JAKA Pro Series Instructions for use
Original Instructions (en)
File Version: 3.5
Robot: Pro 5, Pro 12, Pro 16
Control Cabinet: CAB 2.1
II
The definition of collaborative robots follows the ISO standards and relevant national standards to protect the
safety of operators. We do not recommend applying the robots directly to cases when the operating object is a
human. However, if there is a need for the robot to operate on a human, the robot needs to be equipped with a
safe, reliable, fully tested and certified safety protection system to protect the human, provided that the
personnel safety is fully assessed by the user or application developer.
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. Additional copies of this manual may be obtained from JAKA.
We will regularly revise the manual, and the content may be updated without notice. Please check the factual
product information carefully before reading this manual.
This manual is applicable to all products and/or services manufactured or provided by JAKA (hereinafter
referred to as the “products"). The information contained in the manual is provided "as is" and is subject to the
relevant laws and legislation. To the maximum extent permitted by law, this manual does not constitute any
form of express or implied representation or warranty of JAKA, neither constitute a guarantee of merchantability,
suitability for specific purposes, achievement of expected results, or non infringement of the products. JAKA
assumes no responsibility for any error or omission that may appear in this manual, or any accident or indirect
injury arising from the use of this manual and the products described therein. Before installing and operating
the product, read this manual carefully.
The pictures in this manual are for reference only.
If the robot body is transformed or disassembled, JAKA will not be responsible for after-sales services.
JAKA reminds users that they must use safety equipment when using and maintaining JAKA robots and must
comply with the safety terms.
Programmers of JAKA robots and designers and debugging personnel of robot systems must be familiar with
the way to program JAKA robots and install system applications.
For more product information, scan the QR code on the right to visit our
official website: www.jakarobotics.com.
III
.....................................................................................................................................................
.................................................................................................................................................
.............................................................................................................................
..............................................................................................................................
1.1 About the Manual ...........................................................................................................................7
1.2 Manual Reader ..............................................................................................................................7
1.3 References.....................................................................................................................................7
1.4 Prerequisites ..................................................................................................................................7
...................................................................................................................................
2.1 Introduction ....................................................................................................................................8
2.2 Safety Signals and Symbols ..........................................................................................................8
2.3 Warnings and Cautions..................................................................................................................8
2.4 Liability and Risk ..........................................................................................................................10
2.5 Usage...........................................................................................................................................10
2.6 Risk Assessment..........................................................................................................................11
2.7 Pre-use Assessment ....................................................................................................................12
2.8 Emergency Stop ..........................................................................................................................12
2.9 Movement Without Drive Power ..................................................................................................12
2.10 Labels...........................................................................................................................................13
...............................................................................................................................
3.1 Stop Category ..............................................................................................................................15
3.2 Safety Stop Time and Distance....................................................................................................15
3.3 Safety Mode .................................................................................................................................15
3.4 Three-Position Enabling Device (Optional)..................................................................................16
..............................................................................................................................
4.1 Overview of Robot System ..........................................................................................................17
4.2 Quick Start Guide.........................................................................................................................17
...................................................................................................................................
.....................................................................................................................
6.1 Robot Technical Specification ......................................................................................................20
6.2 Control Cabinet Technical Specification ......................................................................................21
......................................................................................................................................
7.1 Control Stick Control Robot Steps ...............................................................................................23
IV
..................................................................................................................................................
8.1 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
8.2 Robot Size....................................................................................................................................30
8.3 Robot Workspace.........................................................................................................................31
8.4 Robot Rotation Direction..............................................................................................................33
8.5 Robot Singularity..........................................................................................................................34
8.6 Robot Mounting............................................................................................................................35
8.6.1 Safety Instructions ................................................................................................................35
8.6.2 Robot Mounting ....................................................................................................................35
8.6.3 End Effector Mounting ..........................................................................................................40
8.6.4 Maximum Payload ................................................................................................................41
.................................................................................................................................
9.1 Introduction ..................................................................................................................................43
9.2 Control Cabinet Size ....................................................................................................................43
9.3 Electrical Warnings and Precautions ...........................................................................................43
9.4 Front Panel Interfaces..................................................................................................................44
9.4.1 Definition of Front Panel Interfaces ......................................................................................44
9.4.2 Digital I/O Interfaces .............................................................................................................46
9.4.3 Safety I/O Interfaces .............................................................................................................49
9.4.4 Safety Interfaces...................................................................................................................50
9.4.5 Analog I/O Interfaces ............................................................................................................51
9.4.6 High Speed Interfaces ..........................................................................................................51
9.4.7 RS485 Interfaces ..................................................................................................................51
9.4.8 Remote ON/OFF Interfaces..................................................................................................52
9.5 Bottom Panel Interfaces...............................................................................................................53
9.5.1 Power Adaptation..................................................................................................................54
9.5.2 Power Connection ................................................................................................................55
................................................................................................................................
...................................................................................................................................
11.1 Safety Instructions .......................................................................................................................57
11.2 Storage Conditions ......................................................................................................................57
..........................................................................................................................................
............................................................................................
V
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
......................................................................................................................................
14.1 Product Warranty .........................................................................................................................62
14.2 Disclaimer ....................................................................................................................................62
...................................................................................................................................................
Appendix 1: Stop Time and Distance......................................................................................................63
Appendix 2: Safety Functions Table .......................................................................................................69
File Version: 3.5 / JAKA Pro Series Hardware User Manual
Foreword
The JAKA Pro series robot will serve you wholeheartedly.
The robot pioneers in the control mode with a mobile smart terminal plus an App connected to the robot, so that
one mobile terminal can match multiple robots. Operators do not need to master professional programming
technology, but only need to manually guide the robot to complete the programming. In this way, man-machine
collaboration is easier, which greatly improves the productivity.
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:
1
Robot
1
2
Control cabinet and its key
1
3
Control stick
1
4
Control cabinet power cable
1
5
Robot connection cable
1
6
TIO cable
1
7
Product qualified certificate
1
8
After-sales service warranty card
1
Important Safety Notice
According to 2006/42/EC Machinery Directive, JAKA robot is , and a risk
assessment must be performed for each robot installation. All safety instructions in chapter 2 must be followed.
File Version: 3.5 / JAKA Pro Series Hardware User Manual
1Manual Instruction
1.1
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
The manual is intended for:
⚫Operators
⚫Commissioning staff
⚫Maintenance staff
⚫Integrators
1.3
Documentation referred to in the manual:
⚫1.5 JAKA Zu App Software User Manual
⚫1.7.1 JAKA App Software User Manual
⚫JAKA MiniCab Hardware User Manual
⚫JAKA Service Manual
Note: All documents can be found via JAKA official website www.jakarobotics.com.
1.4
The reader should:
⚫Be trained by JAKA and have the required knowledge of mechanical and electrical
installation/repair/maintenance work.
⚫Be trained to respond to emergencies or abnormal situations.
File Version: 3.5 / JAKA Pro Series Hardware User Manual
2Safety Standard
2.1
This chapter mainly introduces the safety principles and standards that should be observed in the use of the
robot or robot system. Users should carefully read and strictly abide by the content related to safety in this
manual. Operators should fully recognize the complexity and danger of the robot system, and pay special
attention to the content related to warning signs.
2.2
The danger level in this manual is described with the following safety symbols. Contents related to safety should
be strictly observed.
This sign indicates a potentially dangerous power consumption situation which, if not avoided,
may result in injuries to personnel or serious damage to equipment.
This sign indicates a potentially dangerous power consumption situation which, if not avoided,
may result in injuries to personnel or serious damage to equipment.
This sign indicates a potentially dangerous hot surface that may result in injuries to personnel if
touched.
2.3
This section focuses on the protection for operators and the relevant precautions of the first installation. Users
need to read the safety warnings in this manual carefully. However, there are many possibilities, and it is
impossible to cover all of them, we have described as many situations as possible herein.
1. All JAKA hardware and software must be installed/configured in strict accordance with the
instructions and cautions provided in this manual.
2. The installation of the power cut-off switch should be positioned within the height range of
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.
4. Operators possessing the necessary qualifications for robot operation are instructed to perform
a thorough assessment of all safety functions and ensure the accuracy of parameters and
programs before initiating the power supply to the robot.
File Version: 3.5 / JAKA Pro Series Hardware User Manual
1. Technical personnel are instructed to carry out the installation and commissioning procedures
for any JAKA products in strict accordance with the provided specifications.
2. Adjustment and alteration of any JAKA product parameters must be executed exclusively by
authorized personnel to safeguard against unauthorized modifications by individuals lacking
appropriate operating expertise.
3. It is recommended not to frequently toggle the power supply on/off. Each joint of the JAKA
robot is equipped with a brake mechanism to maintain its pose for safety reasons in the event of
a power failure. Brake mechanisms can be damaged during unexpected power downs.
4. In the event that the applied force on the robot surpasses a predefined threshold, triggered by
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.
1. Ensure the proper installation of both the robot and its associated tools to the manufacturer's
specifications.
2. Verify that there is adequate space available for unobstructed movement of the robot.
3. To prevent damage, refrain from connecting safety equipment to the standard I/O interface (use
safety I/O interface).
4. Confirm the accuracy of mounting settings, including mounting angles, Tool Center Point (TCP)
position, tool mass, TCP offset and the robot's safety configuration.
5. Ensure that tools and obstacles do not possess sharp corners or points and maintain a safe
distance between all personnel and the robot.
6. Connecting the robot to different machinery may increase existing hazards or introduce new
ones. Conduct a comprehensive risk assessment for the entire system installation.
7. Do not make modifications to the robot, as such alterations may create unforeseen hazards for
which JAKA cannot be held liable. If the robot is changed or modified in any form, JAKA assumes
no liability.
1. Both the robot and the control cabinet generate heat during operation. Avoid contact with the
robot and the control cabinet during operation and after shutdown. In both instances allow
approximately 1 hour for the equipment to cool down.
1. When connecting external equipment that may pose a threat to the robot, it is advisable to
independently check all robot functions and programs. Utilize temporary waypoints located outside
the mechanical workspace to verify the robot's program.
2. Exposure to strong magnetic fields can damage the robot; hence, avoid exposing it to
permanent magnetic fields.
3. Operators who use the robot system are strictly prohibited to wear loose clothes and jewelry.
Those with long hair should ensure that the hair is tied back.
4. During the operation of the equipment, even if the robot appears to have stopped, it may be in
a state of imminent action because it is waiting for a start signal. In such state, the robot should
be regarded as running.
5. During the operation of the robot, ensure that the connection of the control cabinet power cable
and the robot power cable are proper. It is strictly forbidden to plug or unplug the power cables
File Version: 3.5 / JAKA Pro Series Hardware User Manual
and terminals in the running mode.
6. Warning lines should be drawn on the floor to mark the movement range of the robot so that
operators can see the movement range of the robot with gripping tools (mechanic arms, tools,
etc.).
7. Ensure that safety measures (e.g., guardrails, ropes, or protective screens) are in place near
the operation area of the robot to protect operators and surrounding people. Locks should be
provided as necessary to make the robot power inaccessible to anyone other than the operator in
charge.
8. In emergencies or abnormal situations when a person is caught or trapped by the robot, after
pressing the emergency stop button, you may push or pull its arm to force the joint to move. Manual
movement of the robot without electric power is limited to emergencies and may lead to joint
damage.
2.4
This manual does not involve any applications of how to design, install and operate the robot, nor does it involve
any peripheral equipment that may affect the security of the robot system.
It is the responsibility of users of JAKA’s robot to ensure that relevant practical national laws and regulations are
followed, and that no significant hazards lie in the whole robot application.
All safety information in this manual cannot be considered as a guarantee of JAKA. Even if all safety instructions
are followed, injuries or damage may still be caused by operators.
JAKA will keep improving the performance and reliability of our robots. We are not responsible for errors or
omissions in this manual and reserve the right of final interpretation of this manual.
When there is interaction between operators and the robot, there is inevitably direct or indirect physical contact.
When touching the robot, users must have sufficient awareness of self-protection. Users need to be cautious
when using the robots. Some possible hazards are as follows:
⚫The robot drops and cause any injury when it is moved;
⚫The fastening bolts or screws of the robot get loose and cause any injury;
⚫During the operation, the robot pinches your fingers or collide with you;
⚫The robot causes any injury due to lack of prompt repair of faults;
⚫Potential danger when sharp-end actuators or sharp tool coupling ends are used;
⚫Potential injury when the robot is operated in toxic or corrosive environments;
⚫Robot in a strong magnetic environment.
2.5
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.
JAKA Pro series have special security rating features specially designed for collaborative operation, that is, the
robot can work without guardrails or work with people. Collaborative operation is only suitable for danger-free
applications, that is, complete applications where tools, workpieces, obstacles and other machines have been
proven not to have a significant risk following an application-specific risk assessment.
Any use or application that violates the intended use is not allowed, including but not limited to:
⚫Use it in an environment where dust explosion may occur;
File Version: 3.5 / JAKA Pro Series Hardware User Manual
⚫Use it in vacuum environment;
⚫Use it in medical treatment and vitally important matters;
⚫Use it without risk assessment;
⚫Use it when the performance level is assessed as unqualified;
⚫Operate it without the permitted operating parameters.
2.6
Robots are partly completed machinery, and the way the robot is integrated plays a decisive role in whether the
robot is installed safely (e.g. end effectors, communication equipment, etc.). Risk assessment is an important
thing that integrators need to perform. This is required by law in many countries. It is recommended that the
integrator needs to perform the risk assessment according to ISO 12100 and ISO 10218-2, with the option of
using ISO/TS 15066 as additional guidance. The risk assessment performed by the integrator should consider
all matters within the robot's lifetime, including but not limited to:
1. Teaching of the robot during robot installation, set-up and development;
2. Operations of the robot installation;
3. Troubleshooting and maintenance;
The risk
assessment performed by integrator to identify safety configuration settings, assess whether additional
emergency stop buttons or other protective measures required for specific robotic applications are required.
Proper safety configuration is especially important for the use of robots. Cobots have specific safety functions,
which can be configured through settings. These functions are especially important when integrators conduct
risk assessments:
1. Force limit: refers to the force required by the robot to issue a collision alarm when the robot is in contact
with the external environment, showed as a percentage. The higher the percentage, the greater the force
required for the robot to stop;
2. Momentum limit: refers to restricting the momentum of the robot during movement. The limit will directly
affect the speed of the robot. When the momentum of the robot exceeds the limit, the robot speed will be reduced;
3. TCP speed limit: refers to limiting the absolute speed of the end TCP point during the movement of the robot.
The path speed will be kept within the TCP speed limit;
4. Power limit: refers to limiting the mechanical power during the robot movement. This limit will directly affect
the speed of the robot. When the mechanical power of the robot exceeds the limit, the robot speed will be
reduced.
Integrators must prevent unauthorized personnel from modifying safety configurations.
When performing a risk assessment, the integrator should take into account exposures due to potential misuse,
i.e.:
1. The possibility of a potential collision;
2. The possibility of avoiding potential collisions;
3. The severity of the potential collision;
If the robot is installed in a non-collaborative robot application and the risk cannot be eliminated by configuring
the robot's safety functions. 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.
2. Sharp edges and sharp points on obstacles in and near the robot workspace stab the skin.
3. Bruised due to contact with the robot.
File Version: 3.5 / JAKA Pro Series Hardware User Manual
4. Sprain or fracture caused by the impact between the heavier load on the end of the robot and the hard
surface.
5. Consequences caused by loose bolts or screws used to fasten robots or end effectors.
6. Consequences of items falling from end effectors.
7. Mis-operation due to different emergency stop buttons on different machines.
8. Error due to unauthorized changes to safety configuration parameters.
Information on stopping times and stopping distances are found in 3.2 Safety Stop Time and Distance and
Appendix 1: Stop Time and Distance.
2.7
After using the robot for the first time or making any modifications, the following tests must be performed. Ensure
that all safety inputs and outputs are correct and connected correctly. Test that all connected safety inputs and
outputs are functioning. Ensure that the payload is configured correctly. The following tests are required:
1. Test if the emergency stop button and input can stop the robot and engage brakes.
2. Test whether the safeguard input can stop the robot motion. If safeguard reset is configured, check if
activation is required before resuming motion.
3. Check whether the reduced mode input can switch the motion mode to the reduced mode.
4. Test whether the 3-position enabling device must be pressed to enable motion in manual mode and the robot
is under deceleration control.
5. Test whether the emergency stop output of the system can actually bring the entire system into a safety
state.
6. Test whether the system connected to the robot moving output, robot non-stop output, reduced mode output,
or non-reduced mode output can actually detect output changes.
7. Test whether the payload configuration matches the current actual payload of the robot.
2.8
When an emergency occurs, press the emergency stop button to stop all the movements of the robot
immediately. Emergency stop cannot be used as a risk reduction measure, but it can be regarded as secondary
protection equipment and is only used in emergencies. If you need to stop the robot movement under normal
circumstances, please adopt other measures. After risk assessment, if you need to install an emergency stop
button, the button must meet the requirements of IEC-60947-5. The time and distance of emergency stop of
JAKA’s robot have been tested. See Appendix 1: Stop Time and Distance for the test data.
When the emergency stop button is pressed, the robot system will cut off the robot power. In this
case, although the brakes between the joints will lock the joints automatically, there will still be a slight
downward movement of the robot under gravity, so there is a risk of pinching or collision.
2.9
In an emergency when the power supply of the robot fails or is not used, the robot joints can be forced to move
in following way:
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 / JAKA Pro Series Hardware User Manual
If the brake is released manually, the joint of the robot may move under gravity, so it is necessary to
effectively support the robot and tools or workpieces installed on the robot before manually releasing
the brake.
2.10
The following labels are safety warning labels and product label on the robot and the control cabinet. During the
operation, be sure to follow the instructions and warnings on the labels to ensure safety. Do not remove the
labels at will and remote stick labeled parts or units and their surrounding area with caution to avoid damage to
the labels. Product labels and robot model figures are only for reference.
File Version: 3.5 / JAKA Pro Series Hardware User Manual
Product label
Beware of collision
Beware of pinching
Beware of electric shock
Grounding
Warning hot surface
Note:
1. For the serial numbers of the robot and control cabinet, you can check their labels. The labels of robots are
on the lower arm, and the label of control cabinet is on the front cover of the control cabinet.
2. Product labels and robot model figures are only for reference, actual varies by robot model.
Building 6, No. 646, Jianchuan Road,
Minhang District, Shanghai, China
Max. Payload:
Max. Reach:
Input:
Weight:
Enclosure Type:
Building 6, No. 646, Jianchuan Road,
Minhang District, Shanghai, China
Input:
Output:
SCCR:
Weight:
Enclosure Type:
File Version: 3.5 / JAKA Pro Series Hardware User Manual
3Safety Functions
JAKA’s robot has a series of safety functions to guarantee the safety of man-machine collaboration. This chapter
introduces these safety functions, and users should strictly abide by the requirements and precautions.
3.1
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.
If Cat. 0 is triggered, the power to the robot is immediately cut off and the robot stops running immediately.
If Cat.1 is triggered, the robot actuators remain powered until the robot stops, and the driving power supply is
disconnected after it is completely stopped.
If Cat.2 is triggered, the robot stops while maintaining the trajectory, and it remains powered after being stopped
with the programs suspended.
3.2
Safety stop time is the time it takes to stop the robot from the moment when the emergency stop button is
pressed or a safety protection function is triggered; the stop distance is the distance the end of the robot moves
during the safety stop time. Among them, pressing the emergency stop button falls into Cat.1, while triggering
the safety protection function falls into Cat.2. During this period, the robot is still moving and may harm the
personnel or other equipment. Therefore, users and integrators should consider this time and distance in risk
assessment.
The test conditions are as follows:
⚫Reach: 100%, 66%/ 72.5%, 33%;
⚫Speed: 100%, 66%, 33%;
⚫Payload: See the table below.
Pro 5
5 kg (11 lb)
Pro 12
12 kg (26.4 lb)
Pro 16
16 kg (35.3 lb)
See Appendix 1: Stop Time and Distance for the respective stop distance and time of Cat.1 and Cat.2.
3.3
JAKA’s robot have two configurable safety modes: the emergency stop mode and the protective stop mode.
When an emergency occurs, this mode can be triggered for protection.Users can trigger the
configuration via the emergency stop button on the remote stick, the EI interface on the control cabinet panel
P8, and the safety IO function in the safety settings.
The protective stop is a stop type triggered when the controller detects an error.The protective
stop can be triggered by the SI interfaces on P8 of the front panel of control cabinet, the safety I/O and safety
plane function in the safety settings.
When the robot is in the emergency stop and protective stop state, its states are as follows:
Robot movement state
Stop
Stop
Joint motor state
Stop after deceleration
Enabled
File Version: 3.5 / JAKA Pro Series Hardware User Manual
Robot power state
Power off
Power on
Program state
Stop and need to be powered again
Pause
Brake state
Braking state
Non-braking state
3.4
JAKA’s robot support a three-position enabling function, which can be used in conjunction with external three-
position enable device. The standard product delivery of JAKA’s robot does not include this device. The three-
position enabling safety input interface is available for users and as an option for matching hardware, which the
design meets the certification requirements. For this optional accessory, please contact the authorized supplier
of JAKA.
When you use three-position enabling device and configure the corresponding function in the software, the robot
can only be moved and controlled after the three-position switch is pressed to a middle point. See 9.4.1 Definition
of Front Panel Interfaces, 9.4.3 Safety I/O Interfaces for wiring method.
The picture of the three-position enabling switch is as follows:
The corresponding robot control states for different states of the three-position enabling switch are as follows:
Release
Protective stop (Cat.2)
Off
When a program is run, the
three-position enabling function
is switched off.
Press lightly
Normal
On
Press tightly
Protective stop (Cat.2)
Off
Note:
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.
File Version: 3.5 / JAKA Pro Series Hardware User Manual
4Quick Start Guide
Before reading this chapter, ensure that you have read in detail and fully understood the 2 Safety Standard, 3
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: .
4.1
As is shown in figure above, JAKA robot system contains following components:
1. The main moving component to move as user desires.Ring-shaped light, buttons for dragging and
programming, and an I/O interface for connecting tools (the TIO interface) are also arranged at the end of the
body to indicate the robot’s state.
2. Connect the robot and the control cabinet.
3. The control cabinet includes the core computing components and various electrical
interfaces.
4. Provide power supply to the control cabinet.
5. Power on/off and enable on/off the robot, etc.
6. The equipment for users to programming, set parameters, etc.
7. The control cabinet comes with a Wi-Fi module that allows the operation
terminal to connect with the control cabinet (the Wi-Fi name is the control cabinet number) to control the robot.
It is also accessible to connect the network port of the control cabinet to the router and the operation terminal
to the wireless network of this router at the same time. It is recommended to configure a specialized router for
the robot to prevent conflicts with other devices.
4.2
The following table provides a brief overview of the steps for using the robot:
File Version: 3.5 / JAKA Pro Series Hardware User Manual
1
Robot mounting
Unpack the robot.
Note: If you want to move the robot
later, please keep the original
packaging.
2
Take out the robot from the packaging
materials.
Refer to 5 Transportation
3
Transport the robot to the intended
mounting location.
4
Lift and secure the robot to the platform
or foundation.
Refer to 8.6.2 Robot Mounting
5
Secure the tools on the end of the robot,
if any.
Refer to 8.6.3 End Effector Mounting
6
Control cabinet
installation
Unpack the control cabinet.
7
Take out the control cabinet from the
packaging materials and carry it to the
vicinity of the robot.
Note: The length of robot connection
cable is 6m (36.220in), so the distance
between control cabinet and robot
should be less than it.
Refer to 5 Transportation
8
Connect the cables
Connect the robot connection cable,
control cabinet power cable, control
stick cable, Ethernet cable (if any), and
TIO cable (if any) in sequence.
Refer to
⚫8.1.4 Robot Connection Cable
Interface
⚫9.5 Bottom Panel Interfaces
⚫8.1.3 Tool I/O Port
9
Flip the toggle switch at the bottom of
the control cabinet to turn on the power
switch.
Refer to 9.5 Bottom Panel Interfaces
10
The emergency stop button on control
stick is released in default, if it is
pressed, please release it first.
Refer to 7 Control Stick
11
Connect the robot
Power up the control cabinet, power on
and enable the robot by control stick.
Refer to 7.1 Control Stick Control
Robot
12
Connect the robot by a
computer/pad/mobile phone.
Refer to 1.5 JAKA Zu App Software
User Manual
13
Configure the robot
Set the mounting orientation, payloads
and collision sensitivity of the robot in
the JAKA Zu App.
Refer to 1.5 JAKA Zu App Software
User Manual
14
Control the robot
Enable robot to move by pressing the
Free button on the end of the robot or
entering programming/manual
operation interface of the JAKA Zu App.
Refer to
⚫8.1.2 Buttons on Flange
⚫1.5 JAKA Zu App Software User
Manual
File Version: 3.5 / JAKA Pro Series Hardware User Manual
5Transportation
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.
-90°
0°
152°
120°
0°
0°
At least two individuals are required for lifting and securing the robot during transportation. One person should
hold the connection places between joint 1 and lower arm with both hands, while the other holds the connection
places between joint 3 and lower arm with one hand, holds the connection places between joint 3 and upper
arm with another hand, as shown in the figure below.
Lifting the robot by grabbing the robot's upper arm or joint 4/5/6 is strictly prohibited, as shown in the figure
below. This action may cause damage to the internal structure of the robot.
There is a black handle on the control cabinet, so you can grip this handle to transport the control cabinet.
File Version: 3.5 / JAKA Pro Series Hardware User Manual
6Technical Specification
6.1
Payload
5 kg (11lb)
12 kg (26.4 lb)
16 kg (35.27 lb)
Weight (including cables)
22.6kg (49.83 lb)
42.5 kg (93.70 lb)
79.7 kg (175.71 lb)
Reach
954 mm (37.5 in)
1327 mm (52.2 in)
1713 mm (67.44 lb)
Repeatability
±0.02 mm (±0.00079 in)
±0.03 mm (±0.00118 in)
Degree of freedom
6
Programming
Graphical programming, and freedrive programming
Demonstrator type
Mobile terminal (computer/pad/mobile phone)
Collaborative operation
Collaborative operation as ISO 10218-1: 2011
Range of action
Joint 1
±360°
Joint 2
-85°~+265°
Joint 3
±175°
Joint 4
-85°~+265°
Joint 5
±360°
Joint 6
±360°
Joint speed
Joint 1
180 °/s
120 °/s
120 °/s
Joint 2
180 °/s
120 °/s
120 °/s
Joint 3
180 °/s
120 °/s
120 °/s
Joint 4
180 °/s
180 °/s
180 °/s
Joint 5
180 °/s
180 °/s
180 °/s
Joint 6
180 °/s
180 °/s
180 °/s
Tool typical speed
3 m/s (9.843 ft/s)
3 m/s (9.843 ft/s)
3.5 m/s (11.484 ft/s)
Average power consumption
350 W
500 W
750 W
Peak power
2000 W
3000 W
4000 W
Temperature
0~50°C (32~122°F) i
Humidity
0~100% RH, non-condensation
IP
IP68
Robot mounting
Mounting at any angle
Tool I/O port
2 digital inputs
2 digital outputs
2 analog inputs
Tool I/O power supply
12/24V
Tool I/O size
M8
Tool I/O cable length
400 mm (15.748 in)
Base diameter
158 mm (6.220 in)
188 mm (7.402 in)
246 mm (9.685 in)
Material
Aluminum alloy, PC
Length of robot connection
cable
6 m (236.220 in)
Length of control stick cable
6 m (236.220 in)
i: 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.
This manual suits for next models
3
Table of contents
Other JAKA Robotics manuals
