JAKA Zu 3及JAKA Zu 3 pro-电控柜V2.1-硬件手册( 英文版).pdf - 第38页

JAKA Zu 3 v 1. 1 33 Fi gure 4 - 20 Figure 4 - 20 sh ows the b lock diagram of th e NPN inpu t devic e connect ion: the V + pin is c onnected to + 24V (red w ire), th e 0V pin i s connected to the negative pol e (gray w i…

32 JAKA Zu 3 v1.1

3 DI2 I

gree

Digital input 2. NPN type. Optocoupler Cathode input. Internal

connect4.7k resistor.

4 DO1 O

yello

Digital output 1. NPN type. Open Drain output. Current ≤0.5A

per channel.

5 DO2 O

Pink Digital output 2. NPN type. Open Drain output. Current ≤0.5A

per channel.

6 AIN_P I

brow

Anolog input.Supports -10V~+10V voltage input. Decouple with

the AIN_N pin.

7 AIN_N I

white Anolog input:Negative. Decouple with the AIN_P pin.

8 GND -

gray GND. 24V Power Ground.

1. TIO anolog input interface

Analog input AI1 supports -10V~+10V high precision voltage range input.

2. TIO digital input interface

The digital input uses the optocoupler cathode input and is active low. Internally connected 4.7k resistors.

gure 4-18

a)Type of the dry contact input:

gure 4-19

The dry contact input (ie, switch input) is connected to the negative pole of the 24V power supply in TIO

(gray wire), and the other end is connected to the DI digital input (blue or green wire), as shown in Figure 4-

19.

b) The input type is NPN

JAKA Zu

3 v1.1 33

gure 4-20

Figure 4-20 shows the block diagram of the NPN input device connection: the V + pin is connected to +

24V (red wire), the 0V pin is connected to the negative pole (gray wire), and the OUT pin is connected to DIx

(blue or green wire).

3. TIO digital output interface

The digital output interface uses an open collector output that supports up to 500mA of current capability.

Note: If an inductive load (such as a relay, electromagnet, DC motor, etc.) requires an external

freewheeling diode.

Figure 4-21

* Note: It is strongly recommended to use protection DIODES for the inductive loads (such as relays,

electromagnets, DC motors, etc.). Otherwise, this port may damage the hardware circuit

4.6 Technical Specifications

1.JAKA Zu

3 Robot Technical Specifications:

Robot type: JAKA Zu 3

Product Features

Maximum payload 3kg

Weight (including cable) 12kg

Working radius 626mm

Repeatability <±0.03mm

Degrees of freedom 6

Programming Graphical drag-and-drop programmin

FlexPendant Type Mobile device (PAD/mobile)

34 JAKA Zu 3 v1.1

Collaborative operation

Cooperative operation according to

GB11291.1-2011standard

Working range and

speed

Robot joint Working range Max speed

Joint1 ±270° 180°/s

Joint 2 -85°、+265° 180°/s

Joint 3 ±175° 180°/s

Joint 4 -85°,+265° 180°/s

Joint 5 ±270° 180°/s

Joint 6 ±270° 180°/s

Maximum speed of the

tool end

/ 1.5m/s

Physical properties

and others

Power consumption Average 150W

Temperature 0-50°C

IPclassification IP54

Robot installation posture Install at any angle.

TIO Ports

2 digital input

2 digital output

1 analog input

TIO Power 24V

Base diameter 129mm

Material Aluminum alloy, PC

TIOSize M8

Robot connection cable

length

2.Electrical cabinet technical specifications:

Electrical

cabinet

IP classification IP44

I/Oports

16 digital input

16 digital output

2 analog input/output

I/O power 24V

Communication TCP/IP, Modbus TCP, Modbus RTU

Power 100-240VAC,50-60Hz

Size 410*307*235(mm)(W*H*D)

Weight 12kg

Material Stainless steel alloy