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JAKA Zu Series Original Instructions Manual

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Hardware User Manual
JAKA Zu Series
Original Instructions (en)
File Version: 3.4
Robot: Zu 3, Zu 5, Zu 7, Zu 12, Zu 18
Control Cabinet: CAB 2.1

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  • Page 1 Hardware User Manual JAKA Zu Series Original Instructions (en) File Version: 3.4 Robot: Zu 3, Zu 5, Zu 7, Zu 12, Zu 18 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 ......................34 Robot Mounting ..........................35 8.5.1 Safety Instructions ........................35 8.5.2 Robot Mounting ........................35 8.5.3...
  • Page 5 13.1.1 Third-Party Certification ......................60 13.1.2 Manufacturer Test Certification .....................60 13.1.3 Declaration According to EU Directives ................60 Warranties ............................61 14.1 Product Warranty .........................61 14.2 Disclaimer ............................61 Appendix ..............................62 Appendix 1: Stop Time and Distance......................62 Appendix 2: Safety Functions Table .......................72...

  • Page 6: Foreword

    JAKA Zu 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 Zu 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 Zu series robots ⚫ Installation of JAKA Zu series robots ⚫ Cleaning and maintenance of JAKA Zu series robots 1.2 Manual Reader The manual is intended for: ⚫...

  • Page 8: Safety Standard

    1.9m (23.622~74.803in) 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 Zu 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 Zu 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: 3.4 12 / 73 JAKA Zu Series Hardware User Manual...

  • Page 13: Labels

    JAK A Robotics Co. Ltd. Minhang District, Shanghai, China EMERGENCY MO EMENT: PRESS THE SLIDER IN THE ELECTROMAGNET TO MANUAL LY RELEASE THE RAKE. PUSH THE JOINT TO MO E. File Version: 3.4 13 / 73 JAKA Zu Series Hardware User Manual...
  • Page 14 Beware of collision Beware of pinching Beware of electric shock Grounding Warning hot surface Note: Product labels and robot model figures are only for reference, actual varies by robot model. File Version: 3.4 14 / 73 JAKA Zu 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

    Tool power 12/24V supply Tool I/O size Tool cable 400mm (15.748in) length 129mm 158mm 158mm 188mm 188mm Base diameter (5.079in) (6.220in) (6.220in) (7.402in) (7.402in) Material Aluminum alloy, PC File Version: 3.4 20 / 73 JAKA Zu 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: Zu series robots are used with CAB 2.1 by default. For MiniCab technical specifications, see JAKA MiniCab User Manual. File Version: 3.4 21 / 73 JAKA Zu 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: 3.4 23 / 73 JAKA Zu Series Hardware User Manual...

  • Page 24: Robot

    1. Ring-shaped light 2. Pause/Resume button Color Robot state Blue Powered on but disabled Green Enabled Failure/Protective stop Yellow Freedrive mode File Version: 3.4 24 / 73 JAKA Zu Series Hardware User Manual...

  • Page 25: Buttons On Flange

    8.1.2 uttons 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: 3.4 26 / 73 JAKA Zu 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: 3.4 28 / 73 JAKA Zu 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 Zu 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 Zu series robots are shown below. When you choose a robot mounting 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 32 1. Zu 3 workspace 2. Zu 5 workspace File Version: 3.4 32 / 73 JAKA Zu Series Hardware User Manual...
  • Page 33 3. Zu 7 workspace 4. Zu 12 workspace File Version: 3.4 33 / 73 JAKA Zu Series Hardware User Manual...

  • Page 34: Robot Rotation Direction

    5. Zu 18 workspace 8.4 Robot Rotation Direction 6.1 Robot Technical Specification for robot rotation range, rotation direction is as follows: File Version: 3.4 34 / 73 JAKA Zu Series Hardware User Manual...

  • Page 35: Robot Mounting

    8.5.2 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: 1.
  • Page 36 354.030 lbf·in Φ0.354in Φ0.315in Zu 12 3800 Nm Zu 18 33632.812 lbf·in The mounting drawing of the robot is shown in figure below. 1. Zu 3 base drawing File Version: 3.4 36 / 73 JAKA Zu Series Hardware User Manual...
  • Page 37 2. Zu 5 Zu 7 base drawing File Version: 3.4 37 / 73 JAKA Zu Series Hardware User Manual...
  • Page 38 3. Zu 12 Zu 18 base drawing File Version: 3.4 38 / 73 JAKA Zu Series Hardware User Manual...

  • Page 39: End-Effector Mounting

    8.5.3 End-Effector Mounting The JAKA Zu series robots tool flange have four M6 screw holes, which can be used to connect the end-effector to the robot. When you mount screws into these screw holes, the screws need to be fastened with a torque of 13Nm (115.05lbf·in).

  • Page 40: 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 41 2. Zu 5 payload offset 3. Zu 7 payload offset 4. Zu 12 payload offset 5. Zu 18 payload offset File Version: 3.4 41 / 73 JAKA Zu Series Hardware User Manual...
  • Page 42 Note: Offset distance is the center of gravity distance from the center of the flange. File Version: 3.4 42 / 73 JAKA Zu Series Hardware User Manual...

  • Page 43: Control Cabinet

    4. When connecting cables on the I/O of the control cabinet, open the cabinet door, remove the metal board of the cable hole, and ensure that the I/O cable avoids rubbing with the edge of the cable hole. File Version: 3.4 43 / 73 JAKA Zu Series Hardware User Manual...

  • Page 44: Front Panel Interfaces

    1. The robot has been tested according to international IEC standards for EletroMagnetic Compatibility (EMC). Interference signals beyond the standard will cause abnormal behaviors of the robot. Very high signal levels or excessive expoure can damage the robot permanently. JAKA will not be held responsible for any damages caused by EMC problems.
  • Page 45 Isolated power supply, input, and negative electrode, and 9-16 short jumper connected to the internal GND by default. 1, 4 Analog power 5V output, 100mA (max) AI/O Analog input/output channel 1, configurable functions File Version: 3.4 45 / 73 JAKA Zu 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: 3.4 46 / 73 JAKA Zu Series Hardware User Manual...
  • Page 47 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): 1. Dry contact signal as input DI(1~8) 1 2 3 4 5 6 7 8 File Version: 3.4 47 / 73 JAKA Zu 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: Analog I/O Interfaces

    V+ V- 防护停止-多路开关 防护停止-单路开关 9.4.5 Analog I O Interfaces With the 2 analog input and output interfaces (Ch1, Ch2), the mode can be configured: Current signal input: 4-20mA; File Version: 3.4 50 / 73 JAKA Zu Series Hardware User Manual...

  • Page 51: High Speed 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

    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 54: 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: 3.4 54 / 73 JAKA Zu Series Hardware User Manual...

  • Page 55: 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 56: 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 57 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: 3.4 57 / 73 JAKA Zu Series Hardware User Manual...

  • Page 58: 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 59 GB/T 26572. File Version: 3.4 59 / 73 JAKA Zu Series Hardware User Manual...

  • Page 60: Design Standards And Certification

    Description JAKA robot has passed the safety certification of the notified body, SGS, which complies with the EU machinery directive 2006/42/EC. JAKA robot has been evaluated as compliant with the KCs KCs safety safety standard. 13.1.2 Manufacturer Test Certification Description...

  • Page 61: 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 62: 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: 3.4 62 / 73 JAKA Zu Series Hardware User Manual...
  • Page 63 100% 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: 3.4 63 / 73 JAKA Zu 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 1 Stop Time Joint 3 Type 1 Stop Distance File Version: 3.4 64 / 73 JAKA Zu Series Hardware User Manual...
  • Page 65 100% 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: 3.4 65 / 73 JAKA Zu Series Hardware User Manual...
  • Page 66 100% 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: 3.4 66 / 73 JAKA Zu Series Hardware User Manual...
  • Page 67 100% 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: 3.4 67 / 73 JAKA Zu Series Hardware User Manual...
  • Page 68 100% 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: 3.4 68 / 73 JAKA Zu Series Hardware User Manual...
  • Page 69 100% 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: 3.4 69 / 73 JAKA Zu Series Hardware User Manual...
  • Page 70 100% 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: 3.4 70 / 73 JAKA Zu Series Hardware User Manual...
  • Page 71 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: 3.4 71 / 73 JAKA Zu Series Hardware User Manual...

  • Page 72: Appendix 2: Safety Functions Table

    Estop with state external Estop button and additional Estop input all take effect to these outputs. Note: Refer to corresponding certificate for data of response time, MTTFd, and PFHd. File Version: 3.4 72 / 73 JAKA Zu Series Hardware User Manual...
  • Page 73 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:

Zu 3Zu 5Zu 7Zu 12Zu 18Cab 2.1

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