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JAKA Zu Series Hardware User Manual 

8 Robot 

The robot contains six joints and two aluminum arms. The base is used to connect the robot to the foundation, 
and the tool end is used to 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 the robot system. 

 Robot contains six joints and two connecting arms, the upper arm and the lower arm. There is a ring-shaped 
light indicating the robot’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. 

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 and a pause/resume button at the end of the robot. 

The positions of the ring-shaped light and the button are shown in figure below, and the color meanings are 
shown in table below. When the robot runs a program, you may press the button at the end of the robot to pause 
it, and you may press again to resume. 

 

1. 

Ring-shaped light 

2. 

Pause/Resume button 

Color 

Robot state 

Blue

 

Powered on but disabled 

Green

 

Enabled

 

Red

 

Failure/Protective stop 

Yellow

 

Freedrive mode 

1

2

1. Base 

2. Joint 1 

3. Joint 2 

4. Lower arm 

5. Joint 3 

6. Upper arm 

7. Joint 4 

8. Joint 5 

9. Joint 6 

10. Flange 

11. Ring-shaped light 

 

Содержание Zu Series

Страница 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...

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: ...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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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: ...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...

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: ...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...

Страница 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...

Страница 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...

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: ...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...

Страница 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...

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: ...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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

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

Страница 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...

Страница 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...

Страница 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...

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

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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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