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JAKA Pro Series Hardware User Manual

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Hardware User Manual
JAKA Pro Series
Original Instructions (en)
File Version: 3.5
Robot: Pro 5, Pro 12, Pro 16
Control Cabinet: CAB 2.1

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  • Page 1 Hardware User Manual JAKA Pro Series Original Instructions (en) File Version: 3.5 Robot: Pro 5, Pro 12, Pro 16 Control Cabinet: CAB 2.1...
  • 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 Foreword..............................6 Product List ..............................6 Important Safety Notice ..........................6 Manual Instruction ..........................7 About the Manual ........................... 7 Manual Reader ..........................7 References ............................. 7 Prerequisites ..........................7 Safety Standard ........................... 8 Introduction ............................ 8 Safety Signals and Symbols ......................8 Warnings and Cautions ........................
  • Page 4 Robot ..............................24 Robot Buttons and Interfaces ......................24 8.1.1 Ring-Shaped Light ........................24 8.1.2 Buttons on Flange .........................25 8.1.3 Tool I/O Port ..........................25 8.1.4 Robot Connection Cable Interface ..................29 Robot Size............................30 Robot Workspace.........................31 Robot Rotation Direction ......................33 Robot Singularity ..........................34 Robot Mounting ..........................35 8.6.1 Safety Instructions ........................35 8.6.2...
  • Page 5 13.1 Certification Description .......................61 13.1.1 Third-Party Certification ......................61 13.1.2 Manufacturer Test Certification .....................61 13.1.3 Declaration According to EU Directives ................61 Warranties ............................62 14.1 Product Warranty .........................62 14.2 Disclaimer ............................62 Appendix ..............................63 Appendix 1: Stop Time and Distance......................63 Appendix 2: Safety Functions Table .......................69...

  • Page 6: Foreword

    JAKA Pro are intelligent, lightweight, 6-DOF modular collaborative robots, falling into the JAKA modular collaborative robot series. Product List When you buy a whole set of the JAKA Pro series robots, the delivery you will receive is as shown in the following table: Name...

  • Page 7: Manual Instruction

    1 Manual Instruction 1.1 About the Manual The manual contains: ⚫ Precautions for the use of JAKA Pro series robots ⚫ Installation of JAKA Pro series robots ⚫ Cleaning and maintenance of JAKA Pro series robots 1.2 Manual Reader The manual is intended for: ⚫...

  • Page 8: Safety Standard

    0.6~1.9 m (23.622~74.803 in) 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 9 JAKA’s collision detection feature, it will cease its motion to prevent potential harm to the robot itself or injury to operators. Associated risks of the use of control cabinets not supplied by JAKA is solely the responsibility of the operator.

  • Page 10: Liability And Risk

    JAKA Pro series are industrialized collaborative robots. They are 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 Pro series can only be used in specified conditions and environments.

  • Page 11: Risk Assessment

    Integrators should consider adding additional protective measures when conducting risk assessments. JAKA identifies the following significant dangers that integrators must consider. Note: Specific robotic applications may present other significant hazards. 1. Sharp edges and sharp points on end effectors or end effector connectors stab the skin.

  • Page 12: Pre-Use Assessment

    Manual brake release: After removing several screws used for fixed joints, remove the joint end cover and press the slider in the small electromagnet (as shown in the figure below) to manually release the brake. File Version: 3.5 12 / 74 JAKA Pro Series Hardware User Manual...

  • Page 13: Labels

    Product labels and robot model figures are only for reference. File Version: 3.5 13 / 74 JAKA Pro Series Hardware User Manual...
  • Page 14 2. Product labels and robot model figures are only for reference, actual varies by robot model. File Version: 3.5 14 / 74 JAKA Pro Series Hardware User Manual...

  • Page 15: Safety Functions

    3.1 Stop Category According to the IEC 60201 standard, three stop categories have been set for JAKA’s 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.1 and Cat.2 are controllable stop.

  • Page 16: Three-Position Enabling Device Optional

    Manual control contains dragging robot by pressing and holding the free button, dragging robot by pressing and holding the pause/resume button, JOG robot, and debugging function in programming interface. JOG refers to manually controlling robot movement in the JAKA Zu App by dragging the slider in the manual operation interface.

  • Page 17: Quick Start Guide

    Safety Functions. This chapter will introduce the basic components and use methods of JAKA robots as a preliminary understanding of the robot. For detailed mechanical and electrical specifications, refer to other chapters. During the use, if you need help, contact us via our quick counseling hot-line: 400-006-2665.
  • Page 18 7.1 Control Stick Control and enable the robot by control stick. Robot Connect the robot Connect robot Refer to 1.5 JAKA Zu App Software computer/pad/mobile phone. User Manual Set the mounting orientation, payloads Refer to 1.5 JAKA Zu App Software Configure the robot...

  • Page 19: Transportation

    The table below shows the joint angle of packaging orientation, the robot can automatically change to this orientation by configuring in the JAKA Zu App. It is recommended to transport the robot in this orientation. Recommended to transport the robot in this pose.

  • Page 20: Technical Specification

    At low environmental temperature <10ºC, a warm-up phase recommended to be run with the robot. Otherwise, there is a risk that the robot stops or run with lower performance. File Version: 3.5 20 / 74 JAKA Pro Series Hardware User Manual...

  • Page 21: Control Cabinet Technical Specification

    Size 16.14*9.25*12.09 in (W*D*H) Material Plastic-spry carbon steel plate Note: Pro series robots are used with CAB 2.1 by default. For MiniCab technical specifications, see JAKA MiniCab User Manual. File Version: 3.5 21 / 74 JAKA Pro Series Hardware User Manual...

  • Page 22: Control Stick

    7 Control Stick The JAKA robot comes with a control stick, which can be used to control both the robot and the control cabinet. The functions of buttons on the control stick are described as follows: Name Description Emergency For emergency stop. Note: The emergency stop button is limited to emergencies stop button and should not be used as regular power off equipment.

  • Page 23: Control Stick Control Robot Steps

    After powering down the control cabinet, please do not cut off the power immediately. Wait until the control stick light goes out, and after waiting for 5 to 10 seconds, you can disconnect the power. File Version: 3.5 23 / 74 JAKA Pro Series Hardware User Manual...

  • Page 24: Robot

    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 File Version: 3.5 24 / 74 JAKA Pro Series Hardware User Manual...

  • Page 25: Buttons On Flange

    8.1.2 Buttons on Flange JAKA’s robot comes with a tool I/O interface and two buttons on the side of the flange. The two buttons are a freedrive button (FREE) and a point recording button (POINT), as shown in figure below.
  • Page 26 ≤1A DO1/RS485A_1 Yellow Multiplexed as RS481 communication A+ Digital output 2: configurable to be PNP, NPN, or push- DO2/RS485B_1 Pink pull output; current output capacity ≤1A File Version: 3.5 26 / 74 JAKA Pro Series Hardware User Manual...
  • Page 27 1. TIO digital input interface TIO supports 2 DI digital input interfaces, compatible with NPN and PNP types. It can be configured in the App. For the details of operation, see 1.5 JAKA Zu App Software User Manual. 1 Dry contact input...
  • Page 28 RS485- is connected to RS485- of TIO (pink or white wire), the V+ of external device is connected to the 24V of TIO (red wire), and 0V of external device is connected to the GND of TIO (gray wire). File Version: 3.5 28 / 74 JAKA Pro Series Hardware User Manual...

  • Page 29: Robot Connection Cable Interface

    8.1.4 Robot Connection Cable Interface Use the robot connection cable provided by JAKA to connect the robot and the control cabinet. Before powering on the robot, ensure that the connector is locked firmly. Before disconnecting the robot connection cable, the robot must be powered off.

  • Page 30: Robot Size

    2. Do not extend or modify the original cable. 8.2 Robot Si e The size of the JAKA Pro series robots are shown below. During the installation, you must consider the motion range of the robot to avoid injury to surrounding personnel and equipment.

  • Page 31: Robot Workspace

    8.3 Robot Workspace The workspaces of the JAKA Pro series robots are shown below. When you mount the robot, a cylindrical space above and below the robot must be considered. It is recommended not to move robot end into this cylindrical space.
  • Page 32 1. Pro 5 workspace 2. Pro 12 workspace File Version: 3.5 32 / 74 JAKA Pro Series Hardware User Manual...

  • Page 33: Robot Rotation Direction

    3. Pro 16 workspace 8.4 Robot Rotation Direction 6.1 Robot Technical Specification for robot rotation range, rotation direction is as follows: File Version: 3.5 33 / 74 JAKA Pro Series Hardware User Manual...

  • Page 34: Robot Singularity

    You can also change the robot's mounting position or the size of the end effector to change the value of Cartesian points in the robot's joint space. The JAKA Pro series robots have three types of singularities: shoulder singularities, elbow singularities and wrist singularities. Descriptions and avoidance methods of the singularity are in the table below.

  • Page 35: Robot Mounting

    8.6.2 Robot Mounting JAKA’s robot can be mounted at any position and supports mounting in any direction including inverted, floor, and wall mounting. Several typical mounting methods are shown in figure below: File Version: 3.5...
  • Page 36 130 Nm 10400 Nm Φ13 mm Φ12 mm Pro 16 1150.596 lbf·in 92047.696 lbf·in Φ0.512 in Φ0.472 in The mounting drawing of the robot is shown in figure below. File Version: 3.5 36 / 74 JAKA Pro Series Hardware User Manual...
  • Page 37 1. Pro 5 base drawing File Version: 3.5 37 / 74 JAKA Pro Series Hardware User Manual...
  • Page 38 2. Pro 12 base drawing File Version: 3.5 38 / 74 JAKA Pro Series Hardware User Manual...
  • Page 39 3. Pro 16 base drawing File Version: 3.5 39 / 74 JAKA Pro Series Hardware User Manual...

  • Page 40: End Effector Mounting

    According to ISO9409-1: 2004, the location pin hole center shall be aligned with the mechanical interface coordinate system (ISO 9787:2013)+Xm, and our product is offset 45° clockwise on this basis. 1. Pro 5 flange drawing 2. Pro 12 flange drawing File Version: 3.5 40 / 74 JAKA Pro Series Hardware User Manual...

  • Page 41: Maximum Payload

    Zu App Software User Manual for details. 2. It is normal that the mounting 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 in the mounting hole, which is not a quality problem and does not affect its use.
  • Page 42 1. Pro 5 payload offset 2. Pro 12 payload offset 3. Pro 16 payload offset Note: Offset distance is the center of gravity distance from the center of the flange. File Version: 3.5 42 / 74 JAKA Pro Series Hardware User Manual...

  • Page 43: Control Cabinet

    The grounding conductor shall have at least the current rating of the highest current in the robot system. 4. When connecting cables on the I/O of the control cabinet, open the cabinet door, remove the File Version: 3.5 43 / 74 JAKA Pro Series Hardware User Manual...

  • Page 44: Front Panel Interfaces

    1. The robot has been tested according to international IEC standards for Electromagnetic Compatibility (EMC). Interference signals beyond the standard will cause abnormal behaviors of the robot. Very high signal levels or excessive exposure can damage the robot permanently. JAKA will not be held responsible for any damages caused by EMC problems.
  • Page 45 Digital output 14, PNP type, ≤1A continuous current output DO14 ability Digital output 15, PNP type, ≤1A continuous current output DO15 ability Digital output 16, PNP type, ≤1A continuous current output DO16 ability File Version: 3.5 45 / 74 JAKA Pro Series Hardware User Manual...

  • Page 46: Digital I/O Interfaces

    The following are the electrical specifications for the 24V digital I/O in the control cabinet. The design of the digital I/O follows IEC 61131-2. The control cabinet supports the 16 digital inputs and outputs. File Version: 3.5 46 / 74 JAKA Pro Series Hardware User Manual...
  • Page 47 Users can also short it to V+ through buttons or switches. Wiring for different types of input signals are different. The specific connection method is as follows (take DI1 as an example, same as DI2-DI16): File Version: 3.5 47 / 74 JAKA Pro Series Hardware User Manual...
  • Page 48 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 49: Safety I/O Interfaces

    DO7& DO15 DI8& DI16 DO8& DO16 For example, when you configuring the three-position enabling (3PE) function (see 1.7.1 JAKA App Software User Manual), the wiring is as follows (take DI1&DI9 as an example, same as others): 9 10 11 12 13 14 15 16 The wiring for other safety functions is the same as that for the three-position enabling function.

  • Page 50: Safety Interfaces

    3. Protective stop switch The protective stop function supports automatic recovery. The door switch is an application case of the protective stop device. When the door is open, the robot stops. File Version: 3.5 50 / 74 JAKA Pro Series Hardware User Manual...

  • Page 51: Analog I/O Interfaces

    Wiring method (take Ch1 as an example, same as Ch2): The analog I/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). For high accuracy, it is recommended to obey the following instructions: ⚫...

  • Page 52: Remote On/Off Interfaces

    9.4.8 Remote ON OFF Interfaces Using remote on/off interfaces, you can power up/down the control cabinet when you do not use the JAKA Zu App or the control stick. It is commonly used for controlling the control cabinet by connecting it to the PLC.

  • Page 53: Bottom Panel Interfaces

    Note: Remote on and off interfaces cannot be short at the same time. 9.5 Bottom Panel Interfaces The bottom panel of the control cabinet includes following items: CAB 7 CAB 12 bottom A． panel File Version: 3.5 53 / 74 JAKA Pro Series Hardware User Manual...

  • Page 54: Power Adaptation

    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 overseas. 1. China Standard Plug (National Standard): 3 I-shaped flat-pin plug...

  • Page 55: Power Connection

    4. Ensure that all the cables are connected correctly before the control cabinet is powered up. Use the original power cords correctly. 5. Ensure that the power plug locks are used for locking during maintenance. File Version: 3.5 55 / 74 JAKA Pro Series Hardware User Manual...

  • Page 56: Transportation

    WARNING 1. Ensure that the back or other body parts of operators are not overloaded when the equipment is lifted. Use appropriate lifting equipment. JAKA is not responsible for damage incurred during the transport of the equipment. 2. Please comply with the relevant lifting regulations in each region and country.

  • Page 57: 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 a integrator authorized by JAKA or by JAKA’s personnel. After-sales service contact information: E-mail: support@jaka.com; Tel: 400-006-2665.
  • Page 58 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 during storage. File Version: 3.5 58 / 74 JAKA Pro Series Hardware User Manual...

  • Page 59: Disposal

    VI, polybrominated biphenyls and polybrominated diphenyl ethers. 2. EU WEEE Fee for disposal and handling of electronic waste of JAKA robots sold on the German market is prepaid to DPA- system by JAKA. Importers in countries covered by the European WEEE Directive 2012/19/EU must make their own registration to the national WEEE register of their country.
  • Page 60 GB/T 26572. File Version: 3.5 60 / 74 JAKA Pro Series Hardware User Manual...

  • Page 61: Design Standards And Certification

    Body Description JAKA robot undergo continuous internal factory tests and JAKA type testing procedures. 13.1.3 Declaration According to EU Directives JAKA robot has been certified according to the following directives. Name Description 2006/42/EC Machinery Directive (MD) 2014/35/EU Low Voltage Directive (LVD)

  • Page 62: 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 63: 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: 3.5 63 / 74 JAKA Pro Series Hardware User Manual...
  • Page 64 100% 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: 3.5 64 / 74 JAKA Pro Series Hardware User Manual...
  • Page 65 100% 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: 3.5 65 / 74 JAKA Pro Series Hardware User Manual...
  • Page 66 100% 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: 3.5 66 / 74 JAKA Pro Series Hardware User Manual...
  • Page 67 100% 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: 3.5 67 / 74 JAKA Pro Series Hardware User Manual...
  • Page 68 Joint 3 Type 2 Stop Distance Note: The unit of stop distance is mm, 1 in equals to 25.4 mm. This data is test data, the data results are affected by the version. File Version: 3.5 68 / 74 JAKA Pro Series Hardware User Manual...

  • Page 69: Appendix 2: Safety Functions Table

    Joint Power Each joint can have its own power limit, PLr d PL d/Cat. 3 Cat. 1 stop Limit which is a factory setting and can't be File Version: 3.5 69 / 74 JAKA Pro Series Hardware User Manual...
  • Page 70 SF15 Emergency PLr d PL d/Cat. 3 250ms Cat. 1 stop Stop Input This safety function is initiated by an external device using safety digital inputs. File Version: 3.5 70 / 74 JAKA Pro Series Hardware User Manual...
  • Page 71 PLr d PL d/Cat. 3 250ms signals State emergency stop with External Estop Button with high Output and additional emergency stop input do not impedance affect this output. state File Version: 3.5 71 / 74 JAKA Pro Series Hardware User Manual...
  • Page 72 PL d/Cat. 3 Cat. 2 stop within the defined force limit for the TCP. Limit The joints control their torque output to stay within the allowed torque range. When the File Version: 3.5 72 / 74 JAKA Pro Series Hardware User Manual...
  • Page 73 If the two safety digital input signals differ, the 3-Position enable limit will be triggered. Note: Refer to corresponding certificate for data of response time, MTTFd, and PFHd. File Version: 3.5 73 / 74 JAKA Pro Series Hardware User Manual...
  • Page 74 JAKA ROBOTICS CO., LTD. Add.: Building 6, No. 646, Jianchuan Road, Minhang District, Shanghai, China E-mail: support@jaka.com Web: www.jakarobotics.com...

This manual is also suitable for:

Pro 5Pro 12Pro 16

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