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JAKA C Series Hardware User Manual

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JAKA
Robotics
Hardware User Manual
JAKA C Series
Original Instructions (en)
File Version: 3.2
Robot:
C 5, C 7, C 12
Control Cabinet: CAB V2.1
A

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Summary of Contents for JAKA C Series

  • Page 1 JAKA Robotics Hardware User Manual JAKA C Series Original Instructions (en) File Version: 3.2 Robot: C 5, C 7, C 12 Control Cabinet: CAB V2.1...
  • Page 2 The manual is the exclusive property of the JAKA Robotics Ltd. (hereinafter referred to as the “JAKA”) and JAKA fully reserves its copyright and interpretation right. This manual and parts thereof must not be reproduced or copied without JAKA’s written permission.

  • Page 3: Table Of Contents

    Contents Chapter 1 Safety Specification ......................6 Introduction ............................ 6 Warning Symbols ........................... 6 Safety Precautions ......................... 6 General Warnings and Cautions ....................7 Liability and Risk ..........................8 Usage ............................. 8 Risk Assessment ..........................9 Pre-Use Assessment ........................10 Emergency Stop ..........................10 1.10 Movement without Electric Power ....................10 1.11...
  • Page 4 4.2.5 Maximum effective payload of the robot ................33 Chapter 5 Electrical Interface ......................35 Introduction ..........................35 Electrical Warnings and Precautions ...................35 Front Panel Interface of the Control Cabinet ................36 5.3.1 Common Specifications for All Digital I/O ................38 5.3.2 Safety I/O Interface .......................39 5.3.3 Digital Input (DI) ........................40 5.3.4...
  • Page 5 JAKA C series are intelligent, lightweight, 6-DOF modular collaborative robots, falling into the JAKA modular collaborative robot series. Product List When you buy one of the whole set of the JAKA C series robots, the delivery you will receive is as shown in the following table: Name...

  • Page 6: Chapter 1 Safety Specification

    0.6 meters to 1.9 meters to facilitate prompt and convenient power disconnection in the event of an emergency. 3. Prior to the initial use of any JAKA products, a comprehensive inspection of all electrical components and safety protection systems must be conducted to verify their integrity and absence of prior damage.

  • Page 7: General Warnings And Cautions

    3. It is recommended not to frequently toggle the power supply on/off. Each joint of the JAKA collaborative robot range is equipped with a brake mechanism to maintain its posture for safety reasons in the event of a power failure. Brake mechanisms can be damaged during unexpected power downs.

  • Page 8: Liability And Risk

    JAKA C series is an industrialized collaborative robot. It is suitable for the industrial environment, such as using it to manipulate equipment or fixed tools and to process or pass spare parts or products. JAKA C series can File Version: 3.2...

  • Page 9: Risk Assessment

    JAKA C series has special security rating features specially designed for collaborative operation, that is, the robot can work without guardrails or work with people. Collaborative operation is only suitable for danger-free applications, that is, complete applications where tools, workpieces, obstacles and other machines have been proven not to have a significant risk following an application-specific risk assessment.

  • Page 10: Pre-Use Assessment

    After risk assessment, if you need to install an emergency stop button, the button must meet the requirements of IEC-60947-5. The time and distance of emergency stop of JAKA robot have been tested. See Appendix 1 for the test data. Warning: When the emergency stop button is pressed, the robot system will cut off the robot power.

  • Page 11: Precautions For Transport And Handling

    Warning: 1. Ensure that the back or other body parts of operators are not overloaded when the equipment is hoisted. Use appropriate hoisting equipment. JAKA is not responsible for damage incurred during the transport of the equipment. 2. Ensure that installation instructions are strictly followed when the robot is installed.
  • Page 12 Product label Beware of collision Beware of pinching Beware of electric shock Grounding Warning hot surface File Version: 3.2 12 / 62 JAKA C Series Hardware User Manual...
  • Page 13 Note: Product labels and robot model figures are only for reference, actual varies by robot model. File Version: 3.2 13 / 62 JAKA C Series Hardware User Manual...

  • Page 14: Chapter 2 Safety Functions

    2.1 Stop Category According to the IEC 60201 standard, three stop categories have been set for JAKA robot: stop category 0 (Cat. 0), stop category 1 (Cat. 1), and stop category 2 (Cat. 2). Among them, Cat. 0 is uncontrollable stop, while Cat.

  • Page 15: Three-Position Enable Device (Optional)

    JAKA robot support a three-position enable function, which can be used in conjunction with external three- position enable device. The standard product delivery of JAKA robot does not include this device. The three- position enabling safety input interface is available for users and the design meets the certification requirements.

  • Page 16: Chapter 3 Quick Start

    3.1 Overview of Robot Components Figure 3-1 Overview of robot components As is shown in Figure 3-1, JAKA robot use a wireless interconnection and requires the following components in its use: 1. Robot: The main moving component to make movements as user desires. Ring-shaped indicators, buttons for dragging and programming, and an IO interface for connecting tools (the TIO interface) are also arranged at the end of the body to indicate the robot’s state.

  • Page 17: End Of The Robot

    2. Pause/Resume button Figure 3-3 Ring-shaped indicator and Pause/Resume button Table 3-1 Ring-shaped indicator Color Working state Blue Powered but not enabled Green Enabled Failure/Protective stop Yellow Freedrive mode File Version: 3.2 17 / 62 JAKA C Series Hardware User Manual...

  • Page 18: Tool Flange Button And Interface

    Tool flange button and interface 3.2.2 JAKA robot is equipped with a tool IO interface and two buttons on the side of the tool flange. The two buttons are a freedrive button (FREE) and a position recording button (POINT), as shown in Figure 3-4.
  • Page 19 Reset button by the JAKA Zu APP. When the program is run to the default position, press and hold the button, and the lock indicator is blue.

  • Page 20: Technical Specification

    When using the control stick to operate the robot, ensure that the robot you are operating is within your sight and follow the relevant safety guidelines to avoid any harm to personnel or equipment near the robot. 3.4 Technical Specification 1. Technical specification of JAKA C series robot: Model C 12...
  • Page 21 Size of the control cabinet 16.14*9.25*12.09(in) (W*D*H) Material Plastic-spry carbon steel plate Note: C series robots are used with CAB V2.1 by default. For MiniCab technical specifications, see JAKA MiniCab User Manual. File Version: 3.2 21 / 62 JAKA C Series Hardware User Manual...

  • Page 22: Chapter 4 Mechanical Specification

    During the installation, you must consider the movement range of the robot to avoid harming the surrounding personnel and equipment. C 12 Size of the Control Cabinet 4.1.2 File Version: 3.2 22 / 62 JAKA C Series Hardware User Manual...

  • Page 23: Robot Workspace

    4.1.3 The workspace of the JAKA C series robots are shown below. When you choose a robot installation location, the cylindrical space right above and below the robot must be considered to try to avoid moving the tool to the cylindrical space.
  • Page 24 2. C 7 workspace File Version: 3.2 24 / 62 JAKA C Series Hardware User Manual...

  • Page 25: Robot Rotation Direction

    See 3.4 for robot rotation range, rotation direction is as follows： Take the zero orientation of the robot as an example (the angle of each joint of the robot is 0 °): File Version: 3.2 25 / 62 JAKA C Series Hardware User Manual...
  • Page 26 3. Joint 3：Facing the lid, the clockwise rotation is positive, and the counterclockwise rotation is negative. 4. Joint 4：Facing the lid, the clockwise rotation is negative, and the counterclockwise rotation is positive. File Version: 3.2 26 / 62 JAKA C Series Hardware User Manual...

  • Page 27: Installation

    6. Joint 6：Facing the indicator light lid, the clockwise rotation is positive, and the counterclockwise rotation is negative. 4.2 Installation Installation Steps 4.2.1 1. Determine the working range of the robot; 2. Install the robot on the pedestal; File Version: 3.2 27 / 62 JAKA C Series Hardware User Manual...

  • Page 28: Important Security Instructions

    Installation of the Robot 4.2.3 JAKA robot can be installed at any position at 360° and supports mounting in any direction including ceiling, table, and wall mounting. Several typical installation methods are shown below: 1. Table mounting 2.
  • Page 29 Torque（N·m） 3000 ∅9 ∅8 3000 ∅9 ∅8 C 12 3800 ∅9 ∅8 The picture below shows the installation size of the robots, the measurement value unit is mm. File Version: 3.2 29 / 62 JAKA C Series Hardware User Manual...
  • Page 30 1. C 5, C 7 base mounting size drawing File Version: 3.2 30 / 62 JAKA C Series Hardware User Manual...

  • Page 31: Installation Of The End-Effector

    4.2.4 The JAKA C series robots tool flange have four M6 screw holes, which can be used to connect the end-effector to the robot. When you install screws into these screw holes, the screws need to be fastened with a torque of 15N·m.
  • Page 32 JAKA Software Manual for detailed operation. 2. It is normal that the installation holes of the robot are rusted or have traces of use. The JAKA robot needs to accept a series of performance tests before leaving the factory. Therefore, there will be traces of use in the installation hole, which is not a quality problem and does not affect its use.

  • Page 33: Maximum Effective Payload Of The Robot

    1. C 5 payload offset figure 2. C 7 payload offset figure 3. C 12 payload offset figure File Version: 3.2 33 / 62 JAKA C Series Hardware User Manual...
  • Page 34 File Version: 3.2 34 / 62 JAKA C Series Hardware User Manual...

  • Page 35: Chapter 5 Electrical Interface

    Interference signals beyond the standard will cause abnormal behaviors of the robot. Extremely high signal level or excessive exposure will cause permanent damage to the robot. JAKA is not responsible for any loss caused by the EMC problem beyond the scope.

  • Page 36: Front Panel Interface Of The Control Cabinet

    (P8), USB3.0 interface (P9) and Ethernet interface (P10), and the USB interface and the Ethernet interface are retained for internal use. If needed, contact the JAKA technical support personnel. The layout is shown in Figure 5-1.
  • Page 37 Differential signal 3 input negative terminal/encoder Z- 9, 16 DG Digital power GND, isolated from the internal GND 1, 2 Internal power 5V, 100mA (max), available for remote startup and File Version: 3.2 37 / 62 JAKA C Series Hardware User Manual...

  • Page 38: Common Specifications For All Digital I/O

    The control cabinet supports the digital input and output with 16 channels, as shown in Figure 5-2: Figure 5-2 Digital input and output Digital I/O can be powered by the 24V power supply in the control cabinet and supports 1.5A peak output (the File Version: 3.2 38 / 62 JAKA C Series Hardware User Manual...

  • Page 39: Safety I/O Interface

    V+, while the V+ shorts to 24V, and the V- shorts to 0V, indicating that the 24V power supply is internally provided by the control cabinet, as shown in Figure 5-4: V+ V- 默认出厂安全配置 Figure 5-4 Default safety configuration 2. Emergency stop switch File Version: 3.2 39 / 62 JAKA C Series Hardware User Manual...

  • Page 40: Digital Input (Di)

    Figure 5-5 Emergency stop switch wiring 3. Protective stop switch The protective stop function supports automatic recovery (See JAKA Software Manual for details). The door switch is an application case of the protective stop device. When the door is open, the robot stops. The wiring...

  • Page 41: Digital Output (Do)

    When the circuit is connected (as shown in the figure, the switch or relay is turned on), the corresponding indicator on the panel is on. The corresponding indicator will light on in the JAKA Zu APP at the same time.

  • Page 42: Analog

    Note: It is strongly recommended to use protective diodes for inductive load (such as the relay, electromagnet, and DC motor). Analog 5.3.5 With the 2-channel analog input and output interfaces (Ch1, Ch2), the mode can be configured: Current signal input and output: 0-20mA; File Version: 3.2 42 / 62 JAKA C Series Hardware User Manual...

  • Page 43: High Speed Interface

    The analog AI/O interfaces of JAKA’s control cabinet can be configured to be in different working modes through the JAKA Zu APP (0-10V input by default). When the user needs to configure it to other functional modes, the APP can be used for settings. For high accuracy, it is recommended to obey the following instructions: •...

  • Page 44: Bottom Panel Interface Of The Control Cabinet

    Note: Remote ON and OFF interfaces cannot be short at the same time. 5.4 Bottom Panel Interface of the Control Cabinet The bottom panel of the control cabinet includes following items: File Version: 3.2 44 / 62 JAKA C Series Hardware User Manual...

  • Page 45: Power Adaptation

    7. Cable fixing ring: Used to secure cables in place. Power Adaptation 5.4.1 Different countries and regions have different standards, and JAKA will provide corresponding plugs when exported overseas. The specific standards are as follows: 1. China Standard Plug (National Standard): 3 I-shaped flat-pin plug...

  • Page 46: Power Connection

    Robot Connection 5.4.3 Use the robot connection cables provided by JAKA to connect the robot and the control cabinet. When the robot is started, be sure to lock the connector firmly. When disconnecting the robot connection cables, the power to the robot must be cut off first.

  • Page 47: Tool Input And Output Interface

    The definition table of the TIO V3 external interface is as follows: Definition Color Description +24V Anode, 24V/12V (switchable); configuration of enabling or shutdown functions; continuous current capacity 1A; peak output current up to 2A. File Version: 3.2 47 / 62 JAKA C Series Hardware User Manual...
  • Page 48 2. TIO digital input interface circuit TIO supports 2-channel user DI digital input interfaces, compatible with NPN and PNP types. It can be configured in the APP. For the details of operation, see JAKA Software Manual. (1) Dry contact input...
  • Page 49 (red wire), 0V is connected to the power negative electrode (gray wire), and the signal wire is connected to the DI digital input (blue or green wire). File Version: 3.2 49 / 62 JAKA C Series Hardware User Manual...
  • Page 50 (2) When the digital output interface is PNP output, the open drain output is used for output, and the maximum continuous current load capacity is 1A. As shown in Figure 5-24, the connection method is: the DO digital output (yellow or orange wire) connection File Version: 3.2 50 / 62 JAKA C Series Hardware User Manual...
  • Page 51 (red wire), and the negative electrode is connected to the power negative electrode (gray wire), as shown in Figure 5-25. A：External device B：TIO V3 C：Main circuit 1. Grey 2. Yellow 3. Brown 4. Orange 5. White 6. Red Figure 5-25 RS485 wiring File Version: 3.2 51 / 62 JAKA C Series Hardware User Manual...

  • Page 52: Chapter 6 Maintenance

    All safety instructions in this manual must be strictly followed for maintenance work. For more detailed maintenance instructions, please refer to the JAKA Service Manual. The repair must be performed by the integrator authorized by JAKA or by JAKA’s personnel. Safety Instructions After the maintenance, check the safety level to ensure that it meets the service requirements.
  • Page 53 4. Other environment condition Please keep it in an environment that does not produce poisonous gas, dirt and dust. Do not place heavy objects on it during storage File Version: 3.2 53 / 62 JAKA C Series Hardware User Manual...

  • Page 54: Chapter 7 Warranties

    Warranty default becoming evident. JAKA has the ownership of the equipment or components that are replaced or returned to JAKA. Any other claim arising out of or relating to the equipment is excluded from the scope of the Warranty. Nothing in this Warranty shall attempt to limit or exclude a Customer’s Statutory Right, nor the manufacturer’s liability for death or personal injury resulting from its negligence.

  • Page 55: Appendix

    100% Speed 33% Speed 66% Speed 100% Speed 100% Reach 66% Reach 100% Reach 66% Reach Joint 3 Type 1 Stop Time Joint 3 Type 1 Stop Distance File Version: 3.2 55 / 62 JAKA C Series Hardware User Manual...
  • Page 56 100% Speed 33% Speed 66% Speed 100% Speed 100% Reach 66% Reach 100% Reach 66% Reach Joint 3 Type 2 Stop Time Joint 3 Type 2 Stop Distance File Version: 3.2 56 / 62 JAKA C Series Hardware User Manual...
  • Page 57 100% Speed 33% Speed 66% Speed 100% Speed 100% Reach 66% Reach 100% Reach 66% Reach Joint 3 Type 1 Stop Time Joint 3 Type 1 Stop Distance File Version: 3.2 57 / 62 JAKA C Series Hardware User Manual...
  • Page 58 100% Speed 33% Speed 66% Speed 100% Speed 100% Reach 66% Reach 100% Reach 66% Reach Joint 3 Type 2 Stop Time Joint 3 Type 2 Stop Distance File Version: 3.2 58 / 62 JAKA C Series Hardware User Manual...
  • Page 59 100% Speed 33% Speed 66% Speed 100% Speed 100% Reach 72.5% Reach 100% Reach 72.5% Reach Joint 3 Type 2 Stop Time Joint 3 Type 2 Stop Distance File Version: 3.2 59 / 62 JAKA C Series Hardware User Manual...
  • Page 60 72.5% Reach Joint 3 Type 2 Stop Time Joint 3 Type 2 Stop Distance Note: This data is test data, the data results are affected by the version. File Version: 3.2 60 / 62 JAKA C Series Hardware User Manual...

  • Page 61: Appendix 2: Safety Function Table

    Estop Button and Additional Emergency Stop input all take effect to these outputs. Note: Refer to corresponding certificate for data of response time, MTTFd, and PFHd. File Version: 3.2 61 / 62 JAKA C Series Hardware User Manual...
  • Page 62 JAKA ROBOTICS CO., LTD. Add.: Building 33-35, 610, Jianchuan Rd., Minhang District, Shanghai E-mail: support@jaka.com Web: www.jakarobotics.com...

This manual is also suitable for:

C 5C 7C 12

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