JAKA Zu 3及JAKA Zu 3 pro-电控柜V2.1-硬件手册( 英文版).pdf - 第40页

JAKA Zu 3 v 1. 1 35 5 Maintenance and Repair Maintenanc e and r epairing must be perf ormed in complianc e with al l safety instr uctions in this m anual. Repairin g must be perform ed by an a uthorized s ystem int egrat…

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.

36 JAKA Zu 3 v1.1

5.2 Overhaul Project and Cycle

In order for the robot to maintain high performance for a long time, a maintenance check must be carried

out. The person in charge of overhaul must prepare an overhaul plan and carry out an inspection. Please refer

to the table below for overhaul items.

In addition, overhauls are required every 20,000 hours of operation time or every 4 years. If you are not

clear about the maintenance processes, please contact our service department.

Cycle

Overhaul Items Overhaul essentials Part

daily 3month Every year

Robot body

confirm that whether the stored

location of the program is deviated

All Parts

Cleaning the

robot body

Wipe

off dirt, etc., remove

accumulated spatter, ash, dust,

cutting residue, etc.

All Parts

Main bolts

All the bolts exposed on the

outside of the robot need to be

tightened and marked (see the

specified tightening torque table),

including the tool mounting bolts

are also implemented.

All Parts

Motor

Abnormal heating or sound

confirmation

All Axis

Brake

Check when the servo power is

turned ON/OFF, whether the robot

arm or tool will fall.

All Axis

Reducer

Check for abnormal vibration, noise,

and oil leakage

All Axis

Tools

Apply force to the tool to make sure

it is properly and securely bolted in place.

The 6th Axis

Bolted tightening torque table

Bolt Size He

xagon bolt SUS bolt with hexagon hole

M3 2.4 Nm 1.47 Nm

M4 5.4 Nm 3.4 Nm

M5 9 Nm 6.9 Nm

M6 15.3 Nm 11.8 Nm

M8 37 Nm 28.4 Nm

e tightening torques will vary depending on the type of base metal or bolt. When not

specified, please follow the tightening torques above.