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