JAKA Robot User Manual
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JAKA Robot User Manual

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JAKA Robot
User Manual - Hardware
Section
JAKA Zu MiniCab
1

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Summary of Contents for JAKA Robot

  • Page 1 JAKA Robot User Manual - Hardware Section JAKA Zu MiniCab...
  • Page 2 JAKA Robot User Manual JAKA Zu MiniCab v1.1 Cabinet No.:...

  • Page 3: Manual Instructions

    beings.

  • Page 4: Table Of Contents

    1.5 EMERGENCY ..............................9 1.6 PRECAUTIONS FOR TRANSPORTATION AND HANDLING..............9 CHAPTER 2 WELCOME............................10 2.1 TYPICAL APPLICATION SCHEMATIC DIAGRAM................. 10 2.2 COMPOSITE ROBOT APPLICATION....................... 11 2.3 OPERATION TERMINAL..........................11 2.4 ELECTRIC CONTROL CABINET AND CONTROL STICK..............11 CHAPTER 3 MECHANICAL SPECIFICATION....................14 3.1 OUTLINE DIMENSION..........................
  • Page 5 7.2 MAINTENANCE ITEMS AND CYCLES..................... 35 7.3 REPLACEMENT AND PRESERVATION OF COMPONENTS............. 36 7.3.1 PRESERVATION OF COMPONENTS....................37 7.4 COMMITMENT OF AFTER-SALES SERVICE..................37 CHAPTER 8 QUALITY ASSURANCE........................ 39 8.1 PRODUCT QUALITY ASSURANCE......................39 8.2 DISCLAIMER..............................39 JAKA Zu MiniCab v1.1...

  • Page 6: Introduction

    ® mind. JAKA robot uses the control mode of mobile intelligent terminal and APP to connect with the robot. And one mobile terminal can control several robots. Operators do not need to master professional programming language and can easily complete the programming by manually controlling the robot. In this way, the man-machine collaboration can be more leisurely, which greatly improves the production efficiency.

  • Page 7: Product List

    Product List When you purchase a JAKA Zu MiniCab robot controller separately, the package list ® you receive is as follows: Name Quantity JAKA Zu MiniCab Handle assembly Power supply, emergency stop, IO plug and pull terminal Wi-Fi antennas Hangers and matching bolts Rail installation assembly (Optional) JAKA Zu MiniCab v1.1...
  • Page 8 1.1kg Dimensions (W × H × D) 180×46.6×128mm Ambient Temperature 0-50℃ Protective class IP20 Materials Aluminum alloy steel Power DC30V~60V TCP/IP. Modbus TCP. Communication Ways Modbus RTU I/O Port 7 segment I/O multiplexing I/O Power Supply JAKA Zu MiniCab v1.1...

  • Page 9: Chapter 1 Safety Specification

    Users shall carefully read the safety related contents in this manual and strictly follow them. Operators shall be fully aware of the complexity and danger of the robot system and pay special attention to the contents related to warning signs.

  • Page 10: Responsibility And Risk

    1.4 Responsibility and Risk Liability This manual does not cover all applications of how to design, install and operate a robot, nor does it cover all peripherals that may affect the safety of the robot system. The integrator of JAKA bears the liability to ensure that the applicable laws and regulations of the relevant country are followed to ensure that there is no significant risk in the complete robot application.

  • Page 11: Emergency

    When the robot is hoisted, corresponding measures shall be taken to locate the robot to avoid damage caused by accidental movement. When moving the robot from its packaging to the mounting position, hold the robot until all the bolts on the base of the robot are fastened.

  • Page 12: Chapter 2 Welcome

    Operation Terminal: The device for users to perform programming, setting, and other operations. Robot Body: Main moving parts to achieve the desired action of the user. At the same time, the robot end is equipped with a ring indicator light indicating the status of the robot, buttons for dragging and programming, and an I/O interface for connecting tools, namely the TIO interface.

  • Page 13: Composite Robot Application

    When purchasing JAKA Zu series collaborative robots, users can also request to purchase operation terminals or use their own tablets. 2.4 Electric Control Cabinet and Control Stick The controller provides a keypad handle that can be used to start the robot without using the APP when JAKA Zu MiniCab v1.1...
  • Page 14 Shutdown: Long press the power button for more than 3s. The handle rings 6~7 times, and the electric control cabinet turns off. Power on the robot: If the power is not turned on, short press the button to electrify the robot.
  • Page 15  When you are using the handle to operate the robot, please make sure that the robot you are operating is within sight, and follow relevant safety regulations to prevent injury to people or damage to equipment around the robot.

  • Page 16: Chapter 3 Mechanical Specification

    Figure 3-1 Product Appearance Rendering 3.1 Outline Dimension The dimensions of JAKA Zu MiniCab are shown in Figure 3-2. Standard accessories include side lugs, which support panel mounting and base mounting. At the same time, if the guide rail installation is needed, the guide rail installation component is optional.

  • Page 17: Installation

    Figure 3-2 Outline Dimensions and Installation Hole Bitmap 3.2 Installation 3.2.1 Installation Method MiniCab shall be installed reliably before use. Here are three ways to install: 3.2.1.1 Rear Lug Mounting JAKA Zu MiniCab v1.1...
  • Page 18 Figure 3-2. When the fixed plate is a moving platform, in order to reduce the impact of moving vibration on MiniCab, it is recommended to add a rubber gasket between the MiniCab and the fixed plate. 3.2.1.2 Base Installation Figure 3-4 Base Installation Schematic Diagram JAKA Zu MiniCab v1.1...

  • Page 19: Installation Environment Requirements

    MiniCab also supports rear installation of national standard guiderail, and the guiderail buckle is optional. When there is a need for rear guiderail installation, please contact the technical service personnel of JAKA to prepare before shipping or arrange a redelivery.
  • Page 20 Do not use the product near corrosive and flammable gases, combustibles, such as hydrogen  sulfide, chlorine, ammonia, sulfur, chlorinated gases, acids, bases, salts, etc.; This product is used at altitudes below 1000m, and please de-rate if the altitude is above 1000m.  JAKA Zu MiniCab v1.1...

  • Page 21: Chapter 4 Electric Parameters

    This chapter mainly describes the absolute limit parameters of MiniCab and the recommended conditions of use. When using the robot and MiniCab controller, users shall follow the recommended electric parameters, and reaching or exceeding the limit parameters may cause damage to the controller hardware.

  • Page 22: Typical Power Consumption

    (3) The peak value of the output current is related to the model and working status of the adapted robot. Zu12 and Zu18 models are recommended to be used when de-rating.

  • Page 23: Chapter 5 Definition Of Interface

    MiniCab has user interfaces on the front panel and side panel. The front panel includes 20PIN integrated I/O, USB, HDMI, LAN, handle and E-STOP interface, Wi-Fi status indicator and On/Off button. The side panel includes a power input interface, a robot body interface, 2.4G Wi-Fi antenna, and an internal integrated routing reset button.

  • Page 24: Handle Interface (Stick)

    Usually used to extend the RS485 interface MasterBus_RS485B of I/O board card SlaveBus_RS485A RS485, slave station interface Usually used for external PLC and other SlaveBus_RS485B equipment communication 5.1.2 Handle Interface (STICK) Figure 5-3 Diagram of Handle Interface JAKA Zu MiniCab v1.1...

  • Page 25: Emergency Stop Interface (E-Stop)

    System reservation Logic ground Note: (1) Only used to connect JAKA Zu BP handle. External interface cannot be modified arbitrarily. 5.1.3 Emergency Stop Interface (E-STOP) Figure 5-4 Diagram of E-STOP Interface The external E-STOP input interface adopts double rows of 3.5mm spacing interchangeable wiring terminals.

  • Page 26: Side-Panel Interface

    0V input The robot power supply input can supply power for the robot body, and can also supply power for the logic circuit in the electric control cabinet. When the logic power supply and robot power supply do not need to be separated, just connect pin 2 and pin 3;...

  • Page 27: Chapter 6 Detailed Introduction

    6.2 Function Application This section is mainly used to guide users to use JAKA Zu MiniCab to control the robot so that the customers can use this controller more easily. At the same time, it involves the knowledge of robot use. Please refer to the specific robot user manual in detail.

  • Page 28: Emergency Stop

    (2) This is only the recommended power model. Customers can choose and purchase power of the same specification. Meanwhile, the peak power will be affected by the robot payload and the use scenarios. What is noted here is the maximum value that has been satisfied.

  • Page 29: Swtich-On/Off

    2. Front-panel POWER button: Power-on: Short press the POWER button for 1s and release. The electric control cabinet is powered on. Shutdown: Long press the POWER button for 3s. The electric control cabinet is powered off. JAKA Zu MiniCab v1.1...
  • Page 30 PIN5 (Remote_off) interface and the negative pole to PIN6 (GND). External power supply or internal UDIO_24V can be used. Long press K2 for more than 3s and release and the electric control cabinet will be shut down. Figure 6-6 Remote_OFF - Using External Power Source JAKA Zu MiniCab v1.1...

  • Page 31: Led State Indicator

    6.2.4 LED State Indicator For the JAKA Zu Cobot, the status indicator light is equipped on the handle and the panel. The color of the light reflects the status of the robot. The following is the connection between the LED light and status.

  • Page 32: Brake Voltage Setting

    6.3 Braking Voltage Setting The MiniCab has an integrated voltage brake circuit to relieve the EMF generated by the robot during deceleration and braking. When the user uses the external power supply, it needs to be set to avoid overvoltage protection which will cause power-off or damage to the controller.

  • Page 33: Network Settings

    48V lithium battery 54.6V Note: When V < (V +1)V is set, the internal logic will be powered on and the APP will prompt "Robot Brake arm voltage or voltage configuration is abnormal". 6.4 Network Settings 6.4.1 Introduction to Network Interface...

  • Page 34: Wi-Fi

    LAN2 network port is 10M/100M/1000M adaptive network port. The factory-default configuration is to get IP address dynamically. Users can login JAKA Zu APP and configure it with static IP with the path as follows: Setting - System Setting - Network Setting for settings. The configuration interface is as follows: Figure 6-12 LAN2 Network Configurations JAKA Zu MiniCab v1.1...
  • Page 35 Note: 1. Please do not set LAN2 network segment with the same IP address as LAN1 network segment, otherwise you will be unable to log in. 2. If LAN2 must be set as 10.5.5.x, please contact JAKA technical service personnel to modify LAN1 network port.

  • Page 36: Chapter 7 Maintenance And Repair

    The purpose of maintenance and repair work is to ensure the normal operation of the system or to help restoring the system to normal operation in case of failure. Repairing work includes both troubleshooting and actual maintenance work. The following safety procedures and warnings shall be followed during operation of the robot or electric control cabinet: Danger: 1.

  • Page 37: Maintenance Items And Cycles

    7.2 Maintenance Items and Cycles In order to maintain high performance of the robot for a long time, maintenance inspection shall be carried out. The responsible of maintenance shall develop a maintenance plan and carry out the maintenance work practically. Please refer to the following table for maintenance items.

  • Page 38: Replacement And Preservation Of Components

    (Note) Wipe the dust with a soft cloth when cleaning. Do not use the blower or other equipment to blow away the dust. 7.3 Replacement and Preservation of Components When changing the parts of the robot control device, please comply with the following precautions for safe operation. 1、 Any modification of our products is strictly prohibited.

  • Page 39: Preservation Of Components

    In order to perform maintenance and inspection work, the power must be turned on with the door of the robot electric control cabinet open, please do not expose the inside of the robot electric control cabinet to direct sunlight, searchlights, etc., otherwise it will cause malfunctions or wrong actions.
  • Page 40 III. After-sales service telephone number and contact information E-mail: Support.china@jaka.com  Telephone: 021-80392665  Information requested Robot Serial No.  Software Version Number  Detailed fault description  Attached log file ...

  • Page 41: Chapter 8 Quality Assurance

    (customer) for replacement or maintenance. The foregoing provisions do not imply a change in the burden of proof to the detriment of the user (customer). In the event of defective equipment, JAKA shall not be liable for any damage or loss resulting therefrom, including but not limited to production loss or damage to other production equipment.
  • Page 42 Shanghai JAKA Robot Technology Co., LTD Address: Building 33-35, 610 Jianchuan Road, Minhang District, Shanghai Telephone: 400-006-2665 Website: www.jaka.com JAKA Zu MiniCab v1.1...

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