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Hardware User Manual 

 

 

 

 

 

JAKA Pro Series 

Original Instructions (en) 

File Version: 3.5

 

 

Robot: Pro 5, Pro 12, Pro 16 

Control Cabinet: CAB 2.1 

 

Содержание Pro Series

Страница 1: ...Hardware User Manual JAKA Pro Series Original Instructions en File Version 3 5 Robot Pro 5 Pro 12 Pro 16 Control Cabinet CAB 2 1...

Страница 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...

Страница 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...

Страница 4: ...43 9 1 Introduction 43 9 2 Control 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...

Страница 5: ...Certification 61 13 1 2 Manufacturer Test Certification 61 13 1 3 Declaration According to EU Directives 61 14 Warranties 62 14 1 Product Warranty 62 14 2 Disclaimer 62 Appendix 63 Appendix 1 Stop Tim...

Страница 6: ...Pro are intelligent lightweight 6 DOF modular collaborative robots falling into the JAKA modular collaborative robot series Product List When you buy a whole set of the JAKA Pro series robots the del...

Страница 7: ...issioning 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...

Страница 8: ...ly 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 in...

Страница 9: ...e 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 diffe...

Страница 10: ...ots We are not 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 i...

Страница 11: ...ents 1 Force limit refers to the force required by the robot to issue a collision alarm when the robot is in contact with the external environment showed as a percentage The higher the percentage the...

Страница 12: ...ncy stop output of the system can actually bring the entire 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 r...

Страница 13: ...re manually releasing the brake 2 10 Labels The following labels are safety warning labels and product label on the robot and the control cabinet During the operation be sure to follow the instruction...

Страница 14: ...el figures are only for reference actual varies by robot model JAKA Robotics Co Ltd EMERGENCY MO EMENT PRESSTHESLIDER IN THEELECTROMAGNET TO MANUAL LY RELEASETHEBRAKE PUSH THEJOINT TO MO E Building 6...

Страница 15: ...ime Among them 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 person...

Страница 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...

Страница 17: ...indicate 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 interf...

Страница 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...

Страница 19: ...d 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 holds the connection places betwee...

Страница 20: ...20 s 120 s Joint 2 180 s 120 s 120 s Joint 3 180 s 120 s 120 s Joint 4 180 s 180 s 180 s Joint 5 180 s 180 s 180 s Joint 6 180 s 180 s 180 s Tool typical speed 3 m s 9 843 ft s 3 m s 9 843 ft s 3 5 m...

Страница 21: ...tal outputs 2 analog inputs or outputs Control cabinet I O power supply 24VDC Communication mode TCP IP Modbus TCP Modbus RTU PROFINET 1 7 App Ethernet IP 1 7 App Power supply 100 240VAC 50 60Hz Lengt...

Страница 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...

Страница 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...

Страница 24: ...s state at the end of the robot together with a pause resume button and there are two buttons on the outside of the flange 8 1 Robot Buttons and Interfaces 8 1 1 Ring Shaped Light There is a ring sha...

Страница 25: ...with the JAKA Zu App When this button 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...

Страница 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...

Страница 27: ...e 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 th...

Страница 28: ...ide 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 is...

Страница 29: ...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 connect the robot and the...

Страница 30: ...robot is not powered off 2 Do not extend or modify the original cable 8 2 Robot Si e The size of the JAKA Pro series robots are shown below During the installation you must consider the motion range...

Страница 31: ...a cylindrical space above and below the robot must be considered It is recommended not to move robot end into this cylindrical space Because in this space the robot is proximity to its singularity wh...

Страница 32: ...File Version 3 5 32 74 JAKA Pro Series Hardware User Manual 1 Pro 5 workspace 2 Pro 12 workspace...

Страница 33: ...le Version 3 5 33 74 JAKA Pro Series Hardware User Manual 3 Pro 16 workspace 8 4 Robot Rotation Direction See 6 1 Robot Technical Specification for robot rotation range rotation direction is as follow...

Страница 34: ...of singularities shoulder singularities elbow singularities and wrist singularities Descriptions and avoidance methods of the singularity are in the table below Name Description Example Shoulder singu...

Страница 35: ...NG 1 Ensure that the end effector is installed correctly and safely 2 Ensure the tool s safety to prevent any accidental falling of parts that could pose a danger WARNING 1 Ensure that the control cab...

Страница 36: ...tion plane shall be no less than 20 mm 0 787 in and the surface shall be made of steel In addition try to avoid directly mounting the robot on an empty box which can easily cause resonance and make ab...

Страница 37: ...File Version 3 5 37 74 JAKA Pro Series Hardware User Manual 1 Pro 5 base drawing...

Страница 38: ...File Version 3 5 38 74 JAKA Pro Series Hardware User Manual 2 Pro 12 base drawing...

Страница 39: ...File Version 3 5 39 74 JAKA Pro Series Hardware User Manual 3 Pro 16 base drawing...

Страница 40: ...crews need to be fastened with a torque of 13 Nm 115 05 lbf in and the M8 screws need to be fastened with a torque of 36 Nm 318 60 lbf in If you need to adjust the position of the end effector accurat...

Страница 41: ...tip over 4 When inverted 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...

Страница 42: ...sion 3 5 42 74 JAKA Pro Series Hardware User Manual 1 Pro 5 payload offset 2 Pro 12 payload offset 3 Pro 16 payload offset Note Offset distance is the center of gravity distance from the center of the...

Страница 43: ...ty stop function Separate the safety I O from the general I O 2 All safety related signals are constructed redundancy two independent channels Keeping two channels separate can ensure that the safety...

Страница 44: ...meters unless the result of the extension test shows the feasibility Use shielding cables if necessary 9 4 Front Panel Interfaces The front panel interface of the control cabinet is placed at the fir...

Страница 45: ...Isolated power supply input and negative electrode and short jumper connected to the internal GND by default P3 DI 9 16 8 digital inputs 1 DI9 Digital input 9 PNP type active high 2 DI10 Digital inpu...

Страница 46: ...485B 6 7 485A RS485 Communication 485A 8 V Isolated power supply input and negative electrode and short jumper connected to the internal GND by default 9 OFF Remote Off signal input active high 24V 10...

Страница 47: ...on is the connection to the 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 D...

Страница 48: ...signal is triggered the corresponding indicator light on the panel is on The corresponding indicator will light on in the JAKA Zu App at the same time 9 4 2 2 Digital Output DO The control cabinet is...

Страница 49: ...compromise the safety functions Therefore when wiring both paired safety I Os should be connected simultaneously For example when connecting DI1 DI9 must be connected simultaneously The pairing relati...

Страница 50: ...the 24V power supply is internally provided by the control cabinet 2 Emergency stop switch In most applications to facilitate the safety related operations one or more additional emergency stop or pr...

Страница 51: ...trol cabinet do not perform potential isolation Use shielding cables or twisted pairs Connect shielding layer to the AG terminal on the power terminal When using the equipment working in the current m...

Страница 52: ...d for controlling the control cabinet by connecting it to the PLC It is effective when it receives 24V power supply the reference GND is V The remote on off interface has the same function as the powe...

Страница 53: ...power Connect internal power Note Remote on and off interfaces cannot be short at the same time 9 5 Bottom Panel Interfaces The bottom panel of the control cabinet includes following items VSB 0V 485...

Страница 54: ...e different standards and JAKA supports corresponding plugs when products are exported overseas 1 China Standard Plug National Standard 3 I shaped flat pin plug Cable standard Core size Length Cable O...

Страница 55: ...n 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 lock Refer to IEC60204 Safety of Machiner...

Страница 56: ...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...

Страница 57: ...risk assessment must 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...

Страница 58: ...t in extremely dry conditions The shock of electrostatic discharge may damage the semiconductor Please store it in an anti static bag 4 Other environmental conditions Please keep it in an environment...

Страница 59: ...gistration 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 th...

Страница 60: ...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...

Страница 61: ...n 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 CE EMC and CE RED directives 2014 35 EU...

Страница 62: ...ceipt 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...

Страница 63: ...0 200 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 Reac...

Страница 64: ...0 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...

Страница 65: ...d 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...

Страница 66: ...ach 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 m...

Страница 67: ...ed Stop Time ms 100 Reach 66 Reach 33 Reach 0 00 50 00 100 00 150 00 200 00 250 00 300 00 350 00 400 00 450 00 33 Speed 66 Speed 100 Speed Stop Distance ms 100 Reach 66 Reach 33 Reach 0 50 100 150 200...

Страница 68: ...0 700 33 Speed 66 Speed 100 Speed Stop Time ms 100 Reach 66 Reach 33 Reach 0 00 200 00 400 00 600 00 800 00 1000 00 33 Speed 66 Speed 100 Speed Stop Distance mm 100 Reach 66 Reach 33 Reach 0 100 200 3...

Страница 69: ...p will be triggered PLr d PL d Cat 3 Cat 1 stop SF3 Safeguard Protective Stop This safety function is initiated by an external device using safety digital inputs The category 2 stop is triggered when...

Страница 70: ...specified range limit during motion it will result in a safety state PLr d PL d Cat 3 Cat 1 stop SF11 TCP Position Limit Safety Planes Multiple safety planes can be defined to restrict the range of m...

Страница 71: ...stop state reset safety digital input This safety function is initiated by an external device using safety inputs Transitioning the external connections from LOW to HIGH will exit the protective stop...

Страница 72: ...vement PLr d PL d Cat 3 100ms Two channel output signals with high impedance state SF23 Robot Not Stopping Output Configurable motion status safety digital outputs Whenever the robot is stopping in th...

Страница 73: ...Enable Input Configurable 3 Position Enable safety digital input This safety function is initiated by an external device using a safety input The 3 Position enable limit is triggered when the external...

Страница 74: ...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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