JAKA MiniCobo V1 User manual

节1
JAKA Robot
User Manual
Hardware Section

JAKA MiniCobo
JAKA MiniCobo
JAKA Robot
User Manual
JAKA MiniCobo V1
Robot Body No.
Controller No.

Note:
The definition of collaborative robots follows the international ISO standards and relevant regulations of the
national standards to protect the safety of operators. We DO NOT recommend directly applying the robot body
on the occasion that the working object is human body. However, when the robot user does need to concern
human body as robot’s work object, it is necessary to configure a safe, reliable, fully tested and certified safety
protection system for the robot body, on the premise that the user fully evaluates the safety of the personnel.
All the measures are to protect personnel safety.
All content in this User Manual is the exclusive property of Shanghai JAKA Robot Technology Co., LTD
(Hereinafter collectively called as JAKA), and shall not be used in any form without the written permission of
JAKA.
The user manual will beupdated andimprovedregularlyby JAKA.Andcontentsof it will be changed without
prior notification. Please check carefully the actual product information before using this manual.
The information contained in the User Manual is not a commitment of JAKA. And JAKA is not responsible
for any errors that may occur in this Manual and not responsible for any accidental or indirect damages caused
by using this Manual and products it introduces. Please read this Manual carefully before installing and using
the robot.
The pictures in this Manual are for reference only, please refer to the actual product.
If the robot is modified or disassembled, JAKA will not be liable for after-sales service.
JAKA also reminds the user that safety equipment must be used and the safety provisions must be in
compliance with, when using and maintaining the JAKA robot.
The Programmer of JAKA robot and the Designer & Debugger of the robot system must be familiar with
JAKA robot's programming mode and system application installation.
Manual Instructions
This manual mainly includes precautions for the safe operation of the robot, mechanical and electrical
interfaces, installation and maintenance, how to use JAKA APP software, and so on.
The usersof thismanual should have received basicmechanical andelectrical training, which will contribute
to the installation and use of the robot.
More Information
For more information, please scan the QR code on the right to visit our
official website www.jaka.com.

Contents
Manual Instructions...............................................................................................................................................1
Introduction ...........................................................................................................................................................1
Product List ............................................................................................................................................................2
Chapter 1 Safety Specification.................................................................................................................................3
1.1 Introduction..................................................................................................................................................3
1.2 Safety Warning Signs Description ..................................................................................................................3
1.3 Safety Precautions ........................................................................................................................................3
1.4 General warnings and reminders...................................................................................................................5
1.5 Responsibility and Risk..................................................................................................................................5
1.6 Use Purpose..................................................................................................................................................6
1.7 Emergency....................................................................................................................................................6
1.8 Precautions for Transportation and Handling ................................................................................................6
Chapter 2 Welcome to use JAKA MiniCobo .............................................................................................................8
2.1 JAKA MiniCobo Collaborative Robot Overview...............................................................................................8
2.2 Operation Terminal.......................................................................................................................................8
2.3 Robot Body...................................................................................................................................................9
2.3.1 Robot Indicator Lights.............................................................................................................................9
2.3.2 End tool flange button and interface.....................................................................................................10
2.4 Controller and its handle.............................................................................................................................11
Chapter 3 Mechanical Specification ......................................................................................................................13
3.1 Robot Workspace........................................................................................................................................13
3.1.1 Overall Dimensions of robot .................................................................................................................13
3.1.2 Robot Workspace.................................................................................................................................14
3.2 Installation..................................................................................................................................................15
3.2.1 Concise Installation Method .................................................................................................................15
3.2.2 Important Safety Instructions ...............................................................................................................15
3.2.3 Robot Body Installation ........................................................................................................................15
3.2.4 End Tool Installation .............................................................................................................................16
3.3 Technical Specifications...............................................................................................................................17
Chapter 4 Electric Parameters...............................................................................................................................19
4.1 Introduction................................................................................................................................................19
4.2 Absolute Limit Parameter............................................................................................................................19
4.3 Recommended Operating Conditions..........................................................................................................19

4.4 Typical Power Consumption........................................................................................................................20
4.5 Computer Configuration .............................................................................................................................20
Chapter 5 Definition of Interface...........................................................................................................................21
5.1 Front Panel Interface ..................................................................................................................................21
5.1.1 Integrated Interface (I/O) .....................................................................................................................21
5.1.2 Handle Interface (STICK).......................................................................................................................22
5.1.3 Emergency Stop Interface (E-STOP) ......................................................................................................23
5.2 Side-panel Interface....................................................................................................................................24
5.2.1 Power Interface....................................................................................................................................24
5.2.2 Robot Interface ....................................................................................................................................24
Chapter 6 Minicab Detailed Introduction ..............................................................................................................25
6.1 Overview ....................................................................................................................................................25
6.2 Function Application ...................................................................................................................................25
6.2.1 Robot Interface of MiniCab...................................................................................................................25
6.2.2 Emergency Stop ...................................................................................................................................26
6.2.3 Switch-on/off .......................................................................................................................................26
6.2.4 LED State Indicator...............................................................................................................................28
6.2.5 Integrated UDIO...................................................................................................................................29
6.3 Braking Voltage Setting ...............................................................................................................................30
6.4 Network Settings ........................................................................................................................................30
6.4.1 Introduction to Network Interface........................................................................................................30
6.4.2 Wi-Fi ....................................................................................................................................................31
6.4.3 Network Configuration.........................................................................................................................31
Chapter 7 Maintenance and Repair.......................................................................................................................33
7.1 Safety Instructions ......................................................................................................................................33
7.2 Maintenance Items and Cycles....................................................................................................................34
7.3 Replacement and storage of parts ...............................................................................................................35
7.3.1 Cleaning and replacement of parts and components.............................................................................36
7.3.2 Storage of parts and components .........................................................................................................36
7.4 Commitment of After-sales Service .............................................................................................................37
Chapter 8 Quality Assurance.................................................................................................................................39
8.1 Product Quality Assurance ..........................................................................................................................39
8.2 Disclaimer...................................................................................................................................................39

1
Introduction
JAKA MiniCobo robot will whole heartedly serve you. Imagine what you desire. And do what you want.
All series of JAKA collaborative robots innovatively use a new control mode, which is mobile intelligent
terminal plus APP, to connect with the robot body. One mobile terminal can control several robot bodies.
Meanwhile, the operator doesnot need to master a professional programming language. The only thing heneed
to do is guiding the robot manually to complete the programming. So, human-machine collaboration is easier.
And the working efficiency is improved greatly.
JAKA MiniCobo is a small six-axis collaborative robot, with a payload of 1Kg. It is a collaborative robot
developed by JAKA, which is aimed at commercial application scenarios.

2
Product List
When you purchase a whole set of JAKA MiniCobo robot, the package list you receive
is as follows:
No.
Name
Quantity
1
JAKA MiniCobo Robot
1
2
JAKA MiniCab Controller and control handle
1
3
24VDC power adapter
1
4
Power cord and connecting cable
1
5
JAKA certificate
1
6
JAKA MiniCobo User Manual
1
7
After-sales service warranty card
1

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Chapter 1 Safety Specification
1.1 Introduction
This chapter mainly introduces the safety principles and specifications that shall be obeyed when using
robots and robot systems. Users shall carefully read the safety related contents in this manual and strictly
obey them. Operators shall be fully aware of the complexity and danger of the robot system andpay special
attention to the contents related to warning signs.
1.2 Safety Warning Signs Description
The following warning signs are used to describe the hazard levels stipulated in this manual. Please
strictly observe the safety contents.
Warning:
This sign indicates a potentially dangerous when using electricity, which,if not
avoided, can cause personal injury or serious damage to the equipment.
Warning:
This sign indicates a potentially dangerous situation, which, if not avoided, can
cause personal injury or serious damage to the equipment.
Warning:
This sign indicates a hot surface that may cause danger. If touched, it may
cause personal injury.
1.3 Safety Precautions
The main content of this section is related to safety items that need to be paid attention to during
installation and use. Please read carefully.
1. First, the robot must be installed in accordance with the instructions
and precautions in this manual.
2. The installation height of the power cut-off switch is 0.6m～1.9m, in
order to guarantee that the power supply can be cut off in time and
conveniently in event of an accident.
3. When using the robot for the first time, it is necessary to check the
integrity of the robot's protection system, as well as the safety of the
operation to ensure that there is no damage of it.
4. Personnel with robot operation qualifications are required to check
each safety function and ensure that the parameters and procedures are
correct, before starting the robot.

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1. Professional debugging personnel are required to install and debug
the robot in accordance with the specifications.
2. The setting and modification of robot parameters must be
performed by authorized personnel.
3. Do not switch on/off the power supply system frequently.
4. When the robot load exceeds the set range, it will stop moving to
prevent damage to the robot and injury to the operator. Because JAKA
robot controller has the collision detection function. If the operator uses his
own controller or active closes the protection function, he has to bear his
own risk.
1. Ensure that robot's arms and tools are installed correctly.
2. Ensure that robot arm has enough free movement space.
3. Do not connect the safety equipment to the normal I/O interface, to
avoid injury.
4. Ensure the correct installation settings (such as the installation
angle of the robot, the weight in the TCP, the TCP offset, and the safety-
related configuration) are configured. Save the installation file and load it
into the program.
5. The end-effector connected to the tool end must not have sharp
edges. Before operating, make sure that all personnel are outside the
reach of the robot.
6. Connecting different machinery may increase the risk or introduce
new risks. Always conduct a comprehensive risk assessment for the entire
installation procedure.
7. Do not tamper with the robot without authorization. The changes to
the robot may cause unknown danger that the integrator cannot predict. If
the robot is modified in any methods, JAKA does not take any
responsibility.
1. The robot body and the controller will generate heat when they are
working. After high-load operation, DO NOT touch the robot when it isjust
stopped to avoid burns.
2. When the controller is working, heat will be generated. Do not touch
the controller's heat radiating fins to avoid burns.
1. When robot is connected to the machine which can cause damage
to it, it is recommended to check all the functions of the robot and the robot
program separately. To check the robot program, it is recommended to use
temporary waypoints outside the workspace of other machinery
2. A strong magnetic field can damage the robot. Do not expose the
robot in a permanent magnetic field.

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1.4 General warnings and reminders
1. Operators who use the robot system are strictly prohibited from wearing
loose clothes and jewelry. Operators with long hair should make sure that their
hair is tied up.
2. During the operation of the equipment, even if the robot seems to have
stopped, it may be in state of being about to move because it is waiting for the
start signal. In this state, the robot should also be regarded as in motion.
3. During the operation of the robot, ensure that the controller power cord
and the robot power cord are reliably connected. It is strictly forbidden to plug
or unplug the power supply and terminals when the power is on in the working
mode.
4. A warning line should be drawn on the ground to mark the range of
motion of the robot, so that the operator can understand the range of motion of
the robot including holding tools (manipulators, tools, etc.).
5. Ensure that safety measures (such as guardrails, ropes, or protective
screens) are taken near the robot operating area to protect the operator and
surrounding personnel. The locks should be set according to the requirements,
except for the personnel responsible for the operation, other personnel are not
allowed to touch the power supply of the robot.
6. In emergency or abnormal situations such as people are caught by the
robot or besieged by the robot, after pressing the E-STOP button, the joint can
be forced to move by pushing or pulling the robot arm. Manual movement of
the robot arm without electric drive is limited to emergency situations and may
cause joint damage.
1.5 Responsibility and Risk
Liability
This manual does not involve all applications of how to design, install and operate a robot, nor does it
involve all peripherals equipment that may affect the safety of the robot system.
The integrator of JAKA have responsibility to ensure that relevant feasible laws and regulations of country
are obeyed, to make sure that there is no significant risk in the whole robot application.
All safety information contained in this manual shall not be regarded as a guarantee of JAKA. Even if all
safety instructions are complied with, injury or damage, which caused by an operator, may occure.
JAKA will constantly strive to improving the reliability and performance of our robot products. Our company
will not be responsible for any error or missing information in this manual. And we reserve the right of final
interpretation of this manual.
Risk
When there is interactive relationship between the operator and robot, there must be direct or indirect body
contact. During the contact, operators must have sufficient self-protection awareness. And integrators need to
carefully consider the operating conditions when using our company's robots for customers. The followings are

6
dangerous situations may occur:
Robots may fall and injure the personnel when they are transported;
Injuries caused by screw loosening of the fix bolt in robot;
When the robot is working, it may pinch fingers and hurt people;
Injury caused by malfunction of robot which is not repaired in time;
There may be dangerous when using sharp end-effectors or tool connections;
Robots may injure people when operating in toxic or corrosive environments.
1.6 Use Purpose
JAKA MiniCobo collaborative robots are mainly aimed at commercial application scenarios, especially
suitable for commercial or light industry, such as new retail, education, 3C manufacturing, processing of light
parts, loading and unloading, etc. JAKA MiniCobo is only allowed to be used under specified conditions and
environments.
JAKA MiniCobo has special safety rating features, which are specially designed for collaborative operation.
That is to say, the robot can work without guardrails, or can work with humans. Cooperative operation is only
for non-hazardous applications, that is, tools, workpieces, obstacles and other machines. All those
applications have undergone a risk assessment for specific applications, and have been proved that they do
not have major hazards.
Any use or application that is contrary to the intended use is not allowed. Those include but not limit to the
followings:
Used in an environment where there is a possibility of explosion such as dust;
Used in life-related occasions;
Used without making a risk assessment;
Used when the reviewed performance level is unqualified;
The operation is outside the allowable operating parameters.
1.7 Emergency
When an emergency occurs, press the E-STOP button to immediately stop all movements of the robot.
Emergency shutdowns shall not be used as a risk mitigation measure, but E-STOP may be regarded as a
secondary protection equipment.
1.8 Precautions for Transportation and Handling
The robot needs to be packed in its original packaging box during transportation, to ensure that the
equipment is stable and in a dry environment.
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 tightly until all the bolts
on the base of the robot are fastened.

7
Note:
1. Make sure that your back or other parts of your body are not overloaded when you lift the device. Use
appropriate hoisting equipment. JAKA is not responsible for the personal injury caused during the transportation
of the equipment.
2. Make sure to strictly follow the installation instructions when installing the robot.

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Chapter 2 Welcome to use JAKA MiniCobo
Before reading this chapter, make sure that you have read and fully understood the Safety Specifications
in Chapter 1.
This chapter will quickly introduce the basic composition of JAKA MiniCobo commercial collaborative robot
and how to use it. For detailed mechanical specifications, electrical specifications, and software operations,
please refer to other chapters.
During use this robot, if you need quick help, please call our quick consultation hotline: [phone].
2.1 JAKA MiniCobo Collaborative Robot Overview
Figure 2-1 Overview of Robot Overview
As shown in Figure 2-1, JAKA MiniCobo commercial collaborative robot mainly includes:
(1) Robot Body: Main moving components, to achieve the desired movement of the user. At the same
time, in the end of the robot body (robot base side), there is a ring indicator light which indicates the state of the
robot. in the end of tool end flange (end-effector side), there are buttons for dragging and programming, and a
TIO interface for connecting tools.
(2) Controller and Operation Handle: They are the control system of the robot. JAKA's robot controller is
equipped with a user-friendly handle to control the robot's operation and emergency stop.
(3) DC power supply: The controller uses 24VDC input, just use the standard 24VDC power adapter.
(4) Operation Terminal (Optional or user-owned): A device used by operator to perform programming,
setting, and other operations.
(5) Router and network cable, etc. (Optional or user-owned): Several robot controllers can be net-
worked through router. The LAN1/2 interface port of the controller can be connected to a router. And the
operating terminal can also be connected to this router to control all networked robots.
2.2 Operation Terminal
JAKA provides JAKA MiniCobo series robot operation software, which is developed based on Android
system, and the recommended hardware configuration of this software is shown in Table 2-1:

9
Terminal Type
Tablet Computer
Operation system
Android 8.0 and above
Processor
Kirin 695 or Snapdragon 660
and above
Storage capacity
32GB
System memory
4GB
Screen size
8.0 inches and above
Network
communication
Wifi
Table 2-1 Operation Terminal Configuration Table
When purchasing JAKA MiniCobo Commercial Collaborative Robot, users can either request to purchase
operation terminals (optional) or use their own tablets. The recommended tablet computer model is: Huawei M5
or Xiaomi 4S.
2.3 Robot Body
The main body of the MiniCobo commercial collaborative robot is shown in Figure 2-2. The robot body
includes 6 rotary joints and two connecting arm rods, which are the big arm and the forearm. The robot base is
equipped with indicator lights to show the status of the robot, and the outer side of the end-effector flange is
equipped with two buttons.
Figure 2-2 MiniCobo collaborative Robot Body
2.3.1 Robot Indicator Lights
JAKA MiniCobo commercial collaborative robot is equipped with indicator lights on the base of it.

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The position of the ring indicator is shown in Figure 2-2, and the meaning of the color indication is shown
in Table 2-2.
Table 2-2 LED Status Indicator
Color
Operating Status
Blue
Power-on, but not enable
Green
Enable is OK
Red
Error
Yellow
Drag mode
Yellow fast
flashing
Pause mode
2.3.2 End tool flange button and interface
JAKA MiniCobo commercial collaborative robot is equipped with a tool IO interface and two buttons on the
side of the end tool flange. The buttons are a drag button (FREE) and a record point button (POINT), as shown
in the figure 2-3.
Figure 2-3 FREE and POINT Buttons
For detailed description of Tool IO, please refer to Chapter 4 "Electrical Interface".
When the drag button is pressed, the robot enters the drag teaching mode. In this mode, the user can
directly drag the robot to the desired point.
The record point button needs to be used with the robot operating software. When the record point button
is pressed, the operating software will record the corresponding position.
Notes：
To use the drag button, the operator should fully evaluate the possible risks. And he must make sure that
the end load, TCP parameters, and the robot installation posture are correctly configured. Otherwise, it may
cause personal injury or equipment damage.

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2.4 Controller and its handle
The controller of JAKA MiniCobo commercial collaborative robot contains various electrical interfaces. For
detailed information, please refer to Chapter 4 "Electrical Interface".
The controller provides a control handle. The operator can start the robot only through the control handle
without using APP, after writing and setting the default loading operation program.
The control handle sends control commands to the controller through a combination of buttons. The function
of the button combination is described as follows:
Figure 2-4 Handle Function Description
Table 2-3 Handle Buttons Function Description
Power on
Power on: Short press the On/Off button for 1s and then release. The buzzer rings,
and the controller powers on.
Shutdown: Long press the On/Off button for more than 3s. The handle rings 6~7
times, and the controller powers off.
Enable
Power on the robot: If it is not power on, release the Lock button, short press the
Enable button to power up robot.
Power off the robot: When the power is on, short press the Enable button to power
off the robot.
Enable the robot: When the power is on, hold press the Lock button, at the same
time, short press Enable button.
Disable the robot: When the robot is enabled, hold press the Lock button, at the
same time, short press Enable button.
Termination
Terminate program operation: Short press Stop button to start loading the default
program, and after it moving to the initial position of the program, execute the default
program.
Terminate program operation: When the robot program is running, short press the
Stop button to terminate the program.
Home
Reset: After the robot is enabled, when the program is not running, press
continuously Home button to control the robot to move to default position. When the
robot moves to the default position, keep pressing Home button and the lock
indicator light turns to blue breathing state.

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Pause
Pause: During the automatic operation of the robot, press Pause button, the
program stop execution.
Recover: When the machine is suspended, press Recover button, the program
recover execution.
Lock
Lock handle: Long press the Lock button for 3s and the lock indicator light turns to
orange breathing state.
Unlock handle: Long press the Lock button for 3s and the lock indicator lights is
extinguished
Combined functions: Other buttons can be combined using with the Lock button.
Lock
indicator
lights
Locked state: When in a locked state, the lock indicator light turns to orange
breathing state. All buttons are invalid except the Unlock button. The robot can be
controlled through the App.
Unlocked state: When in the unlocked state, the lock indicator light is extinguished
and the handle can be used. At that time, the APP interface is grey, the robot cannot
be controlled by APP.
E-STOP
button
For emergency stop.
Note: The emergency stop button is only used in emergency situations and cannot
be used as a general power-off device.
Note:
When power is on, press any button, and the handle buzzes twice a second.
During the power-on process, JAKA LOGO lamp on the handle flashes red, blue and green alternately in
breathing light, accompanied by three buzzes. Then JAKA LOGO lamp turns orange and waits for the IPC
(Industrial Computer) to go online.Whenthe controller program is running normally, theJAKA LOGO lamp turns
in blue breathing light. After the robot is enabled, the lamp turns in green breathing light.
When you are using the handle to operate the robot, please make sure that the robot you are operating is
in your sight. And you should follow relevant safety regulations to prevent injury to people or damage to
equipment around the robot.

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Chapter 3 Mechanical Specification
The robot is mainly composed of six joints and arm rods (as shown in Figure 3-1). The base is used to
connect the robot body and the mounting base, and the tool-end is used to connect the robot to end-effector.
The end-effector can do translation and rotation movements in the working space of the robot. The following
chapter will introduce the basic items that should be noticed when installing each part of the robot system.
Figure3-1 Structure diagram of JAKA MiniCobo commercial collaborative robot body
3.1 Robot Workspace
3.1.1 Overall Dimensions of robot
The practicality picture and overall dimensions of JAKA MiniCobo robot and MiniCab controller are shown
in Figure 3-2 and Figure 3-3. Range of motion of the robot must be taken into consideration during installation,
so as not to injure circumjacent personnel and equipment.
Figure 3-2 The practicality picture of JAKA MiniCobo and MiniCab controllers

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Figure 3-3 Overall Dimensions of JAKA MiniCobo and Minicab controllers
3.1.2 Robot Workspace
The working space of JAKA MiniCobo robot is shown in Figure 3-4. When selecting installation position of
the robot, accessible working region should be fully considered.
Figure3-4 JAKA MiniCobo Workspace

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3.2 Installation
3.2.1 Concise Installation Method
1. Determine the working range of the robot;
2. Install robot body on the mounting base;
3. Install the required end-effector on the end flange of the robot.
3.2.2 Important Safety Instructions
Warning:
1. Make sure that the robot arm is correctly and safely installed in
place.
2. The installation surface must be shockproof and have sufficient
bearing capacity.
Warning:
1. Make sure that the end-effector are correctly and safely installed
in place.
2. Ensure that the end-effector is safe, and there will be no danger
caused by accidental falling parts.
Warning:
1. Make sure that the controller and cables are not in touch with
liquid, otherwise there will be a risk of electric shock.
2.The controller must not be exposed to dust, humidity or an
environment that exceeds IP20 for a long time.
Notes:
The robot should not be installed in a liquid or humid environment.
3.2.3 Robot Body Installation
The JAKA MiniCobo robot can be installed in any posture. As is shown in Figure 3-5, there are three
typical installation methods: normal-mounted, upside-down, and side-mounted.
Figure 3-5 Typical Installation Methods
To install the robot, JAKA MiniCobo uses 4 M6 screws through 4 ∅6.6mm through holes on the robot base.
It is recommended to tighten these screws with a torque of 15.3Nm. Please install the robot on a solid, flat
mounting base. The base surface can bear at least 612Nm of torque and at least 500N of pressure. In addition,