Here is a link to a student training manual for the ZA6 I created in 2022-
https://drive.google.com/file/d/1v_kLol14QOgJTSu_0WsW8jmAZoExLp6U/view?usp=sharing
Sections include:
Movement and Waypoints
End of Arm Tooling
Pneumatics
Inputs & Sensors
And Workcell Design
Here is an example of a final project from the workbook created by 3 Peru CSD 12th graders working as a team.