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JAKA Zu Series User Manual

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JAKA ROBOTICS
Force Control Products
JAKA Se and JAKA Sp

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  • Page 1 JAKA ROBOTICS Force Control Products JAKA Se and JAKA Sp...
  • Page 2 JAKA ROBOTICS User Manual for Force Control Products JAKA Se and JAKA Sp Version: 3.1.0 Applicable to products with control cabinet versions 1.5.13.32/1.7.0.38 or later...

  • Page 5: How To Read This Manual

    The information contained in the user manual is not a commitment by JAKA. JAKA will not be held liable for any mistakes in this manual or for any accidents or indirect injuries resulting from the use of this manual and relevant products.

  • Page 6: Table Of Contents

    Description of Warning Symbols ......................8 1.3.2. Safety Precautions ..........................8 1.3.3. Liabilities and Risks..........................8 2. HARDWARE INSTALLATION ........................10 2.1. JAKA Z ARDWARE NSTALLATION ....................10 2.1.1. Type I Force Sensor ..........................10 2.1.1.1 Overview ................................. 10 2.1.1.2 Sensor Installation ..............................10 2.1.1.3 Wiring of the Sensor ...............................
  • Page 7 SAGE ......................... 48 3.1.1. Jaka Zu Se System Construction ......................48 3.1.1.1 System Construction of Type I and Type III Sensors ....................48 3.1.1.2 System Construction of Type II and Type V Sensors ....................51 3.1.1.3 System Construction of Type VI Sensor ........................53 3.1.2.
  • Page 8 JAKA Z ....................... 67 OFTWARE SAGE 3.2.1. JAKA Zu Sp System Construction ......................67 3.2.2. Usage of JAKA Zu Sp ..........................70 3.2.2.1 Real-time Display of External Force Function ......................70 3.2.2.2 Traction Teaching Function ............................. 72 3.2.2.3 Collision Detection Function ........................... 73...

  • Page 9: Preface

    With Sp series products utilizing base sensors, providing collision detection and compliant traction teaching for the whole robot. Note: JAKA Zu s series cobots cannot be equipped with end sensors and base sensors at the same time. What Do the Boxes Contain The JAKA Zu s series cobot products include a standard robot product package and a force control product package.

  • Page 10: Product Introduction

    Robot Figure 1-1 JAKA Force Control Function 1.2. Product Types The JAKA Zu s series includes Se and Sp: Se series: end force control sensor, as shown in Figure 1-2. A 6D/1D force sensor installed at the robot end ⚫...
  • Page 11 Figure 1-2 Se Series Sp Series: base force control sensor, as shown in Figure 1-3. ⚫ A 6D force sensor installed on the robot base ⚫ Real-time perception of external contact forces (Fx, Fy, and Fz dimensional forces and Mx, My, and Mz dimensional torques) ⚫...

  • Page 12: Safety Regulations

    The safety information in this manual should not be considered as a guarantee from JAKA. Even if all safety instructions are observed, injury to operators or damage caused by operators may still occur.
  • Page 13 Operators will directly or indirectly contact the robot when interacting with it. Operators must take safety measures when contacting the robot, and integrators need to carefully consider the operating conditions when using JAKA's robots. The following dangerous situations may occur: The uncontrolled motion of the robot end caused by a damaged force sensor;...

  • Page 14: Hardware Installation

    2. Hardware Installation 2.1. JAKA Zu Se Hardware Installation 2.1.1. Type I Force Sensor 2.1.1.1 Overview The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The sensor senses relative deformation between the "tool end flange" and the "main body" caused by the force exerted on it, and then measures the change in its elastic element with a resistance strain gauge.

  • Page 15: Wiring Of The Sensor

    Network Port IP at the bottom of the electric control cabinet (hereinafter referred to as CAB) to be the same as that of the sensor. For the specific configuration method, please refer to the instructions in the "JAKA Zu Se System Construction"...

  • Page 16: Sensor Specifications

    WARNING: Before securing the sensor wiring harness with cable ties, be sure to check that attached peripherals do not interfere with the robot's operational trajectory, so as to prevent the robot from pulling the wiring harness during operation and thus causing irreversible damage to the sensor. 2.1.1.4 Sensor Specifications The sensor specifications of type I are as follows: Table 2-1 Sensor Specifications of Type I...
  • Page 17 13.0 35.0 Version: 3.1.0...

  • Page 18: Type Ii Force Sensor

    2.1.2. Type II Force Sensor 2.1.2.1 Overview The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The sensor senses relative deformation between the "tool end flange" and the "main body" caused by the load exerted on it, and then measures the change in its elastic element based on the electrical strain measurement principle.

  • Page 19: Sensor Installation

    Power supply Terminal device Multicore cable Data communication Figure 2-5 Electrical Connection of the Sensor 2.1.2.2 Sensor Installation The mounting holes and dimensions of the sensor are shown in Figure 2-6. Pin hole 2-∅5, depth 6 Pin hole Figure 2-6 Sensor Dimensions The sensor installation procedure is as follows: a.
  • Page 20 b. Separate the sensor from the mounting flange. When the sensor leaves the factory, the mounting flange and the sensor are connected by six embedded hexagon socket screws. Use a 3 mm Allen key to loosen them, so as to separate the mounting flange from the sensor, as shown in Figure 2-8. c.

  • Page 21: Wiring Of The Sensor

    e. Connect the tool interface of the robot to the sensor tool end flange. The sensor tool end flange comes with four M6 screw holes and φ6 pin holes for connecting device or tools. The positioning pins for the sensor tool end flange make it easy to install the device and tools repeatedly, and they will not affect sensor performance if not used.

  • Page 22: Sensor Specifications

    Gray Black Brown Pink 422/485-USB adapter Shield DC power plug White Blue Figure 2-11 Wiring of the 422/485-USB Adapter and Power Plug Note: This sensor requires a 24V DC power supply from the internal power of the CAB or an additional power source.

  • Page 23: Reference Tightening Torques For Sensor Mounting Bolts

    out relevant vibration and shock tests, it is still necessary to prevent it from dropping, which could cause excessive vibration and subsequent malfunctions. d. Do not strike or knock the sensor when installing it, especially when installing it onto the mounting flange.

  • Page 24: Type Iii Force Sensor

    2.1.3. Type III Force Sensor 2.1.3.1 Overview The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The six-axis F/T sensor generally has two ends: the fixed end (robot end) and the loading end (tool end). When the two ends are exposed to relative force, the sensor deforms elastically and the resistance strain gauge inside the sensor changes, which is converted into a voltage output signal.
  • Page 25 WARNING: Do not use screws other than those provided with this product. Using other screws may cause irreversible damage to the sensor or a robot fault. 指示灯 Indicator light Figure 2-13 Installation and Dimensions of the F/T Sensor Version: 3.1.0...

  • Page 26: Wiring Of The Sensor

    CAB to be the same as that of the sensor. For the specific configuration method, please refer to the instructions in the "JAKA Zu Se System Construction" section of Chapter 3. The default IP for the sensor upon first use is 192.168.2.108.

  • Page 27: Sensor Specifications

    2.1.3.4 Sensor Specifications The sensor specifications of type III are as follows: Table 2-7 Sensor Specifications of Type III Model JK-SE-III-100 JK-SE-III-300 Directions Fx, Fy, Fz Mx, My, Mz Fx, Fy, Fz Mx, My, Mz Range 100N 250N 24Nm Overload 200% F.S.

  • Page 28: Type V Force Sensor

    2.1.4. Type V Force Sensor 2.1.4.1 Overview The strain-type 1D force sensor is suitable for applications that only require Fz force control. The sensor senses relative deformation between the "tool end flange" and the "main body" caused by the force exerted on it, and then measures the change in its elastic element with a resistance strain gauge.

  • Page 29: Sensor Installation

    Figure 2-17 Electrical Connection of the Sensor 2.1.4.2 Sensor Installation The mounting holes and dimensions of the sensor are shown in Figure 2-18. Depth 6 Depth 6 Pin hole Embedded hexagon socket screw Figure 2-18 Sensor Dimensions The sensor installation procedure is as follows: a.

  • Page 30: Wiring Of The Sensor

    d. Fasten the sensor to the mounting flange. Use the positioning pins to position the sensor and the mounting flange, and check that the mounting direction of the sensor is consistent with the use direction of the device. Fasten the sensor with six embedded screws. Insert a 3mm Allen key into the mounting hole on the sensor tool end flange.
  • Page 31 Figure 2-22 Operation of Connecting the Cable Table 2-9 Descriptions for Connecting Cables of Type V Sensor Color of the Cable Definition Core Blue Power+ White Power- Pink 422 bus sensor receive+ Brown 422 bus sensor receive- Black 422 bus sensor send+ Gray 422 bus sensor send- Shield...

  • Page 32: Sensor Specifications

    WARNING: Before securing the sensor wiring harness with cable ties, be sure to check that attached peripherals do not interfere with the robot's operational trajectory, so as to prevent the robot from pulling the wiring harness during operation and thus causing irreversible damage to the sensor. 2.1.4.4 Sensor Specifications The sensor specifications of type V are as follows: Table 2-10 Sensor Specifications of Type V...
  • Page 33 Table 2-11 Reference Tightening Torques for Type V Sensor Mounting Bolts Metric Reference Tightening Torque (Nm) 13.0 35.0 Version: 3.1.0...

  • Page 34: Type Vi Force Sensor

    2.1.5. Type VI Force Sensor 2.1.5.1 Overview Type VI force sensor is available in a variety of range models. As a strain-type torque sensor, type VI force sensor senses relative deformation between the "tool end flange" and the "main body" caused by the force exerted on it, and then measures the change in its elastic element with a resistance strain gauge.

  • Page 35: Sensor Installation (Jk-Se-Vi-200, Jk-Se-Vi-400, Jk-Se-Vi-H)

    2.1.5.2 Sensor Installation (JK-SE-VI-200, JK-SE-VI-400, JK-SE-VI-H) The mounting holes and dimensions of the sensor are shown in Figure 2-26. M6 threaded hole M6螺纹孔 Tool end flange 工具端法兰 M4 embedded screw M4内埋螺钉 Bottom cover 底盖 Φ6 positioning pin hole Φ6定位销孔 TIO interface TIO接口...
  • Page 36 The sensor installation procedure is as follows: a. Please ensure that the surfaces of the robot end, mounting flange and sensor are free of damage or foreign objects. If the contact is non-uniform due to factors such as the inclusion of foreign objects, gaps will be formed between them.
  • Page 37 电源指示灯 Power light 运行指示灯 Status light Figure 2-29 Installation of the Sensor to the Robot WARNING: Do not use screws other than those provided with this product. Using other screws may cause irreversible damage to the sensor or a robot fault. Wiring of the sensor: This sensor is directly connected to the TIO interface at the robot end, and the cable is directly fixed to the sensor.

  • Page 38: Sensor Installation (Jk-Se-Vi-400S)

    2.1.5.3 Sensor Installation (JK-SE-VI-400S) The mounting holes and dimensions of the sensor are shown in Figure 2-31. M6 threaded hole Tool end flange Φ6 positioning pin hole M4 embedded screw Sensor Bottom cover Dust washer Pin hole Depth 6 Embedded hexagon socket screw Figure 2-31 Sensor Dimensions The sensor installation procedure is as follows: a.
  • Page 39 will not affect sensor performance if not used. Figure 2-32 Screw Tightening Sequence Figure 2-33 Loosen Embedded Screws Using a 3 mm Allen Key c. Fasten the sensor to the mounting flange. Use the positioning pins to position the sensor and the mounting flange, and check that the mounting direction of the sensor is consistent with the use direction of the device.

  • Page 40: Sensor Installation (Jk-Se-Vi-200N, Jk-Se-Vi-400N, Jk-Se-Vi-800N, Jk-Se-Vi-400Ns, Jk-Se-Vi-1200Ns)

    the robot end. Align the interface of the multicore cable with the cable interface at the robot end and push it in (See Figure 2-35). Then tighten the threaded connection shell of the multicore cable interface to prevent the cable from loosening, achieving IP64 performance. Figure 2-35 Cable Connection Indicator Light Descriptions: Power light...
  • Page 41 指示灯 Indicator light Figure 2-36 Installation and Dimensions of the Force Sensor Version: 3.1.0...

  • Page 42: Sensor Specifications

    Wiring of the sensor: This sensor is directly connected to the TIO interface at the robot end, and the cable is directly fixed to the sensor. The connecting cable is a multicore one, and its interface is matched with the TIO cable interface at the robot end.

  • Page 43: Reference Tightening Torques For Sensor Mounting Bolts

    e. After the sensor is installed and powered on, it is recommended to warm up for one hour before operating. f. When using the sensor, pay attention to the mass of the device mounted on it, which should be within the payload range of the robot.

  • Page 44: Type Vii Force Sensor

    2.1.6. Type VII Force Sensor 2.1.6.1 Overview The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously (As a 1D force sensor, VII-400NS sensor can only measure one force). The six-axis F/T sensor generally has two ends: the fixed end (robot end) and the loading end (tool end).
  • Page 45 CAUTION: Before installing the sensor, please keep the XY directions of the sensor coordinate system consistent with that of the robot end flange coordinate system, that is, keeping the direction from the center of the robot end flange to the TIO consistent with the -Y direction of the sensor. Inconsistent installation directions may affect subsequent use.

  • Page 46: Wiring Of The Sensor

    Figure 2-38 Installation and Dimensions of the Sensor 2.1.6.3 Wiring of the Sensor This sensor is connected via USB, that is, you need to connect the sensor USB to the USB port on the control cabinet panel. The connecting cable is provided with the product. It is a multicore cable that is directly connected to the sensor, as shown in Figure 2-39.

  • Page 47: Sensor Specifications

    Table 2-14 Descriptions for Connecting Cables of Type VII Sensor Color of the Cable Core Definition Blue Power+ Blue & white Power- Orange & white 485-A Orange 485-B Brown Brown & white Black Shield 422/485-USB adapter Figure 2-40 Wiring of the 422/485-USB Adapter and Power Plug Note: This sensor requires a 24V DC power supply from the internal power of the CAB or an additional power source.

  • Page 48: Precautions For Use

    Model JK-SE-VII-400NS Range Fz (N) Overload 200% F.S. Accuracy 0.5% F.S. Operating -40 to 100℃ IP Rating IP64 Temperature Communication Power Voltage 9–24V Interface 2.1.6.5 Precautions for Use a. Do not use in any environment with temperature or humidity beyond the allowable range. b.

  • Page 49: Jaka Zu Sp Hardware Installation

    2.2. JAKA Zu Sp Hardware Installation 2.2.1. Type IV Force Sensor 2.2.1.1 Overview The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The base six-axis F/T sensor generally has two ends: the fixed end (base end) and the loading end (robot end).

  • Page 50: Wiring Of The Sensor

    CAB to be the same as that of the sensor. For the specific configuration method, please refer to the instructions in the "JAKA Zu Sp System Construction" section of Chapter 3. The default IP for the sensor upon first use is 192.168.2.108.

  • Page 51: Precautions

    Table 2-18 Sensor Specifications of Type IV Model JK-SP-IV-500 JK-SP-IV-1600 JK-SP-IV-4000 JK-SP-IV-4000FT Directions Fxyz Mxyz Fxyz Mxyz Fxyz Mxyz Fxyz Mxyz Range 500N 120Nm 1600N 450Nm 4000N 1800Nm 4000N 3600Nm Overload 300% F.S. IP Rating IP64 Operating Temperature -40 to 90℃ Power Voltage Accuracy 1.0% F.S.

  • Page 52: Software Usage

    Turn on the robot CAB, open the JAKA Zu app, connect the robot to the app, and power on the robot; f. As shown in Figure 3-2, tap [Settings] at the upper right of the Home page, and then tap [Hardware and communication] →...
  • Page 53 g. In the sensor configuration interface, select the appropriate sensor type, specify the IP and port number (For type III sensor, the default IP is 192.168.2.108, and the port number is 4008. For type I sensor, please refer to separate instructions or contact us), and then tap [Confirm]. After "Setting succeeded"...
  • Page 54 (See the "Usage of JAKA Zu Se" section for details). Once the load identification data has been verified (or after manually entering the load data), tap the toggle switch at the upper right of the interface to change its status from [Run] to [Edit], and tap the [Confirm] button at the bottom of the interface.

  • Page 55: System Construction Of Type Ii And Type V Sensors

    24V DC power supply; d. Turn on the robot CAB, open the JAKA Zu app, connect the robot to the app, and power on the robot; e. As shown in Figure 3-4, tap [Settings] at the upper right of the Home page, and then tap [Hardware and communication] →...
  • Page 56 [Tools (manual)] bar on the left to manually input the mass and centroid position of the end tool connected to the sensor, or use the auto load identification function (See the "Usage of JAKA Zu Se" section for details). Once the load identification data has been verified (or after manually entering the load data), tap the toggle switch at the upper right of the interface to change its status from [Run] to [Edit], and tap the [Confirm] button at the bottom of the interface.

  • Page 57: System Construction Of Type Vi Sensor

    XY direction of the sensor consistent with that of the end flange; b. Turn on the robot CAB, open the JAKA Zu app, connect the robot to the app, and power on the robot;...
  • Page 58 Figure 3-6 RS485 Channel Configuration Interface f. As shown in Figure 3-7, tap [Settings] at the upper right of the Home page, then tap [Hardware and communication] → [End sensor] to enter the sensor configuration interface. Select the sensor type VI, then tap [Confirm] (Ensure the sensor brand is set successfully), and tap the toggle switch on the right to change its status from [Edit] to [Run].
  • Page 59 [Tools (manual)] bar on the left to manually input the mass and centroid position of the end tool connected to the sensor, or use the auto load identification function (See the "Usage of JAKA Zu Se" section for details. 1D sensor does not support auto load identification). Once the load identification...

  • Page 60: Usage Of Jaka Zu Se

    Usage of JAKA Zu Se 3.1.2. Precautions for using JAKA Zu Se: a. As the integrated force sensor is a precision instrument, please use it within the range specified in the manual. When the load is greater than the rated load, the product may fail. Please ensure the load in each direction of the force sensor is within the load range;...
  • Page 61 Figure 3-8 Force Display Interface of the App Version: 3.1.0...

  • Page 62: Auto Load Identification Function

    3.1.2.2 Auto Load Identification Function To use the auto load identification function, follow the steps below: a. Correctly construct the sensor system to ensure that the sensor is operating properly; b. Tap [Settings] at the upper right of the Home page, then tap [Hardware and communication] → [End sensor] →...

  • Page 63: Safety Function

    If you set it to 0, it indicates no limit. Unless specified differently, it's recommended to set the safety force value at 80% of the sensor's range; Figure 3-10 JAKA Zu Se Safety Function Settings d. Tap [Confirm] and change the toggle switch status to [Run].

  • Page 64: Traction Teaching Function

    3.1.2.4 Traction Teaching Function To use the traction teaching function, follow the steps below: a. Correctly construct the sensor system to ensure that the sensor is operating properly; b. As shown in Figure 3-11, open the [Manual operation] page, and tap [Configure] to enter the teaching editing interface, where Fx, Fy, and Fz correspond to the displacements in the directions of X, Y, and Z, and Mx, My, and Mz correspond to rotations in the directions of X, Y, and Z;...
  • Page 65 CAUTION: It is recommended to always check [Initialization] before entering the drag mode to ensure safety. The robot can be dragged only when it is enabled. WARNING: After the device is installed, the robot is powered on again, the robot is recovered from a fault, or the sensor is powered on for a long time, be sure to check [Initialization] before using this function for the first time, otherwise it could lead to uncontrolled robot movement, potentially causing damage to device or personal injury.

  • Page 66: Constant Force Compliance Function

    Figure 3-11 JAKA Zu Se Traction Teaching Function Settings Note: Due to factors such as sensor temperature drift, if the robot position drifts in the drag mode, please tap the toggle switch to exit the drag mode, check [Initialization] in the configuration interface, and then enter the drag mode to redo sensor compensation;...
  • Page 67 CAUTION: For all motion commands between the program blocks "Activate constant force compliance control" and "Inactivate constant force compliance control", please select the joint motion mode, and set the speed to be less than 100 mm/s to improve accuracy. c. The function of the "Set force control coordinate system" program block is the same as that of the coordinate system selection in the configuration page of the manual operation interface;...

  • Page 68: Velocity Compliance Control Function

    Figure 3-12 Constant Force Mode Programming of JAKA Zu Se 3.1.2.6 Velocity Compliance Control Function When the force applied to the robot end is greater than the set control force, the robot will stepwise decelerate as per the set speed steps until the value detected by the sensor is less than the set control force or the robot decelerates to a halt.

  • Page 69: Motion Stop Conditions Function

    Minimum speed Feed depth Figure 3-13 Velocity Mode Programming of Jaka Zu Se 3.1.2.7 Motion Stop Conditions Function In the motion stop conditions setting interface, check the direction to be monitored and set the upper limit or lower limit. When the contact force is less than the lower limit or greater than the upper limit, the motion stop conditions are triggered.
  • Page 70 (See the "Traction Teaching Function" section for details) to avoid accidents. Figure 3-14 Motion Stop Conditions Programming of JAKA Zu Se Force Control Products...

  • Page 71: Jaka Zu Sp Software Usage

    3.2. JAKA Zu Sp Software Usage JAKA Zu Sp System Construction 3.2.1. Network cable 网线 Sensor USB、电源 Power cable Figure 3-16 Se System (Network Port Type) To use the base-type (type IV) torque sensor, configure it as follows: a. Correctly install the hardware to ensure that the X-axis positive direction of the sensor is consistent with that of the robot base coordinate system;...
  • Page 72 Figure 3-17 Network Setting Interface Note: If you do not want to use the default sensor IP address, you can consult us and modify it through the sensor host computer. Force Control Products...
  • Page 73 Figure 3-18 Sp System Configuration Interface (IV Base Type) e. Turn on the robot CAB, open the JAKA Zu app, connect the robot to the app, and power on the robot; f. As shown in Figure 3-18, tap [Settings] at the upper right of the Home page, and then tap [Hardware and communication] →...

  • Page 74: Usage Of Jaka Zu Sp

    Usage of JAKA Zu Sp 3.2.2. Precautions for Using JAKA Zu Sp: a. As the integrated force sensor is a precision instrument, please use it within the range specified in the manual, especially when the load is greater than the rated load, the product may fail. Please ensure the load in each direction of the force sensor is within the load range;...
  • Page 75 Figure 3-19 Force Display Interface of the App Version: 3.1.0...

  • Page 76: Traction Teaching Function

    3.2.2.2 Traction Teaching Function To use the traction teaching function, follow the steps below: a. Correctly construct the sensor system to ensure that the sensor is operating properly; b. As shown in Figure 3-20, open the [Manual operation] page, and tap [Configure] to enter the teaching editing interface, where Fx, Fy, and Fz correspond to the displacements in the directions of X, Y, and Z;...

  • Page 77: Collision Detection Function

    If not, a sensor compensation error could occur, leading to uncontrolled robot movement, device damage, or personal injury. Figure 3-20 Traction Teaching Function Settings of JAKA Zu Se Note: Due to factors such as sensor temperature drift, if the robot position drifts in the drag mode, please tap the toggle switch to exit the drag mode, check [Initialization] in the configuration interface, and then enter the drag mode to redo sensor compensation;...
  • Page 78 b. Correctly set the load: Tap [Settings] at the upper right of the Home page, then tap [Operation setting] → [Load setting], select "Manual input mode", and input the correct mass and centroid position; When executing the program, you can also call the "Set load" program block to set the load (See Figure 3-21); c.
  • Page 79 Figure 3-21 Collision Detection Function Settings of JAKA Zu Sp Version: 3.1.0...
  • Page 80 Shanghai JAKA Robotics Ltd Address: Building 33-35, 610, Jianchuan Road, Minhang District, Shanghai, China. Tel: 400-006-2665 Web: www.jaka.com Force Control Products...

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