spe...

Page 71: ...0 00 100 00 150 00 200 00 250 00 300 00 350 00 400 00 33 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 Rea...

Page 72: ...tiate a safety state PLd Cat 3 Cat 2 stop SF15 Additional Emergency Stop Input Additional Estop input pairs can be configured to initiate a safety state When this input is low the robot executes a pro...

Page 73: ...JAKA ROBOTICS CO LTD Add Building 6 No 646 Jianchuan Road Minhang District Shanghai China E mail support jaka com Web www jakarobotics com...

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