JAKA Zu Series User manual

JAKA ROBOTICS
Force Control Products
JAKA Se and JAKA Sp

JAKA ROBOTICS
User Manual for Force Control
Products
JAKA Se and JAKA Sp
Version: 3.1.0
Applicable to products with control cabinet versions 1.5.13.32/1.7.0.38 or later

1
CAUTION:
Our cobots follow international ISO standards and relevant provisions of Chinese standards to protect the
safety of operators. We do not recommend their direct application to the human body. However, when the
human body is involved as the operation object, robot users or application developers need to configure a
safe and reliable, fully tested and certified safety protection system for the robot based on a comprehensive
evaluation to safeguard relevant personnel.
As one of the exclusive properties of Shanghai JAKA Robotics Co., Ltd. (hereinafter referred to as JAKA), the
information contained in this manual shall not be reproduced or transmitted without JAKA’s prior written
approval.
Regular revision and improvement of the JAKA user manual may be made without further notice. Please
carefully verify the actual product information before using this manual.
The information contained in the user manual is not a commitment by JAKA. JAKA will not be held liable for
any mistakes in this manual or for any accidents or indirect injuries resulting from the use of this manual and
relevant products. Please carefully read this manual before installing and using the product.
The pictures in this manual are for illustration purposes only, and all product information is subject to the
actual products.
JAKA will not provide after-sales service for products that have been modified or disassembled in any way.
Be sure to wear PPE to use and repair JAKA robots in compliance with safety regulations.
Programmers, system designers and debuggers of JAKA robots must be familiar with the programming and
system integration of JAKA robots.
How to Read This Manual
This manual primarily provides information on safety precautions, installation and maintenance procedures,
and software usage for force control products.
This manual will be a big help in both installation and operation to users with basic mechanical and electrical
knowledge.
More Information
To learn more about our products, please scan the QR code on the right to
visit our website: www.jaka.com.

2Force Control Products
CONTENTS
HOW TO READ THIS MANUAL ........................................................................................................................1
CONTENTS..........................................................................................................................................................2
PREFACE.............................................................................................................................................................5
WHAT DO THE BOXES CONTAIN....................................................................................................................5
1. PRODUCT INTRODUCTION .........................................................................................................................6
1.1. INTRODUCTION.............................................................................................................................................. 6
1.2. PRODUCT TYPES .......................................................................................................................................... 6
1.3. SAFETY REGULATIONS.................................................................................................................................. 8
1.3.1. Description of Warning Symbols........................................................................................................... 8
1.3.2. Safety Precautions................................................................................................................................. 8
1.3.3. Liabilities and Risks................................................................................................................................ 8
2. HARDWARE INSTALLATION......................................................................................................................10
2.1. JAKA ZU SE HARDWARE INSTALLATION .................................................................................................... 10
2.1.1. Type I Force Sensor ............................................................................................................................. 10
2.1.1.1 Overview.................................................................................................................................................................10
2.1.1.2 Sensor Installation ..................................................................................................................................................10
2.1.1.3 Wiring of the Sensor ...............................................................................................................................................11
2.1.1.4 Sensor Specifications ..............................................................................................................................................12
2.1.1.5 Precautions for Use.................................................................................................................................................12
2.1.1.6 Reference Tightening Torques for Sensor Mounting Bolts......................................................................................12
2.1.2. Type II Force Sensor ............................................................................................................................ 14
2.1.2.1 Overview.................................................................................................................................................................14
2.1.2.2 Sensor Installation ..................................................................................................................................................15
2.1.2.3 Wiring of the Sensor ...............................................................................................................................................17
2.1.2.4 Sensor Specifications ..............................................................................................................................................18
2.1.2.5 Precautions for Use.................................................................................................................................................18
2.1.2.6 Reference Tightening Torques for Sensor Mounting Bolts......................................................................................19
2.1.3. Type III Force Sensor ........................................................................................................................... 20
2.1.3.1 Overview.................................................................................................................................................................20
2.1.3.2 Sensor Installation ..................................................................................................................................................20
2.1.3.3 Wiring of the Sensor ...............................................................................................................................................22
2.1.3.4 Sensor Specifications ..............................................................................................................................................23
2.1.3.5 Precautions for Use.................................................................................................................................................23
2.1.3.6 Reference Tightening Torques for Sensor Mounting Bolts......................................................................................23

Version: 3.1.0 3
2.1.4. Type V Force Sensor ............................................................................................................................ 24
2.1.4.1 Overview.................................................................................................................................................................24
2.1.4.2 Sensor Installation ..................................................................................................................................................25
2.1.4.3 Wiring of the Sensor ...............................................................................................................................................26
2.1.4.4 Sensor Specifications ..............................................................................................................................................28
2.1.4.5 Precautions for Use.................................................................................................................................................28
2.1.4.6 Reference Tightening Torques for Sensor Mounting Bolts......................................................................................28
2.1.5. Type VI Force Sensor ........................................................................................................................... 30
2.1.5.1 Overview.................................................................................................................................................................30
2.1.5.2 Sensor Installation (JK-SE-VI-200, JK-SE-VI-400, JK-SE-VI-H)....................................................................................31
2.1.5.3 Sensor Installation (JK-SE-VI-400S)..........................................................................................................................34
2.1.5.4 Sensor Installation (JK-SE-VI-200N, JK-SE-VI-400N, JK-SE-VI-800N, JK-SE-VI-400NS, JK-SE-VI-1200NS) ..................36
2.1.5.5 Sensor Specifications ..............................................................................................................................................38
2.1.5.6 Precautions for Use.................................................................................................................................................38
2.1.5.7 Reference Tightening Torques for Sensor Mounting Bolts......................................................................................39
2.1.6. Type VII Force Sensor .......................................................................................................................... 40
2.1.6.1 Overview.................................................................................................................................................................40
2.1.6.2 Sensor Installation ..................................................................................................................................................40
2.1.6.3 Wiring of the Sensor ...............................................................................................................................................42
2.1.6.4 Sensor Specifications ..............................................................................................................................................43
2.1.6.5 Precautions for Use.................................................................................................................................................44
2.1.6.6 Reference Tightening Torques for Sensor Mounting Bolts......................................................................................44
2.2. JAKA ZU SP HARDWARE INSTALLATION .................................................................................................... 45
2.2.1. Type IV Force Sensor................................................................................................................................. 45
2.2.1.1 Overview.................................................................................................................................................................45
2.2.1.2 Sensor Installation ..................................................................................................................................................45
2.2.1.3 Wiring of the Sensor ...............................................................................................................................................46
2.2.1.4 Sensor Specifications ..............................................................................................................................................46
2.2.1.5 Precautions .............................................................................................................................................................47
2.2.1.6 Reference Tightening Torques for Sensor Mounting Bolts......................................................................................47
3. SOFTWARE USAGE ....................................................................................................................................48
3.1. JAKA ZU SE SOFTWARE USAGE ................................................................................................................. 48
3.1.1. Jaka Zu Se System Construction .......................................................................................................... 48
3.1.1.1 System Construction of Type I and Type III Sensors................................................................................................48
3.1.1.2 System Construction of Type II and Type V Sensors................................................................................................51
3.1.1.3 System Construction of Type VI Sensor...................................................................................................................53
3.1.2. Usage of JAKA Zu Se ............................................................................................................................ 56
3.1.2.1 Real-time Display of External Force Function .........................................................................................................56
3.1.2.2 Auto Load Identification Function...........................................................................................................................58
3.1.2.3 Safety Function .......................................................................................................................................................59

4Force Control Products
3.1.2.4 Traction Teaching Function .....................................................................................................................................60
3.1.2.5 Constant Force Compliance Function .....................................................................................................................62
3.1.2.6 Velocity Compliance Control Function....................................................................................................................64
3.1.2.7 Motion Stop Conditions Function ...........................................................................................................................65
3.2. JAKA ZU SP SOFTWARE USAGE ............................................................................................................... 67
3.2.1. JAKA Zu Sp System Construction......................................................................................................... 67
3.2.2. Usage of JAKA Zu Sp............................................................................................................................ 70
3.2.2.1 Real-time Display of External Force Function .........................................................................................................70
3.2.2.2 Traction Teaching Function .....................................................................................................................................72
3.2.2.3 Collision Detection Function...................................................................................................................................73

Version: 3.1.0 5
Preface
JAKA Robotics is at your service. Your Thoughts, Our Reach.
The JAKA Zu s series cobot force control products are configured with industrial-grade force sensors
integrated with proprietary force control algorithms to improve the perception, human-robot interaction
experience and safety of cobots. Our products' advantages include:
⚫Improving the human-robot interaction experience and safety;
⚫Real-time demonstration of external contact forces on the robot in the software interface;
⚫Setting safe contact force and force control parameters in the software interface;
⚫With Se series products utilizing end sensors, providing constant force control and compliant traction
teaching for the robot end;
⚫With Sp series products utilizing base sensors, providing collision detection and compliant traction
teaching for the whole robot.
Note: JAKA Zu s series cobots cannot be equipped with end sensors and base sensors at the same time.
What Do the Boxes Contain
The JAKA Zu s series cobot products include a standard robot product package and a force control product
package. The latter one contains the following items:
Item
Quantity
Force Sensor
1 piece
Connecting Cable and Accessories
1 set

6Force Control Products
1. Product Introduction
1.1. Introduction
As labor costs continue to rise, industries such as 3C, pharmaceuticals, food, and logistics are beginning to
seek help from robotic automation solutions. These emerging industries are characterized by a wide range of
products, rapid iterations and high flexibility requirements for operators. To enable robots to work together with
humans, it is necessary to enhance the perception of robots. Therefore, force sensors for robots were
developed.
Our industrial-grade force sensors are integrated with proprietary force control algorithms to enhance the
robot perception and the interaction experience with cobots. As shown in Figure 1-1, our Se series force
sensor is installed on the end flange of the robot to transmit the force value to the control cabinet in real time.
When its end effector is subjected to external force, the robot will adjust its end position and posture to adapt
to the force. At the same time, you can directly drag the robot end to change its position and posture.
Figure 1-1 JAKA Force Control Function
1.2. Product Types
The JAKA Zu s series includes Se and Sp:
Se series: end force control sensor, as shown in Figure 1-2.
⚫A 6D/1D force sensor installed at the robot end
⚫Real-time perception of external contact forces
- 6D force sensor: Fx, Fy, and Fz dimensional forces and Mx, My, and Mz dimensional torques
- 1D force sensor: Fz dimensional force
⚫Compliant traction teaching for the end
⚫A variety of force control modes such as constant force and speed
⚫Easy to configure, debug, and program
Force sensor
Force information
Force control
module
Force
information
Configuration
parameters
Force control command
Robot
The app displays contact
force in real time
Multiple drag modes
available
Equipped with a force
sensor

Version: 3.1.0 7
Figure 1-2 Se Series
Sp Series: base force control sensor, as shown in Figure 1-3.
⚫A 6D force sensor installed on the robot base
⚫Real-time perception of external contact forces (Fx, Fy, and Fz dimensional forces and Mx, My, and
Mz dimensional torques)
⚫Traction teaching for the whole robot in three directions
⚫Enhanced safety through full-body collision detection
⚫Easy to configure, debug, and program
Figure 1-3 Sp Series

8Force Control Products
1.3. Safety Regulations
All safety regulations for JAKA Zu series standard robots are applicable to JAKA force control products.
Please carefully read and strictly follow them. This section mainly introduces additional safety principles and
regulations that should be observed when using force control products. Please carefully read the safety-
related contents in this manual and strictly abide by them. Operators should be fully aware of the complexity
and danger of robotic systems, and pay special attention to the content with warning symbols.
1.3.1. Description of Warning Symbols
In this manual, the following warning symbol indicates content related to hazards. Please strictly observe it.
WARNING:
This indicates an imminently hazardous situation that, if not
avoided, could result in serious injury or death.
1.3.2. Safety Precautions
1. The force sensor must be installed and used in accordance with
the instructions and warnings in this manual.
2. Please protect the force sensor or any tools attached to it from
collision, regardless of whether the sensor is powered on or off.
3. When using the robot, please ensure that the emergency stop
button is clearly visible and easily reachable.
4. After installing and configuring the sensor hardware for the first
time, removing and installing it, or recovering from a fault, please
check whether the readings of the force sensor are normal and
initialize it properly before using the force control function.
5. Avoid using the force control function between rigid surfaces
without a buffer device.
1.3.3. Liabilities and Risks
Liabilities
This manual does not cover all applications for designing, installing and operating robots, nor does it cover all
peripherals that may affect the safety of robotic systems.
JAKA's integrators have the responsibility to make sure the entire robotic application is free from significant
risks and complies with relevant national laws and regulations.
The safety information in this manual should not be considered as a guarantee from JAKA. Even if all safety
instructions are observed, injury to operators or damage caused by operators may still occur.
JAKA constantly strives to improve the performance and reliability of our robots. JAKA is not liable for any
errors or omissions in this manual and reserves the right of final interpretation of this manual.

Version: 3.1.0 9
Risks
Operators will directly or indirectly contact the robot when interacting with it. Operators must take safety
measures when contacting the robot, and integrators need to carefully consider the operating conditions when
using JAKA's robots. The following dangerous situations may occur:
The uncontrolled motion of the robot end caused by a damaged force sensor;
The uncontrolled motion of the robot due to the incorrect readings of a force sensor that has been installed or
initialized improperly;
Sensor damage caused by violent external impact on the robot.

10 Force Control Products
2. Hardware Installation
2.1. JAKA Zu Se Hardware Installation
2.1.1. Type I Force Sensor
2.1.1.1 Overview
The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The
sensor senses relative deformation between the "tool end flange" and the "main body" caused by the force
exerted on it, and then measures the change in its elastic element with a resistance strain gauge. The sensor
contains a high-precision and highly-responsive embedded system, which can acquire and analyze changes
in signals from the resistance strain gauge as well as output the magnitude and direction of the applied force
in real time. Please install the sensor properly so as not to interfere with the output quality.
2.1.1.2 Sensor Installation
The mounting holes and dimensions of the sensor are shown in Figure 2-1.

Version: 3.1.0 11
Figure 2-1 Dimensions of the Sensor
a. Please ensure that the surfaces of the robot end, adapter plate and sensor are free of damage or
foreign objects. If the contact is non-uniform due to factors such as the inclusion of foreign objects,
gaps will be formed between them. As a result, the product may not meet IP64 compliance and would
have reduced output quality.
b. Separate the sensor from the adapter plate, and then install the adapter plate to the robot end flange.
Before installing the sensor, please perform a pre-installation to keep the XY directions of the sensor
coordinate system consistent with that of the robot end flange coordinate system, that is, to keep the
direction from the center of the robot end flange to the TIO () consistent with the -Y direction of the
sensor. Inconsistent installation directions may affect subsequent use.
c. Fasten the sensor to the adapter plate. Tighten the six M5 hexagon socket screws gradually and
diagonally for uniform contact between the sensor and the adapter plate.
d. Connect the output flange to the sensor output end. The mechanical interface of the output flange is
identical to that of the robot end flange.
The connections and installation of the sensor to the robot end are shown in Figure 2-2.
Figure 2-2 Sensor Installation
WARNING:
Do not use screws other than those provided with this product. Using other screws may cause irreversible
damage to the sensor or a robot fault.
2.1.1.3 Wiring of the Sensor
This sensor is connected via a network cable. Ensure the robot and the sensor are configured with the same
network segment. An independent gigabit router is recommended to guarantee the signal quality. You can also
set the Network Port IP at the bottom of the electric control cabinet (hereinafter referred to as CAB) to be the
same as that of the sensor. For the specific configuration method, please refer to the instructions in the "JAKA
Zu Se System Construction" section of Chapter 3.
Note: This sensor requires a 24V DC power supply from the internal power of the CAB or an additional power source.
M5 hexagon
socket screw
M6 hexagon
socket screw
M5 hexagon
socket screw
Adapter plate
Sensor
Tool end flange

12 Force Control Products
WARNING:
Before securing the sensor wiring harness with cable ties, be sure to check that attached peripherals do not
interfere with the robot's operational trajectory, so as to prevent the robot from pulling the wiring harness
during operation and thus causing irreversible damage to the sensor.
2.1.1.4 Sensor Specifications
The sensor specifications of type I are as follows:
Table 2-1 Sensor Specifications of Type I
Fx/Fy (N)
200
Fz (N)
360
Mx/My (Nm)
8
Mz (Nm)
8
Overload (%)
500
Accuracy (%)
0.5
Power Voltage (V)
12–24
IP Rating
IP64
Operating
Temperature (℃)
5–80
Communication
Interface
Network Port
2.1.1.5 Precautions for Use
a. Do not use in any environment with temperature or humidity beyond the allowable range.
b. The cable must be connected properly. Before powering on the sensor, please check whether the
cables are connected according to the colors indicated in this manual. A wiring mistake could cause a
shortcircuit and damage to the internal circuit of the sensor, so do not forget to check that the wiring is
correct.
c. The sensor has built-in precision components such as embedded systems. Although we have carried
out relevant vibration and shock tests, it is still necessary to prevent it from dropping, which could
cause excessive vibration and subsequent malfunctions.
d. Do not strike or knock the sensor when installing it, especially when installing it onto the adapter plate.
If the mounting clearance is tight due to the processed adapter plate, avoid striking or knocking the
sensor as it might result in damage.
e. After the sensor is installed and powered on, it is recommended to warm up for one hour before
operating.
f. When using the sensor, pay attention to the mass of the device mounted on it, which should be within
the payload range of the robot.
g. If you have any doubts or if any faults occur during use, please do not attempt to operate the product.
Instead, contact us directly.
2.1.1.6 Reference Tightening Torques for Sensor Mounting Bolts
Reference tightening torques for sensor mounting bolts are as follows:
Table 2-2 Reference Tightening Torques for Sensor Mounting Bolts
Metric
Reference Tightening
Torque (Nm)
M2
0.4

Version: 3.1.0 13
M3
2.0
M4
4.0
M5
8.0
M6
13.0
M8
35.0

14 Force Control Products
2.1.2. Type II Force Sensor
2.1.2.1 Overview
The strain-type six-axis F/T sensor can measure the forces and torques in 3 directions simultaneously. The
sensor senses relative deformation between the "tool end flange" and the "main body" caused by the load
exerted on it, and then measures the change in its elastic element based on the electrical strain measurement
principle. The sensor contains a high-precision and highly-responsive embedded system, which can acquire
and analyze changes in signals from the resistance strain gauge as well as output the magnitude and
direction of the applied force in real time. Please install the sensor properly so as not to interfere with the
output quality.
M6螺纹孔
Φ6定位销孔
防尘垫圈
工具端法兰
底盖
M4内埋螺钉
Φ5定位销孔
传感器主体
Figure 2-3 Sensor Appearance
Fx
FyMy
Mx
Fz
Mz
载荷参考平面
Figure 2-4 Definition of the Sensor Coordinate System
M6 threaded hole
Φ6 positioning pin hole
Dust washer
Tool end flange
Bottom cover
Φ5 positioning pin hole
M4 embedded screw
Sensor
Load reference plane

Version: 3.1.0 15
Figure 2-5 Electrical Connection of the Sensor
2.1.2.2 Sensor Installation
The mounting holes and dimensions of the sensor are shown in Figure 2-6.
Figure 2-6 Sensor Dimensions
The sensor installation procedure is as follows:
a. Please ensure that the surfaces of the robot end, mounting flange and sensor are free of damage or
foreign objects. If the contact is non-uniform due to factors such as the inclusion of foreign objects,
gaps will be formed between them. As a result, the product may not meet IP64 compliance and would
have reduced output quality.
Multicore cable
Power supply
Data communication
Terminal
device
Pin hole
Load reference plane
Pin hole
2-∅5, depth 6

16 Force Control Products
b. Separate the sensor from the mounting flange. When the sensor leaves the factory, the mounting
flange and the sensor are connected by six embedded hexagon socket screws. Use a 3 mm Allen key
to loosen them, so as to separate the mounting flange from the sensor, as shown in Figure 2-8.
c. Install the mounting flange on the robot: Use φ5 positioning pins to position the mounting flange and
the robot, and use four M6 hexagon socket screws to fix them. The positioning pins make it easy to
install and connect the device repeatedly, and they will not affect sensor performance if not used.
Gradually tighten the screws according to the diagonal sequence shown in Figure 2-7 to deliver uniform
contact between the sensor and the robot or adapter tooling.
CAUTION:
Before installing the sensor, please keep the XY directions of the sensor coordinate system consistent with
that of the robot end flange coordinate system, that is, keeping the direction from the center of the robot end
flange to the TIO consistent with the -Y direction of the sensor. Inconsistent installation directions may affect
subsequent use.
Figure 2-7 Screw Tightening Sequence Figure 2-8 Loosen Embedded Screws Using a 3 mm Allen Key
d. Fasten the sensor to the mounting flange. Use the positioning pins to position the sensor and the
mounting flange, and check that the mounting direction of the sensor is consistent with the use
direction of the device. Fasten the sensor with six embedded screws. Insert a 3mm Allen key into the
mounting hole on the sensor tool end flange. Turn it in the direction of the right-hand thread to secure
the screw in place.
Figure 2-9 Installation of the Sensor to the Robot
运行指示灯
Status light
电源指示灯
Power light
3mm Allen key