JAKA Zu 7电控柜V2.1-硬件手册（英文版）.pdf - 第24页

22 Electrical c ontrol cabinet front pan el interf ace definition table: Index Name PIN Label Description P1 DI(1~8) Digital Input 1 DI1 1st digital input, PNP Ty pe, the inpu t is active high 2 DI2 2nd digital input, PN…

Cautions:

1. The robot has passed the electromagnetic compatibility test

specified in the CR certification. Exceeding standard interference

signals will cause abnormal behavior of the robot. Extremely high

signal levels or exceeding the maximum standards will cause

permanent damage to the robot. JAKA is not responsible for any

damage caused by out-of-range EMC problems.

2. The length of the I/O cable used to connect the electrical

cabinet to other mechanical and industrial equipment must not

exceed 30 meters unless it is feasible after extended testing and

shielded cables are required if necessary.

4.3 Front panel of the electrical cabinet

The front panel interface of the electrical cabinet is arranged on the first floor after the electrical cabinet

door is opened, including:

16 digital inputs (P1 and P3)

16 digital outputs (P2 and P4)

2 configurable analog interfaces (P5)

1 set of high speed interface (P6)

Remote ON/OFF and 485 interface (P7)

Safety function interface (P8)

USB3.0 interface (P9) and Ethernet interface (P10)

The USB interface and Ethernet interface are reserved for internal use and can be contacted by JAKA

technical support personnel if needed. The layout is shown in Figure 4-1.

Figure 4-1 Front panel interface of the electrical cabinet

JAKA Zu 7 v2.5

Electrical control cabinet front panel interface definition table:

Index Name PIN Label Description

DI(1~8)

Digital Input

1 DI1 1st digital input, PNP Type, the input is active high

2 DI2 2nd digital input, PNP Type, the input is active high

3 DI3 3rd digital input, PNP type, the input is active high

4 DI4 4th digital input, PNP Type, the input is active high

5 DI5 5th digital input, PNP Type, the input is active high

6 DI6 6th digital input, PNP Type, the input is active high

7 DI7 7th digital input, PNP type, the input is active high

8 DI8 8th digital input, PNP type, the input is active high

9~16 V+

The isolated power input is positive, and the factory

default is 24V internal.

DO(1~8)

Digital Output

1 DO1

1st digital output, PNP Type, ≤1A continuous

current output capability

2 DO2

2nd digital output, PNP Type, ≤1A continuous

current output capability

3 DO3

3rd digital output, PNP Type, ≤1A continuous

current output capability

4 DO4

4th digital output, PNP Type, ≤1A continuous

current output capability

5 DO5

5th digital output, PNP Type, ≤1A continuous

current output capability

6 DO6

6th digital output, PNP Type, ≤1A continuous

current output capability

7 DO7

7th digital output, PNP Type, ≤1A continuous

current output capability

8 DO8

8th digital output, PNP Type, ≤1A continuous

current output capability

9~16 V-

Isolated power input negative, default shorting is

connected to internal GND

DI(9~16)

Digital Input

1 DI9 9th digital input, PNP Type, the input is active high

2 DI10 10th digital input, PNP Type, the input is active high

3 DI11 11th digital input, PNP Type, the input is active high

4 DI12 12th digital input, PNP Type, the input is active high

5 DI13 13th digital input, PNP Type, the input is active high

6 DI14 14th digital input, PNP Type, the input is active high

7 DI15 15th digital input, PNP Type, the input is active high

8 DI16 16th digital input, PNP Type, the input is active high

9~16 V+

The isolated power input is positive, and the factory

default is 24V internal

DO(9~16)

Digital Output

1 DO9

9th digital output, PNP Type, ≤1A continuous

current output capability

2 DO10

10th digital output, PNP Type, ≤1A continuous

current output capability

3 DO11

11th digital output, PNP Type, ≤1A continuous

current output capability

JAKA Zu 7 V2.5

4 DO12

12th digital output, PNP Type, ≤1A continuous

current output capability

5 DO13

13th digital output, PNP Type, ≤1A continuous

current output capability

6 DO14

14th digital output, PNP Type, ≤1A continuous

current output capability

7 DO15

15th digital output, PNP Type, ≤1A continuous

current output capability

8 DO16

16th digital output, PNP Type, ≤1A continuous

current output capability

9~16 V-

Isolated power input negative, default shorting is

connected to internal GND

P5 AI/O

1、4

5VA Analog power supply 5V output, 100mA (max)

2 Ch1 Analog input/output channel 1

3 Ch2 Analog input/output channel 1

5~8 AG Analog ground

P6 HSI

1、8 5VD Digital power supply 5V output, 100mA (max)

2、3

1P Differential signal 1 input positive / encoder A +

14、15 1N Differential signal 1 input negative / encoder A-

4、5 2P Differential signal 2 input positive / encoder B+

12、13

2N Differential signal 2 input negative / encoder B-

6、7 3P Differential signal 3 input positive / encoder Z +

10、11

3N Differential signal 3 input negative / encoder Z-

9、16 DG Digital ground

P7 -

1、2

VSB

Internal power supply 5V, 100mA (max), can be

used for remote power on/off

3 0V Internal GND (internal 24V, 12V reference ground)

4、5 485B RS485 B

6、7 485A RS485 A

8 V-

Isolated power input negative, default shorting is

connected to internal GND

9 OFF

Remote shutdown signal input, high level (5~24V) is

valid

10 ON

Remote power-on signal input, high level (5~24V) is

valid

P8 -

1~4、8

V+

Isolated power input is positive, factory default is

connected to internal 24V

5 24V

The internal 24V output is positive and supports a

maximum of 1.5A current output

6 0V The internal 24V power supply output is negative

7 V-

The isolated power input is negative, and the factory

default is connected to the internal GND

JAKA Zu 7 v2.5