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JAKA SRCI User Manual

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Manual
JAKA SRCI Interpreter
Controlled
Confidentiality level: Public
Department
JSI Version
Editor：
Yunfeng Zhu
Date：2024.05.03
Website: www.jakarobotics.com
JAKA SRCI Interpreter User Manual
DOC Version 1.1
JAKA Robotics
Just Always Keep Amazing
User Manual
state:
Reviewer：
Shirong Lu
Date：2024.05.03
Doc Level
Language
: JSI Project Team
: V1.6
Approver：
Weil Shao
Date：2024.05.03
4
EN

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  • Page 1 JAKA SRCI Interpreter User Manual Doc Level Manual DOC Version 1.1 Language JAKA Robotics Just Always Keep Amazing JAKA SRCI Interpreter User Manual Controlled state: Confidentiality level: Public Department : JSI Project Team JSI Version : V1.6 Editor： Reviewer： Approver：...
  • Page 2 Date Date 202403020 Initial release Shirong Lu Updated to match jsi-1.6.33. remove supported functions from 20240503 Wei Shao this document, and add refer to release note JAKA SRCI Interpreter User Manual for Doc V1.1 Page 2 of 16 JSI V1.6...

  • Page 3: Table Of Contents

    Cobot Setup 8 3.6. PLC Setup 10 Troubleshooting 12 4.1. General debug steps: 12 4.2. Debug steps for SRCI communication fails: 4.3. Debug steps when robot not move： 13 Appendix 5.1. JAKA Robot Arm SEW Description 5.2. JAKA Blending: 15 JAKA SRCI Interpreter User Manual for Doc V1.1...

  • Page 4: Introduction

    SRCI is a new standard interface using PLC to control robots. This interface allows users to directly program and control a robot in a PLC. SRCI is made to standardize the use of data packets and PLC libraries, which enables users to freely switch between different robots without having to re-program.

  • Page 5: Abbreviation

    Please read though this manual to know about the limitations and risks before you run JSI. 1.3.Abbreviation Abbreviation Description SRCI Standard Robot Command Interface JAKA SRCI Interpreter Robot Interface, the status of which indicates if the SRCI communication has already been established. Robot Arm Robot Controller Tool Center Point Tool Coordinate System User Coordinate System...

  • Page 6: Scope Of Jsi V1.6

    Language Mandatory/Optional 2. Scope of JSI V1.6 JSI V1.6 is an official release of SRCI interpreter with most functions and parameters defined in core profile. Please refer to the release note for detailed supported functions, parameters, limitations and risks. 3. Getting Started 3.1.

  • Page 7: Licenses

    3.4.Safety Concept To get a basic understanding of safety implementation when using SRCI, please refer to 《Specification of Standard Robot Command Interface to PLCs》 Hardwired based safety connection described in Chapter 2.2.5 External safe enable switch is supported, while PROFI safe is not supported by Jaka Cobots.

  • Page 8: Cobot Setup

    Manual DOC Version 1.1 Language 3.5. Cobot Setup 1. Connect JAKA Zu App to JAKA Controller Cabinet, Check Controller Version from “About” window, and make sure “Controller Version” is 1.7.1_36_rc. Otherwise please download JAKA controller software 1.7.1_36_rc from www.jakarobotics.com upgrade/downgrade to this version.
  • Page 9 DOC Version 1.1 Language 2. Download jsi_1.6.33.tar.gz and install it from the following AddOn window and enable it. For more information about JAKA AddOn, please refer to : About AddOn | Docs (jaka.com). Note: Cobot arm will be automatically powered on when jsi addon is enabled, unless no cobot is connected or there are Emergency Stop buttons pressed.

  • Page 10: Plc Setup

    Manual DOC Version 1.1 Language 4. Now JAKA cobot is ready to be controlled by PLC through SRCI. Please connect PLC Profinet cable to BOTTOM ethernet port of JAKA CAB2.1 or LAN2 of Minicab 3.6.PLC Setup 1. Initialize SD card (when downloading programs from the Siemens PLC to new SD card, users need to reset the SD card's memory first.
  • Page 11 Manual DOC Version 1.1 Language 6. When configuring SRCI data, it is essential to ensure the alignment of the data's starting address with the starting address provided by Rob Task. Failure to do so may result in initialization issues. JAKA SRCI Interpreter User Manual for Doc V1.1...

  • Page 12: Troubleshooting

    4. Check if the right JAKA GSDML is used in PLC. 5. Check if the PLC PROFINET data is configured right or not. 6. If the above steps still don't work, please contact JAKA technical support team by email to SRCI.Support@jaka.com, attaching Addon exported files）.

  • Page 13: Debug Steps When Robot Not Move

    4-5-6 axes do not intersect at a single point. In other words, there is no traditional Wrist Center Point (WCP) as found in industrial robots. Typically, the intersection points of the 4-5 or 5-6 axes are used instead. ⚫ Shoulder JAKA SRCI Interpreter User Manual for Doc V1.1 Page 13 of 16 JSI V1.6...
  • Page 14 JAKA SRCI Interpreter User Manual Doc Level Manual DOC Version 1.1 Language ⚫ Elbow ⚫ Wrist w = sin (axis5) JAKA SRCI Interpreter User Manual for Doc V1.1 Page 14 of 16 JSI V1.6...

  • Page 15: Jaka Blending

    ⚫ Linear motion to joint motion To enable blending, make sure to set the parameters in usersetting.ini as below (No modifications are needed by default.): MOVEJ_MOVEL_BLEND = 1 MOVEJ_MOVEJ_BLEND = 1 JAKA SRCI Interpreter User Manual for Doc V1.1 Page 15 of 16 JSI V1.6...
  • Page 16 DOC Version 1.1 Language When parameter is too large, the actual blending would take place according to the Mode11 (Ramp Overlap) in SRCI manual to blend at 100% overlap: JAKA SRCI Interpreter User Manual for Doc V1.1 Page 16 of 16...

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