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JAKA JAKA Zu 7, Руководство пользователя

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JAKA    Zu

®

    7 - V1.1                                                                                                                                                                42 

 

 

 

Move the joints 

·Direct control of each joint is allowed. Each joint has a joint limit of positive and negative angle. If the 

joint reaches its limit, the robot cannot be moved. 

·Joint data configuration. Click the icon shown in fig 10-6 to open the joint configuration data page as the 

fig 10-7 shows.   

 

 

 

Fig 10-6 

 

 

 

Fig 10-7

 

 

10.2.2 Robot Model 

 

 

 

 

 

 

 

Содержание JAKA Zu 7

Страница 1: ...JAKA ROBOTS USER MANUAL JAKA Zu 7 ...

Страница 2: ...JAKA Zu 7 V1 1 2 JAKA ROBOTS USER MANUAL JAKA Zu 7 V1 1 Robot Serial Number Electrical Cabinet Serial Number ...

Страница 3: ...tents contained in this manual without prior notice JAKA will not be held liable for any mistakes in this manual or for any injury or death resulting from the use of this manual and its product Please carefully read this manual and other related manuals before installing and using the product The pictures in this manual are for reference only please refer to the actual product JAKA will not provid...

Страница 4: ...tions for Transportation and Handling 14 3 Mechanical Interface 15 3 1 Robot workspace 15 3 1 1 Robot dimensions 15 3 1 2 Robot motion range 16 3 2 Installation 16 3 2 1 General installation steps 16 3 2 2 Important safety instructions 17 3 2 3 Robot body installation 17 3 2 4 End tool installation 18 4 Electrical Interface 19 4 1 Introduction 19 4 2 Warnings and Cautions 19 4 3 Controller I O 19 ...

Страница 5: ...1 Filter cleaning and replacement 32 6 3 2 Joints replacement 32 6 3 3 Parts preservation 32 6 4 Service Commitment 33 7 Design Criterion 35 8 Warranty 36 8 1 Product Warranty 36 8 2 Disclaimer 36 9 Quick Start Guide 37 9 1 Introduction 37 9 2 Robot and Electrical cabinet Installation 37 9 3 Turn on off the Electrical cabine 38 9 4 Turn on off the Robot 38 10 JAKA Zu Documentation 39 10 1 Home Pag...

Страница 6: ... 7 V1 1 6 10 4 IO Monitoring 45 10 5 Programing Control 45 10 5 1 Programing commands 46 10 5 2 Commands instructions 46 10 5 3 Function buttons area 55 10 5 4 Programing demonstration 55 10 6 Robot Safety 59 ...

Страница 7: ...amming which greatly improves production efficiency JAKA Zu 7 is an intelligent light weight 6 DOF modularized collaborative robot with a payload of 7kg and it is one of the JAKA Zu Modularized Collaborative Robots Series What Do the Boxes Contain When you purchase a whole package of JAKA Zu 7 the items you will receive are shown in the table below Router tablet PC network cables are not included ...

Страница 8: ...uctions for installation and programming Installation The mechanical and electrical installation of the robot Programming Robot programming This manual will be a big help in both installation and operation to the users who have a basic level of mechanical and electrical training ...

Страница 9: ...ly observe them DANGER This indicates an imminently hazardous electrical situation which if not avoided could result in serious injury or death DANGER This indicates an imminently hazardous situation which if not avoided could result in serious injury or death WARNING This indicates a potentially hazardous electrical situation which if not avoided could result in injury or major damage to the equi...

Страница 10: ...fessional commissioning personnel are required to install and debug the robot according to the specifications 2 The setting and modification of the safety parameters must be carried out by a licensed person Unauthorized personnel must not change the parameters 3 Do not switch the power supply system frequently The JAKA Zu 7 has a brake in each joint to hold position when the power is off 4 When th...

Страница 11: ...rnings and Cautions 1 Do not wear loose clothing or jewellery when working with the robot Make sure long hair is tied back when working with the robot 2 During the operation even if the robot seems to have stopped it may be because the robot is waiting for the start signal and is about to move Even in such a state the robot should be considered to be in motion 3 During the operation make sure the ...

Страница 12: ...llowing are possible dangerous situations Injury caused by the robot dropping during handling Injury caused by the loosening of the robot fixing screw Finger pinching and collision injury during the operation Injury caused by the unrepaired malfunction robot Danger caused by the usage of a sharp end effector or tool connection Injury caused by the operation in a toxic or corrosive environment 1 6 ...

Страница 13: ...nual drive By pushing or pulling the robot arm it can force the joint to rotate The brake of each joint has a friction clutch When the joint is subjected to a torque greater than the friction torque of the friction clutch about 715 Nm for large joints and 150 Nm for small joints the joint rotates 2 Manual brake release Remove the joint cover by removing the M3 screws four for big joints and three ...

Страница 14: ...aging to the installation place Hold the robot in place until all mounting bolts are securely tightened at the base of the robot CAUTIONS 1 Make sure not to overload your back or other bodyparts when the equipment is lifted Use proper lifting equipment All regional and national guidelines for lifting shall be followed JAKA cannot be held responsible for any damage caused by transportation of the e...

Страница 15: ... and rotational movements in the robot s working range The following sections describe the basics to be aware of the installation of various components in the robot system Fig3 1 3 1 Robot Working Range 3 1 1 Robot Dimensions The photo and dimensions of JAKA Zu 7 robot are shown in Fig 3 2 and Fig3 3 Make sure to take into account the working range of the robot during installation to avoid injury ...

Страница 16: ... the tool close to the cylindrical volume should be avoided if possible because it causes the joints to move fast even though the tool is moving slowly causing the robot to work inefficiently and making it difficult to conduct a risk assessment Fig 3 4 3 2 Installation 3 2 1 General installation steps 1 Determine the working range of the robot 2 Mount the robot on the base 3 Install the required t...

Страница 17: ...GER 1 Make sure that the electrical cabinet and cables do not come into contact with liquids A wet electrical cabinet could cause death 2 The electrical cabinet must not be exposed to dusty or wet environments that exceed IP20 rating Pay special attention to environments with conductive dust CAUTIONS If the robot is bathed in water over an extended time period it might be damaged The robot should ...

Страница 18: ...the weight of the robot arm Furthermore the surface shall be vibration free If the robot is mounted on a linear axis or a moving platform then the acceleration of the moving mounting base shall be very low A high acceleration might cause the robot to stop thinking it bumped into something Fig 3 7 shows the robot mounting holes All measurements are in mm Fig 3 7 3 2 4 End effector Installation The ...

Страница 19: ...nterface These five types of interfaces are described below and most types of I O are provided with examples The warnings and cautions in the next section are related to these five sets of interfaces so be sure to observe these instructions 4 2 Warnings and Cautions Be sure to observe the following warnings and cautions when designing and installing robotic applications These warnings and cautions...

Страница 20: ...V voltage input AI5 1st 4 20mA current input AI6 2nd 4 20mA current input AI7 3rd 4 20mA current input AI8 4th 4 20mA current input 5 Output test point OUT Test output point can output 5V level used for test purposes of AI1 AI8 6 8 digital outputs DO1 DO8 DO1 The first relay output R and L represent the 2 contacts of the relay DO2 The second relay output R and L represent the 2 contacts of the rel...

Страница 21: ...he electrical cabinet and the R end is connected to the DC24V The relay transmission speed i e response time is less than 30ms When the relay is not in the pull in state the voltage is 24V and the current is less than 12mA 4 3 3 Analog Input AI With eight analog inputs AI1 AI8 can be configured By default the first four channels AI1 to AI4 are 0 to 5V voltage inputs and the last four channels AI5 ...

Страница 22: ...dicate the current working status of the controller The indicators are from left to right from top to bottom 1 ACT Communication activity indicator If it is green it indicates that the device has received an instruction from RS485 but it does not indicate that the instruction is normally recognized if blue appears it indicates that the received command is correctly recognized and the instruction h...

Страница 23: ...e robot After plugged in press the power on button the electrical cabinet is then turned on and starts working After pressing the power on button for 5 seconds the electrical cabinet is turned off and no longer works When the electrical cabinet is working normally the emergency stop button STOP is in the pop up state and the electrical cabinet normally outputs DC48V voltage to the robot When an em...

Страница 24: ... robot is grounded correctly Electrical connection to earth Use the unused bolts associated with grounding symbols inside the electrical cabinet to create common grounding of all equipment in the system The grounding conductor shall have at least the current rating of the highest current in the system 2 Make sure that the input power to the electrical cabinet is protected with a RCD Residual Curre...

Страница 25: ...he control box see illustration below Ensure that the connector is properly locked before turning on the robot Disconnecting the robot cable may only be done when the robot power is turned off Fig 4 5 CAUTIONS 1 Do not disconnect the robot cable when the robot is turned on 2 Do not extend or modify the original cable ...

Страница 26: ...ximum joint torque TCPPosition Planes in Cartesian space limiting the position of the robot TCP TCPSpeed Maximum speed of robot TCP Fig5 1 Fig5 1 Certain areas of the workspace should receive attention regarding pinching hazards due to the physical properties of the robot arm One area is defined for radial motions when the wrist 1 joint is at a distance of at least 750mm from the base of the robot...

Страница 27: ...hen 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 ...

Страница 28: ...nge anything in the safety configuration of the software e g the force limit If any safety parameter is changed the complete robot system shall be considered as a new system which means that the overall safety approval process including risk assessment shall be updated accordingly 2 Replace faulty components using new components with the same article numbers or equivalent components approved by JA...

Страница 29: ...nance processes please contact our service department Cycle Overhaul Items Overhaul essentials Part Daily Every 3 months Every Year Robot body Confirm whether the taught points are correct All Parts Cleaning the robot body Wipe off dirt etc remove accumulated spatter ash dust cutting residue etc All Parts Main bolts All the bolts exposed on the outside of the robot need to be tightened and marked ...

Страница 30: ...ation cleaning 2 Filters Whether there is dirt or blockage Visual confirmation cleaning replacement 3 Cables Confirm whether there is any damage or fragmentation Confirm whether the connectors are loosed Visual confirmation tightening Replace the cable when it is obviously damaged 4 Overhaul P S Use a soft cloth to remove dusts when cleaning Do not blow off dust with equipment such as air blowers ...

Страница 31: ...h 1 The replacement must be carried out by the specified operator 2 Electric shock or being caught by a robot accidentally can result in serious injury or death 1 There are a large number of connection interfaces between the printed circuit boards Keep cautious when replacing parts to avoid mis insertion or omission 2 If it causes electric shock or fire it will result in serious injury or death 1 ...

Страница 32: ... Filter cleaning and replacement 1 Power off the electrical cabinet 2 Remove the nut from the filter housing 3 Clean the dust adhering to the filter by blowing it out Dust should be blown from the inside of the electrical cabinet during cleaning When there is dirt etc apply warm water or a neutral detergent And if it still cannot be cleaned it should be replaced 4 Installation should be carried ou...

Страница 33: ... it in an anti static bag Other environmental conditions Please store it in an environment where no toxic gases dirt or dust are generated Do not place heavy objects on it during storage 6 4 Service Commitment JAKA will provide users with the following equipment warranty and maintenance services Equipment provided by JAKA from the day of acceptance of the equipment the equipment enters the warrant...

Страница 34: ...and the user does not have to pay any fees except for mechanical injuries or malfunction caused by incorrect operation of user After the equipment warranty expires we will sign the relevant agreement with the user to confirm the charging method maintenance responsibility and maintenance method to ensure the fulfillment of maintenance responsibility 2 Software training support service JAKA promises...

Страница 35: ...JAKA Zu 7 V1 1 35 7 Design Criterion JAKA Zu 7 was designed according to the Chinese national standards of GB11291 1 2011 GB5226 1 2008 GB17799 4 2012 GB17799 2 2003 and GB T 15706 2012 ...

Страница 36: ...e Warranty must be submitted within two months of the Warranty default becoming evident Ownership of devices or components replaced by and returned to JAKA shall vest in JAKA Any other claims resulting out of or in connection with the device shall be excluded from this Warranty Nothing in this Warranty shall attempt to limit or exclude neither a Customer s Statutory Rights nor the manufacturer s l...

Страница 37: ...xcept for the area directly above and below the base Fig 9 1 P S Before using JAKA Zu the operation APP the robot and electrical cabinet must be installed first and then power on the electrical cabinet 9 2 Robot and Electrical cabinet Installation Please install the robot and the electrical cabinet according to the following steps 1 Open the box and take out the robot and the electrical cabinet 2 ...

Страница 38: ...rical cabinet is powered on and none of the emergency stop buttons is activated the robot then can be turned on The way to turn it on is to touch the Power on button on the initialized page of the APP refer to fig 10 1 and then click the Turn on robot button After turning on the robot all brakes are unlocked The robot will make some noise and move a little The robot can be turned off by touching t...

Страница 39: ...2 Workers must operate correctly in accordance with the APP usage specification JAKA is not responsible for the damage caused by operating the robot incorrectly or using software in the way that is not allowed by JAKA 10 1 Home Page Fig 10 1 Home Page Function Button Icon Name Function Manual operation tab Click to redirect to manual operation page Program control tab Click to redirect to programm...

Страница 40: ... the App is not connected to the robot the disconnected button displays Click the QR code scanning frame popped up The connected button is displayed when the App in the connected state Click the prompt popped out to disconnect the current robot Settings button Click to open the page of robot settings Help button Click to open using instructions Wi Fi strength signal Display the current Wi Fi signa...

Страница 41: ... the indicated direction The rotation point is the tool center point TCP which is at the end of the robot and provides the feature points of the robot tool Fig 10 4 Operation rotary virtual handle As shown in Fig 10 5 Turn this handle according to the indicated direction The rotation point is the tool center point TCP which is at the end of the robot and provides the feature points of the robot to...

Страница 42: ...Each joint has a joint limit of positive and negative angle If the joint reaches its limit the robot cannot be moved Joint data configuration Click the icon shown in fig 10 6 to open the joint configuration data page as the fig 10 7 shows Fig 10 6 Fig 10 7 10 2 2 Robot Model ...

Страница 43: ... can slide left and right across the model area to check the joint position of the robot more easily As shown in Fig 10 8 10 3 Log Information Page Fig 10 9 This page is divided into two areas robot list and log information 10 3 1 Robot list area Fig 10 10 This area shows all the running robots in the current LAN ...

Страница 44: ...you click on the black entry the following prompt box will pop up Click Confirm to establish a connection with the robot and then you can control the robot Fig 10 11 10 3 2 Log information area Fig 10 12 This area shows the log information of electronic cabinet of the robot The information can be filtered by the switch button correspond with the severity ...

Страница 45: ...of the electrical cabinet in real time Electrical cabinet input This area displays the real time input of the electrical cabinet of the robot connected by the App Electrical cabinet output In this area each switch can be clicked to switch the on off state of specified port 10 5 Programing Control Fig 10 14 ...

Страница 46: ...ig 10 15 10 5 2 Commands instructions Move Commands Icon Industry terminology Function MoveL Command Move the tool linearly among points to keep the tool executing on the strait path MoveJ command Execute the calculated movement in the area of robot joints The system simultaneously control the joints move to the required key position Way point The points on the path of robots The way point is the ...

Страница 47: ...JAKA Zu 7 V1 1 47 IO Commands Fig 10 17 This command mainly controls the on off state of the electrical cabinet output The specified port can be selected for setting Fig 10 18 ...

Страница 48: ...JAKA Zu 7 V1 1 48 Control Commands Fig 10 19 Loop Commands Icon Function Establish a Tool Coordinate System Assign the variable in the program Do the loop ...

Страница 49: ...ate a dedicated loop variable that can be used in an expression inside a loop The loop variable counts from the beginning until the number of loops is reached If the end condition of the loop command is an expression it is allowed to continue to evaluate this expression Therefore the loop can be interrupted at any time of the loop execution instead of stopping after every iteration If Commands Ico...

Страница 50: ... operation includes the following features The program sequence should be executed in several positions The mode provided is in form of list or dot matrix Before start sequence can be selected when the operation is executed before the first position After end sequence can be selected when the operation is executed after the last position Pallet operation can execute movement sequence in a range of...

Страница 51: ...JAKA Zu 7 V1 1 51 Fig 10 24 There are two pallet types linear and square Fig 10 25 Fig 10 26 Fig 10 27 ...

Страница 52: ... the sequence which should correspond with the mode position Note In the node of Pallet sequence the movement of robot is relative to the position of pallet which keeps the robot at the position that the anchor position mode point given To satisfy this principle it will accordingly move to all positions remains Do not use the move command in sequence because the movement of this command is not rel...

Страница 53: ...JAKA Zu 7 V1 1 53 Icon Industry terminology Function or and Fig 10 30 Vision Commands Fig 10 31 ...

Страница 54: ...Move to vision point According to the visual feedback the fixture at the end calculates and moves to the position of the workpiece Visual photo taking Trigger camera to take photos of workpiece and collect data Get the vision point Get the vision and grab the position of some point Reachable vision position Judge whether the robot can reach the position the vision reached Fig 10 32 Submodule Fig 1...

Страница 55: ... operation New program Click to create a new program Save program Save the completed program file Open program Open the saved program file Overall speed Change the command speed of current program executed Fig10 34 10 5 4 Programing demonstration There is a simple program case to demonstrate the application of specific program commands 1 Open the Control select tab Choose the default command of re...

Страница 56: ...s in the numeric keypads popped out Fig 10 36 3 Click the Control select tab again Drag the if else command to the red part and then release it The result is shown below Fig 10 37 4 Click the Calculate select tab Choose the command and drag it to the red frame in the following figure Fig 10 38 ...

Страница 57: ... commands in the Calculate select tab to the empty area of command in the figure above And the result is as follows Fig 10 40 6 Open the Move tab and relatively drag the Linear movement command and Joint movement command to the red area and blue area in the fifth step The result is as follows ...

Страница 58: ...e command entry in the sixth step the command editing page will appear in the right of the interface as follows Fig 10 42 8 Click the Editing the position button in the red frame to enter the command editing interface as follows Fig 10 43 ...

Страница 59: ...ick the orange Confirm 9 Similarly click to modify the corresponding position of the robot 10 At last click and the program starts execution 11 Click the save button to save the current program profile 12 Click to check the program profile saved as follows Fig 10 44 10 6 Robot Safety When the robot detects a collision during operation the robot will stop moving and enter the pause protection state...

Страница 60: ...JAKA Zu 7 V1 1 60 International business info kunlintech com WhatsApp 86 138160 58286 ...

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