JAKA Zu 3及JAKA Zu 3 pro-电控柜V2.1-硬件手册( 英文版).pdf - 第39页

34 JAKA Zu 3 v1. 1 Collabor ative oper ation Cooperativ e operation ac cording to GB1 1291 .1 - 201 1st andard Working range and speed Robot jo int Working range Max speed Joint1 ±270° 180°/s Joint 2 - 85 ° 、 +2 65 ° 180…

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

JAKA Zu

3 v1.1 35

5 Maintenance and Repair

Maintenance and repairing must be performed in compliance with all safety instructions in this manual.

Repairing must be performed by an authorized system integrator or JAKA staff.

Parts returned to JAKA should be returned as specified in the Service Manual.。

5.1 Safety Instructions

After maintenance and repair, product must be checked to ensure the required safety level.The valid

national or regional work safety regulations must be observed for this check.The correct functioning of all

safety functions shall also be tested.

The purpose of maintenance and repairing is to ensure that the system is kept operational or, in the event

of a fault, to return the system to an operational state. Repairing includes troubleshooting in addition to the

actual repair itself.

The following safety procedures and warnings must be observed during the operation of the robot or

electrical cabinet:

DANGER:

1. Do not change anything in the safety configuration of the software. If any

safety parameter is changed, the complete robot system shall be considered

as a new system, which means that the overall safety approval process,

including risk assessment, shall be updated accordingly.

2. Replace faulty components using new components with the same article

numbers or equivalent components approved by JAKA for this purpose.

3. Reactivate any deactivated safety measures immediately after the work

is completed.

4. Document all repairs and save this documentation in the technical file

associated with the complete robot system.。

DANGER:

1. Remove the main input cable from the bottom of the electrical cabinet to

ensure that it is completely unpowered. Deenergize any other source of energy

connected to the robot arm or control box. Take necessary precautions to

prevent other persons from powering on the system during the repair period.

2. Check the earth connection before re-opening the system.

3. Observe ESD regulations during the disassembly of the parts of the robot

or electrical cabinet.

4. Avoid disassembling the power supply inside the electrical cabinet. High

voltages can be present inside these power supplies for several hours after the

electrical cabinet has been switched off.

5. Prevent water and dust from entering the robot or electrical cabinet.