JAKA Zu 3及JAKA Zu 3 pro-电控柜V2.1-硬件手册( 英文版).pdf - 第7页
2 JAKA Zu 3 v1 . 1 HOW TO READ THIS MANUAL ........................................................................................................................ 1 PREF ACE .............................................…
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JAKA Zu 3 v1.1
HOW TO READ THIS MANUAL ........................................................................................................................ 1
PREFACE ............................................................................................................................................................. 4
WHAT DO THE BOXES CONTAIN .................................................................................................................... 4
1SAFETY........................................................................................................................................................... 5
1.1 INTRODUCTION ................................................................................................................................................... 5
1.2 WARNING SYMBOLS DESCRIPTIONS .................................................................................................................. 5
1.3 SAFETY PRECAUTIONS ....................................................................................................................................... 5
1.4 GENERAL WARNINGS AND CAUTIONS ................................................................................................................ 7
1.5 LIABILITIES AND RISKS........................................................................................................................................ 7
1.6 USAGE ................................................................................................................................................................ 8
1.7 EMERGENCY STOP ............................................................................................................................................. 8
1.8 MOVEMENT WITHOUT DRIVE POWER ................................................................................................................. 9
1.9 PRECAUTIONS FOR TRANSPORTATION AND HANDLING ..................................................................................... 9
2 WELCOME FROM JAKA ZU ROBOT ......................................................................................................... 10
2.1 OVERVIEW OF ROBOT CONFIGURATIONS ......................................................................................................... 10
2.2 OPERATION TERMINAL ..................................................................................................................................... 10
2.3 ROBOT ARM ...................................................................................................................................................... 11
2.3.1 Robot End ................................................................................................................................................... 11
2.3.2 Flange Buttons and interfaces .................................................................................................................... 12
2.4 ELECTRICAL CABINET AND CONTROL STICK .................................................................................................... 13
3 MECHANICAL SPECIFICATION .................................................................................................................. 15
3.1 ROBOT WORKING RANGE ................................................................................................................................ 15
3.1.1 Robot Dimensions ...................................................................................................................................... 15
3.1.2 Robot Working Range ................................................................................................................................ 16
3.2 INSTALLATION.................................................................................................................................................... 17
3.2.1 General installation steps ........................................................................................................................... 17
3.2.2 Important safety instructions ..................................................................................................................... 17
3.2.3 Robot Body Installation .............................................................................................................................. 17
3.2.4 End effector Installation ............................................................................................................................. 18
4 ELECTRICAL INTERFACE ........................................................................................................................... 19
4.1 INTRODUCTION ................................................................................................................................................. 19
4.2 WARNINGS AND CAUTIONS .............................................................................................................................. 19
4.3 FRONT PANEL OF THE ELECTRICAL CABINET .................................................................................................... 20
CONTENTS
JAKA Zu
3 v1.1 3
4.3.1 All digital I/O common specifications ......................................................................................................... 23
4.3.2 Digital Input (DI) ......................................................................................................................................... 26
4.3.3 Digital Output(DO) ..................................................................................................................................... 27
4.3.4 Analog Input&Output(AI&AO) ................................................................................................................... 28
4.3.5 High Speed Interface .................................................................................................................................. 29
4.3.6 Remote ON/OFF ......................................................................................................................................... 29
4.3.7 Safety I/O ................................................................................................................................................... 29
4.4 BOTTOM PANEL OF THE ELECTRICAL CABINET ................................................................................................. 29
4.4.1 Power Connection ...................................................................................................................................... 30
4.4.2 Robot Connection ...................................................................................................................................... 30
4.5 TOOL INPUT AND OUTPUT ................................................................................................................................ 31
4.5.1 TIO function description ............................................................................................................................ 31
4.6 TECHNICAL SPECIFICATIONS ............................................................................................................................ 33
5 MAINTENANCE AND REPAIR ..................................................................................................................... 35
5.1 SAFETY INSTRUCTIONS .................................................................................................................................... 35
6 APPLIED STANDARDS AND CERTIFICATES ........................................................................................... 41
6.1 COLLABORATIVE ROBOT CERTIFICATION ......................................................................................................... 41
6.2 INDUSTRIAL ROBOT CERTIFICATION ................................................................................................................. 42
6.3 FUNCTIONAL SAFETY CERTIFICATION .............................................................................................................. 43
6.4 CE EMC CERTIFICATES .................................................................................................................................. 46
6.5 CE MD CERTIFICATES ..................................................................................................................................... 47
6.6 ROHS CERTIFICATES ....................................................................................................................................... 48
7 WARRANTY ................................................................................................................................................... 49
7.1 PRODUCT WARRANTY ...................................................................................................................................... 49
7.2 DISCLAIMER ...................................................................................................................................................... 49