JAKA Zu 3及JAKA Zu 3 pro-电控柜V2.1-硬件手册( 英文版).pdf - 第26页
JAKA Zu 3 v 1. 1 21 Electric al control cabinet fr ont panel interface d efinitio n table : Index Name PIN Label Descr iption P1 DI(1~8) Digit al In put 1 DI1 1st digit al input, P N P Ty p e , the input is active hig h …
20 JAKA Zu 3 v1.1
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.
Fi
gure 4-1 Front panel interface of the electrical cabinet
JAKA Zu
3 v1.1 21
Electrical control cabinet front panel interface definition table:
Index Name PIN Label Description
P1
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.
P2
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
P3
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
P4
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
22 JAKA Zu 3 v1.1
3 DO11
11th digital output, PNP Type, ≤1A continuous
current output capability
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