JAKA Robot User manual

1
JAKA Robot
User Manual - Hardware
Section
JAKA Zu MiniCab

JAKA Robot
User Manual
JAKA Zu MiniCab v1.1
Cabinet No.:

1JAKA Zu MiniCab v1.1
Note:
The definition of collaborative robot (Cobot) follows the international ISO standards and national standards
to protect the safety of operators. We do not recommend directly applying the robot to situations where the
object of operation is a human body. However, when robot users or application developers do need to involve
the human body in the robot operation, they need to configure a safe and reliable, fully tested and certified
security protection system for the robot to protect the safety of human beings on the premise that the user or
application developers can fully evaluate the safety of human beings.
The content contained in this User Manual is the exclusive property of Shanghai JAKA Robot Technology
Co., LTD (Hereinafter collectively referred to as JAKA), and shall not be used in any form without the written
consent of JAKA.
The user manual is subject to revision and improvement on a regular basis by JAKA and its contents are
subject to change without prior notice. Please carefully check 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 for any accidental or consequential damages caused by the
use of this Manual and the products it introduces. Please read this Manual carefully before installing and using
the product.
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
observed when using and maintaining the JAKA robot.
The Programmer of JAKA robot and the Designer and Debugger of the robot system shall be familiar with
the JAKA robot's programming mode and system application installation.
Manual Instructions
This manual mainly includes precautions for safe use of robot controller, mechanical and electrical
interfaces, installation and maintenance, and JAKA Zu software usage.
Users of this manual shall have received basic mechanical and electrical training, which will be more
helpful to the installation and use of the robot.
More Information
For more information about our products, please scan the QR code on
the right to visit our official website www.jaka.com.

2JAKA Zu MiniCab v1.1
Content
MANUAL INSTRUCTIONS...................................................................................................................................... 1
INTRODUCTION........................................................................................................................................................ 4
PRODUCT LIST......................................................................................................................................................... 5
CHAPTER 1 SAFETY SPECIFICATION............................................................................................................... 7
1.1 INTRODUCTION............................................................................................................................................. 7
1.2 SAFETY WARNING SIGNS DESCRIPTION.............................................................................................. 7
1.3 SAFETY PRECAUTIONS.............................................................................................................................. 7
1.4 RESPONSIBILITY AND RISK....................................................................................................................... 8
1.5 EMERGENCY ................................................................................................................................................. 9
1.6 PRECAUTIONS FOR TRANSPORTATION AND HANDLING................................................................ 9
CHAPTER 2 WELCOME....................................................................................................................................... 10
2.1 TYPICAL APPLICATION SCHEMATIC DIAGRAM................................................................................. 10
2.2 COMPOSITE ROBOT APPLICATION....................................................................................................... 11
2.3 OPERATION TERMINAL............................................................................................................................. 11
2.4 ELECTRIC CONTROL CABINET AND CONTROL STICK.................................................................... 11
CHAPTER 3 MECHANICAL SPECIFICATION................................................................................................. 14
3.1 OUTLINE DIMENSION................................................................................................................................. 14
3.2 INSTALLATION............................................................................................................................................. 15
3.2.1 INSTALLATION METHOD................................................................................................................... 15
3.2.2 INSTALLATION ENVIRONMENT REQUIREMENTS .................................................................... 17
CHAPTER 4 ELECTRIC PARAMETERS........................................................................................................... 19
4.1 INTRODUCTION........................................................................................................................................... 19
4.2 ABSOLUTE LIMIT PARAMETER............................................................................................................... 19
4.3 RECOMMENDED USAGE 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

JAKA Zu MiniCab v1.1 3
CHAPTER 6 DETAILED INTRODUCTION........................................................................................................ 25
6.1 OVERVIEW.................................................................................................................................................... 25
6.2 FUNCTION APPLICATION......................................................................................................................... 25
6.2.1 ELECTRICAL SERVICE REQUIREMENTS..................................................................................... 25
6.2.2 EMERGENCY STOP............................................................................................................................ 26
6.2.3 SWTICH-ON/OFF.................................................................................................................................. 27
6.2.4 LED STATE INDICATOR..................................................................................................................... 29
6.2.5 INTEGRATED UDIO............................................................................................................................. 29
6.3 BRAKE VOLTAGE SETTING...................................................................................................................... 30
6.4 NETWORK SETTINGS................................................................................................................................ 31
6.4.1 INTRODUCTION TO NETWORK INTERFACE............................................................................... 31
6.4.2 WI-FI.......................................................................................................................................................... 32
6.4.3 NETWORK CONFIGURATION........................................................................................................... 32
CHAPTER 7 MAINTENANCE AND REPAIR..................................................................................................... 34
7.1 SAFETY INSTRUCTIONS........................................................................................................................... 34
7.2 MAINTENANCE ITEMS AND CYCLES..................................................................................................... 35
7.3 REPLACEMENT AND PRESERVATION OF COMPONENTS............................................................. 36
7.3.1 PRESERVATION OF COMPONENTS.............................................................................................. 37
7.4 COMMITMENT OF AFTER-SALES SERVICE........................................................................................ 37
CHAPTER 8 QUALITY ASSURANCE................................................................................................................ 39
8.1 PRODUCT QUALITY ASSURANCE.......................................................................................................... 39
8.2 DISCLAIMER................................................................................................................................................. 39

4JAKA Zu MiniCab v1.1
Introduction
JAKA Zu®MiniCab is a new compact robot controller that can be used with the existing
JAKA Zu®series of collaborative robots and is wholeheartedly at your service. Minding your
mind.
JAKA robot uses the control mode of mobile intelligent terminal and APP to connect with the robot. And
one mobile terminal can control several robots. Operators do not need to master professional programming
language and can easily complete the programming by manually controlling the robot. In this way, the
man-machine collaboration can be more leisurely, which greatly improves the production efficiency.
MiniCab is a compact robot controller based on wide voltage DC power supply. It can be seamlessly
integrated into the existing infrastructure and can provide powerful performance for more application scenarios.
With Wi-Fi hotspot, it can be widely used in AGV, composite robot and other mobile platforms, and support
intensive deployment.

JAKA Zu MiniCab v1.1 5
Product List
When you purchase a JAKA Zu®MiniCab robot controller separately, the package list
you receive is as follows:
Name
Quantity
JAKA Zu MiniCab
1
Handle assembly
1
Power supply, emergency stop, IO plug
and pull terminal
3
Wi-Fi antennas
1
Hangers and matching bolts
2
Rail installation assembly (Optional)
1

6JAKA Zu MiniCab v1.1
Specifications
Weight
1.1kg
Dimensions (W × H × D)
180×46.6×128mm
Ambient Temperature
0-50℃
Protective class
IP20
Materials
Aluminum alloy steel
Power
DC30V~60V
Communication Ways
TCP/IP. Modbus TCP.
Modbus RTU
I/O Port
7 segment I/O multiplexing
I/O Power Supply
24V

JAKA Zu MiniCab v1.1 7
Chapter 1 Safety Specification
1.1 Introduction
This chapter mainly introduces the safety principles and specifications that shall be observed when
using robots or robot systems. Users shall carefully read the safety related contents in this manual and
strictly follow them. Operators shall be fully aware of the complexity and danger of the robot system and
pay 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 use of 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
This chapter is intended to protect the operator and point out the related matters that need to be paid
attention to during the first installation. Users need to read the safety warnings in this manual carefully, but
there are still many possibilities, and many descriptions of them cannot be exhaustive. We have described
various situations as much as possible.
1. Professional debugging personnel are required to install and
debug the MiniCab and the robot in accordance with the
specifications.
2. The setting and modification of robot parameters shall be
carried out by authorized personnel and unauthorized personnel shall
be prevented from changing parameters.

8JAKA Zu MiniCab v1.1
3. If the operator uses his/her own electric control cabinet, he/she
shall bear the risks.
1. Do not connect safety devices to a normal I/O interface to
avoid injury.
2. Make sure that the correct installation settings (such as the
robot installation angle, the quality in TCP, the TCP offset, the
security-related configuration) are performed, and the installation file
is saved and loaded into the program.
3. Tools and obstacles shall not have sharp corners or points.
Make sure all personnel are out of reach of robots.
4. Connecting different machines may aggravate the danger or
introduce new risks. A comprehensive risk assessment shall be
conducted throughout the installation at all times.
5. The controller uses DC voltage input. Please use the DC
power supply in a standard way. When using battery power, you need
to consider the related risks brought by the battery.
6. For the precautions of the robot, please refer to the specific
model.
1. The robot and MiniCab will generate heat when they are
working. Do not touch the robot when it stops and you can only touch
it after the power is off for about 1 hour.
2. MiniCab will generate heat and do not put your hand on the
shell of MiniCab.
1.4 Responsibility and Risk
Liability
This manual does not cover all applications of how to design, install and operate a robot, nor does it cover
all peripherals that may affect the safety of the robot system.
The integrator of JAKA bears the liability to ensure that the applicable laws and regulations of the relevant
country are followed to ensure that there is no significant risk in the complete robot application.
All safety information contained in this manual shall not be construed as a guarantee of JAKA, and injury
or damage caused by an operator may occur even if all safety instructions are complied with.
The JAKA product will consider the safety design and be adapted to the operation handle and the user
emergency stop interface for the safe operation in case of an emergency. Please use it in accordance with the
product requirements. The company will not be liable for the safety problems caused by the unauthorized
disassembly and modification of the emergency stop interface.
JAKA will constantly strive to improve the performance and reliability of the company's robots. The
Company will not be liable for any errors or missing information in this manual, and reserves the right of final
interpretation of this manual.

JAKA Zu MiniCab v1.1 9
Risk
When there is interactive relationship between the operator and robot, there must be direct or indirect body
contact. During contact, operators must have sufficient self-protection awareness, and integrators need to
carefully consider the operating conditions when using the company's robots for customers. The following
dangerous situations may occur:
Robots may fall and injure the personnel when robots are handled;
Injuries caused by loose fixing bolts of the robot;
When the robot is working, it may pinch fingers and hurt people;
Injury caused by the failure of robot which is not repaired in time;
There may be dangerous situations when using sharp end effectors or tool connections;
Robots can injure people when operating in toxic or corrosive environments.
1.5 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 may be considered as a secondary
protection.
1.6 Precautions for Transportation and Handling
The robot/controller needs to be fixed in its original packaging during transportation to ensure that the
equipment is stable and kept dry.
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 until all the bolts on the
base of the robot are fastened.
Note:
1. Make sure your back or other parts of your body are not overloaded when you are lifting the device. Use
suitable lifting equipment. JAKA is not liable for the damage caused during the transportation of the
equipment.
2. Ensure that installation instructions are strictly followed during robot installation.

10 JAKA Zu MiniCab v1.1
Chapter 2 Welcome
Before reading this chapter, make sure that you have read and fully understood the Safety Specifications
in Chapter 1.
This chapter will provide a quick introduction to JAKA Zu MiniCab's basic components and usage as a
preliminary understanding of the robot. For detailed mechanical and electrical specifications and software
operation manual, please refer to other chapters.
If you need immediate help when using the MiniCab, please call our quick enquiry hotline: [phone].
2.1 Typical Application Schematic Diagram
Figure 2-1 Typical MiniCab Application
As shown in Figure 2-1, the JAKA Zu MiniCab controller adopts the mode of wireless interconnection and
integrates the function of Wi-Fi hotspot internally. It needs to include the following parts when in use:
Operation Terminal: The device for users to perform programming, setting, and other operations.
Robot Body: Main moving parts to achieve the desired action of the user. At the same time, the robot end
is equipped with a ring indicator light indicating the status of the robot, buttons for dragging and programming,
and an I/O interface for connecting tools, namely the TIO interface.
Operation Handle: The controller is equipped with user-friendly handle to control robot operation and
emergency stop operation.
DC Power：The controller adopts DC voltage input, supports DC 30-60V wide voltage range, and can use
48V battery or DC module power supply as input source.

JAKA Zu MiniCab v1.1 11
2.2 Composite Robot Application
Figure 2-2 Typical Application Diagram of Composite Robot
As shown in Figure 2-2, the JAKA Zu MiniCab controller can be used with mobile platforms such as AGV,
and the 48V power battery inside the AGV can be used to provide power, which is compact in size with an easy
and simple integration.
2.3 Operation Terminal
JAKA provides JAKA Zu series robot operation software developed based on Android system, and the
recommended operation hardware configuration of this software is shown in Table 2-1:
Table 2-1 Operation Terminal Configuration Table
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
Wi-Fi
When purchasing JAKA Zu series collaborative robots, users can also request to purchase operation
terminals or use their own tablets.
2.4 Electric Control Cabinet and Control Stick
The controller provides a keypad handle that can be used to start the robot without using the APP when

12 JAKA Zu MiniCab v1.1
the running program is written and loaded by default.
The handle sends control commands to the controller through the combination of keys. The function of the
combination of keys is described as follows:
Table 2-2 Handle Function Description
Power on
Power on: Short press the power button for 1s and then release. The buzzer rings,
and the electric control cabinet turns on.
Shutdown: Long press the power button for more than 3s. The handle rings 6~7
times, and the electric control cabinet turns off.
Enable
Power on the robot: If the power is not turned on, short press the button to electrify
the robot.
Power off the robot: When the power is on, short press the button to turn the robot
off.
Enbale the robot: When the power is on, short press the Lock key + Enable key.
Disable the robot: When the robot is enabled, short press the Lock key + Enable
key.
Termination
Terminate program operation: Short press the Stop button to start the loaded
default program, and after it moving to the initial position of the program, execute
the default program.
Terminate program operation: In the robot running program, short press to
terminate the program.
Reset
Reset: After the robot is enabled, when the program is not running, press
continuously to control the robot to move to the set default position. When the robot
runs to the default position, keep pressing and lock the prompt light to blue
breathing light.
Suspension
Pause: During the automatic operation of the robot, press Pause program
execution.
Recover: When the machine is suspended, press Recover program execution.
Lock
Lock handle: Long press the Lock button for 3s and the lock indicator light flashes
orange.
Unlock handle: Long press the Lock Key for 3s and the locking prompt lights are
switched off.
Combined functions: Other keys can be used with the Lock Key.
Locking
prompt lights
Locked state: When in a locked state, the light flashes orange. All buttons are
invalid except the Unlock button. The robot can be controlled through the App.
Unlocked state: When in the unlocked state, the lights are off and the handle can
be used. When the APP interface is grey, the robot can no longer be controlled.
E-STOP
button
For emergency stop.
Note: The E-STOP button is only used in the case of an emergency and shall not be
used as a general Power-Off device.

JAKA Zu MiniCab v1.1 13
Note:
When the power is on, press any key, and the handle buzzes twice a second.
During the power-on process, LOGO lamp first flashes red, blue and green alternately, accompanied by three buzzes, and then
LOGO lamp flashes orange and waits for the IPC to go online. When the controller program is running normally, the LOGO lamp
flashes blue. After the robot is enabled, the LOGO lamp flashes green.
When you are using the handle to operate the robot, please make sure that the robot you are operating is within sight, and follow
relevant safety regulations to prevent injury to people or damage to equipment around the robot.

14 JAKA Zu MiniCab v1.1
Chapter 3 Mechanical Specification
MiniCab is compact in design, featured with small size and high integration. It is mainly used in conjunction
with the JAKA products and peripheral accessories.
Figure 3-1 Product Appearance Rendering
3.1 Outline Dimension
The dimensions of JAKA Zu MiniCab are shown in Figure 3-2. Standard accessories include side lugs,
which support panel mounting and base mounting. At the same time, if the guide rail installation is needed, the
guide rail installation component is optional.

JAKA Zu MiniCab v1.1 15
Figure 3-2 Outline Dimensions and Installation Hole Bitmap
3.2 Installation
3.2.1 Installation Method
MiniCab shall be installed reliably before use. Here are three ways to install:
3.2.1.1 Rear Lug Mounting

16 JAKA Zu MiniCab v1.1
Figure 3-3 Rear Lug Mounting Diagram
The upper and lower lugs are factory default configuration, and the installation method is shown in
Figure 3-3. 4 M3 bolts shall be selected for fixing parts, and the spacing of mounting holes is shown in
Figure 3-2. When the fixed plate is a moving platform, in order to reduce the impact of moving vibration on
MiniCab, it is recommended to add a rubber gasket between the MiniCab and the fixed plate.
3.2.1.2 Base Installation
Figure 3-4 Base Installation Schematic Diagram

JAKA Zu MiniCab v1.1 17
MiniCab supports the bottom mounting and fixing mode, as shown in Figure 3-4. 4 M3 bolts are
selected for fixing, and the size data of the bottom mounting hole are shown in Figure 3-2. When the fixed
plate is a moving platform, in order to reduce the impact of moving vibration on MiniCab, it is
recommended to add a rubber gasket between the MiniCab and the fixed plate.
3.2.1.3 Rear Guiderail Installation
Figure 3-5 Rear Guiderail Installation Diagram
MiniCab also supports rear installation of national standard guiderail, and the guiderail buckle is optional.
When there is a need for rear guiderail installation, please contact the technical service personnel of JAKA to
prepare before shipping or arrange a redelivery.
3.2.2 Installation Environment Requirements
MiniCab needs to be installed in a dry place with good ventilation and cooled by natural convection; when
there is a large amount of heat generated in the use scenarios, such as high-speed running, heavy load or
frequent braking, an external fan is required to cool the MiniCab. In order to ensure the MiniCab can be cooled
by a fan and natural convection, please refer to Figure 3-6 for installation, and reserve a distance of more than
100mm between each MiniCab (heat dissipation requirement), and reserve a distance of more than 50mm on
both sides of the longitudinal direction.

18 JAKA Zu MiniCab v1.1
Figure 3-6 Installation with Space Reserved
Note:
Do not install in damp or water spattering environment;
Do not use the equipment in the enclosed environment, which will cause high temperature, shorten
service life and even damage the equipment;
Keep away from heat sources such as stoves;
Do not use the product near corrosive and flammable gases, combustibles, such as hydrogen
sulfide, chlorine, ammonia, sulfur, chlorinated gases, acids, bases, salts, etc.;
This product is used at altitudes below 1000m, and please de-rate if the altitude is above 1000m.