JAKA Zu 7 User Manual
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JAKA Zu 7 User Manual

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JAKA ROBOTS
USER MANUAL
®
JAKA Z
7
u

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Summary of Contents for JAKA JAKA Zu 7

  • Page 1 JAKA ROBOTS USER MANUAL ® JAKA Z...
  • Page 2 JAKA ROBOTS USER MANUAL ® JAKA Zu 7 - V1.1 Robot Serial Number: Electrical Cabinet Serial Number: ® JAKA Zu 7 - V1.1...
  • Page 3 JAKA reserves the right to regularly revise the contents 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.

  • Page 4: Table Of Contents

    4.3.4 Status description · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 22 ® JAKA Zu 7 - V1.1...
  • Page 5 10.3.2 Log information area · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 44 ® JAKA Zu 7 - V1.1...
  • Page 6 10.6 Robot Safety · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 59 ® JAKA Zu 7 - V1.1...

  • Page 7: Preface

    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)
  • Page 8 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. ® JAKA Zu 7 - V1.1...

  • Page 9: Safety

    WARNING: This indicates a potentially hazardous hot surface which, if touched, could result in injury. CAUTION: This indicates a situation which, if not avoided, could result in damage to the equipment. ® JAKA Zu 7 - V1.1...

  • Page 10: Safety Precautions

    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 the robot overload exceeds the default value, the robot will stop moving to prevent damage to the robot or operator injury.

  • Page 11: Warnings And Cautions

    Always make an overall risk assessment for the complete installation. 7. Never modify the robot. A modification might create hazards that are unforeseen by the integrator. JAKA DISCLAIMS ANY LIABILITY IF THE PRODUCT IS CHANGED OR MODIFIED IN ANY WAY.

  • Page 12: Responsibilities And Risks

    All safety information contained in this manual shall not be considered as a guarantee of JAKA. Even if all safety instructions are observed, the injury or damage caused by the operator may still occur.

  • Page 13: Emergency

    Moving the robot arm manually is intended for urgent emergencies only and might damage the joints. If the brake is released manually, gravitational pull can cause the robot arm to fall. Always support the robot arm, tool and work item when releasing the brake. ® JAKA Zu 7 - V1.1...

  • Page 14: Precautions For Transportation And Handling

    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 equipment.

  • Page 15: Mechanical Interface

    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 to people or damage to the equipment.

  • Page 16: Robot Motion Range

    3.1.2 Robot Working Range The working range of JAKA Zu 7 is shown in Fig 3-4. When choosing the robot installation position, the cylinder space directly above and below the robot must be considered. Moving 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.

  • Page 17: Important Safety Instructions

    The robot should not be mounted in water or in a wet environment. 3.2.3 Robot Installation Options The robot has an attitude and position adaptation function. It can be mounted in various ways, such as ® JAKA Zu 7 - V1.1...

  • Page 18: End Tool Installation

    φ6 pin hole and fix it with a pin. Fig. 3-8 shows the drilling position and the screw mounting position. All measurements are in mm. Fig 3-8 ® JAKA Zu 7 - V1.1...

  • Page 19: Electrical Interface

    4.3 Controller I/O This chapter describes the I/O interface in the electrical cabinet, which contains 8 DIs (Digital Input), 8 DOs (Digital Output) and 8 AIs (Analog Input). As shown in Fig 4-1： Fig 4-1 ® JAKA Zu 7 - V1.1...
  • Page 20 The sixth relay output, R and L represent the 2 contacts of the relay The seventh relay output, R and L represent the 2 contacts of the relay The eighth relay output, R and L respectively represent the two contacts of the relay ® JAKA Zu 7 - V1.1...

  • Page 21: Digital Input(Di)

    17～24V JAKA uses an active level of 24V, with a high level of 17 to 24V and a low level of 0 to 17V. At present, the DI1 input has been used, and the relays in the DI1 external emergency stop button box (E-STOP) are connected.

  • Page 22: Status Description

    3. DI1～DI8: Green indicates that the DI1~DI8 inputs are low or closed. 4．DO1～DO8: Green indicates that the DO1~DO8 outputs are relay closed. 4.4 Ethernet The Ethernet interface is at the bottom of the electrical cabinet, please refer to the figure below. ® JAKA Zu 7 - V1.1...

  • Page 23: Emergency Stop Button Box

    (STOP), the electrical cabinet is in an emergency stop state, and the DC48V power supply of the robot is turned off. After the fault is cleared, the emergency stop button should be reset by rotating it clockwise for about 60 degrees. Fig 4-3 ® JAKA Zu 7 - V1.1...

  • Page 24: Power Connection

    Other equipment shall not supply voltage to the robot I/O when the system is locked out. Make sure that all cables are connected correctly before the electrical canbinet is powered. Always use an original and correct power cord. ® JAKA Zu 7 - V1.1...

  • Page 25: Robot Connection

    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. ® JAKA Zu 7 - V1.1...

  • Page 26: Safety Relating Functions And Interfaces

    WARNING: There are two exceptions to the force limiting function that are important to notice when designing the work cell for the robot. These are illustrated in Figure 5.1. As the robot stretches out, the knee-joint effect can ® JAKA Zu 7 - V1.1...

  • Page 27: Collision Detecting

    Meanwhile, release the button, it will go back to the normal mode. Four colors of the button standing for four working status, as shown in the following table. COLOR WORKING MODE BLUE Power-on default mode GREEN Enabled, position mode Fault ORANGE Free-drive mode Fig 5-2 ® JAKA Zu 7 - V1.1...

  • Page 28: Maintenance And Repairing

    Maintenance and repairing must be performed in compliance with all safety instructions in this manual. Repairing must be performed by an authorized system integrator or JAKA staff. Parts returned to JAKA should be returned as specified in the Service Manual.

  • Page 29: Overhaul Project And Cycle

    ON/OFF, whether the robot arm or tool All Axis will fall. Check for abnormal vibration, noise, Reducer All Axis and oil leakage Apply force to the tool to make sure it Tools 6th Axis properly and securely bolted in place. ® JAKA Zu 7 - V1.1...
  • Page 30 Only use the vacuum cleaner on the blade section. Do not vacuum the rotating part or the main body, which can cause the fan to malfunction or reduction of the fan’s service life. ® JAKA Zu 7 - V1.1...

  • Page 31: Parts Replacement And Preservation

    2. Fire, malfunction, and wrong movements caused by modification may result in personal injury or damage to the robot. 3. Any loss caused by the user's own modification of JAKA's products is not covered by JAKA’s warranty. To prevent electric shock, when replacing parts, please turn off the circuit breaker, and then turn off the main power supply.

  • Page 32: Filter Cleaning And Replacement

    6.3.2 Joints replacement Fig6-1 6.3.3 Part preservation According to the life and frequency of use of the components, the recommended spare parts are divided into two categories: A and B. ® JAKA Zu 7 - V1.1...

  • Page 33: Service Commitment

    Equipment provided by JAKA: from the day of acceptance of the equipment, the equipment enters the warranty period. The warranty period is 1 year. During the warranty period, if the equipment is faulty, JAKA will be responsible for repairing and maintenance. After receiving the user's equipment failure report, if the fault is caused by JAKA's equipment, JAKA is responsible for providing the warranty and promptly repairing.
  • Page 34 1. By negotiating with the user, the content and format of the service application form and the support service implementation report will be determined, and the user and JAKA will designate the related personnel respectively. 2. If the user needs support services, it is required to fill out the service application form and send it to JAKA.

  • Page 35: Design Criterion

    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. ® JAKA Zu 7 - V1.1...

  • Page 36: Warranty

    The above provisions do not imply a change in the burden of proof to the detriment of the customer. In case of a device exhibiting defects, JAKA shall not be liable for any indirect, incidental, special or consequential damages, including but not limited to loss of production or damage to other production equipment.

  • Page 37: Quick Start Guide

    9.1 Introduction JAKA Zu 7 is made up of aluminum pipes and joints. These joints and their names are shown in fig 9-1. T h e b as e is t he ins ta l l at i on pos i ti o n of th e r o b ot , a nd t h e ot h er s i de of t h e r o bo t ( j o in t 6) is c o n n ec t ed t o t he to o l.

  • Page 38: Turn On/Off The Electrical Cabine

    The robot will make some noise and move a little. The robot can be turned off by touching the “Turn off robot” button on the initialized page of the APP, or by turning off the electrical cabinet. ® JAKA Zu 7 - V1.1...

  • Page 39: Jaka Zu Documentation

    10 JAKA Zu Documentation 1. JAKA Zu 7 use the proprietary APP operating software. Only the tablet PC or phone that installed the designated APP can operate JAKA Zu 7. Any other PC or software cannot operate it. 2. Workers must operate correctly in accordance with the APP usage specification.
  • Page 40 Settings button Click to open the page of robot settings Setting Help button Click to open using instructions Help Wi-Fi strength signal Display the current Wi-Fi signal strength Weak Fig 10-2 ® JAKA Zu 7 - V1.1...

  • Page 41: Manual Operation Page

    (TCP), which is at the end of the robot and provides the feature points of the robot tool. Fig 10-5 Note: It can stop dragging the rocker at any time to make the robot stop moving. ® JAKA Zu 7 - V1.1...

  • Page 42: Robot Model

    · 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 ® JAKA Zu 7 - V1.1...

  • Page 43: Log Information Page

    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，  ® JAKA Zu 7 - V1.1...

  • Page 44: Log Information Area

    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) ® JAKA Zu 7 - V1.1...

  • Page 45: Io Monitoring

    · 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 ® JAKA Zu 7 - V1.1...

  • Page 46: Programing Commands

    Way point to indicate where the robot moves to. It is used with pallet control commands. Relative Linear Execute offset movement which is relative Movement to the current point Fig 10-16 ® JAKA Zu 7 - V1.1...
  • Page 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 ® JAKA Zu 7 - V1.1...
  • Page 48 Control Commands Fig 10-19 Loop Commands Icon Function Establish a Tool Coordinate System. Assign the variable in the program. Do the loop. ® JAKA Zu 7 - V1.1...
  • Page 49 Icon Industry terminology Function Execute if the specified expression holds. Execute the command in the first white frame if the specified expression holds, otherwise If else execute the command in the second white frame. ® JAKA Zu 7 - V1.1...
  • Page 50 Write pallet operation program: The programming steps are as follows: （1）Definition mode: Click the command frame of the pallet, and open the pallet settings page as the figure followed. ® JAKA Zu 7 - V1.1...
  • Page 51 Fig 10-24 There are two pallet types: linear and square. Fig 10-25 Fig 10-26 Fig 10-27 ® JAKA Zu 7 - V1.1...
  • Page 52 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 relative to anchor position. Computing Commands Fig 10-29 ® JAKA Zu 7 - V1.1...
  • Page 53 Icon Industry terminology Function < > Fig 10-30 Vision Commands Fig 10-31 ® JAKA Zu 7 - V1.1...
  • Page 54 Judge whether the robot can reach the position the vision Reachable vision position reached. Fig 10-32 Submodule Fig 10-33 “Submodule” command can deposit the program parts needed in various places. The submodule can be ® JAKA Zu 7 - V1.1...

  • Page 55: Function Buttons Area

    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 repeat 10 times, and drag it and align the bottom of Fig 10-35 ® JAKA Zu 7 - V1.1...
  • Page 56 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 ® JAKA Zu 7 - V1.1...
  • Page 57 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: ® JAKA Zu 7 - V1.1...
  • Page 58 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 ® JAKA Zu 7 - V1.1...

  • Page 59: Robot Safety

    When the robot detects a collision during operation, the robot will stop moving and enter the pause protection state. At the same time, the corresponding warning prompt will pop up on the APP as follows: Fig 10-45 ® JAKA Zu 7 - V1.1...
  • Page 60 International business: info@kunlintech.com WhatsApp:+86 138160 58286 ® JAKA Zu 7 - V1.1...

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