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;