Dobot CR12 Hardware User's Manual
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Dobot CR12 Hardware User's Manual

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User Guide
Dobot CR12 Hardware
User Guide
Issue: V1.0
Date: 2022-03-16
Shenzhen Yuejiang Technology Co., Ltd

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Summary of Contents for Dobot CR12

  • Page 1 User Guide Dobot CR12 Hardware User Guide Issue: V1.0 Date: 2022-03-16 Shenzhen Yuejiang Technology Co., Ltd...
  • Page 2 Even if follow this document or any other related instructions, Damages or losses will be happening in the using process, Dobot shall not be considered as a guarantee regarding all security information contained in this document.
  • Page 3 Dobot CR12 Hardware User Guide Preface Purpose This Document describes the functions, technical specifications, installation guide of DOBOT CR12 robot, making it easy for users to fully understand and use it. Intended Audience This document is intended for:  Customer ...

  • Page 4: Table Of Contents

    Dobot CR12 Hardware User Guide Contents Security Precautions ....................1 Security Warning Sign ...................... 1 General Security........................ 1 Personal Security ......................5 Overview ........................7 Technical Specifications ....................7 Robot Body Technical Parameters ............... 7 Controller Technical Parameters ................9 Product Size ........................
  • Page 5 Dobot CR12 Hardware User Guide Issue V1.0 (2022-03-16) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 6: Security Precautions

    Dobot CR7 Hardware User Guide Security Precautions This topic describes the security precautions that should be noticed when using this product. Please read this document carefully before using the robot for the first time. This product needs to be carried out in an environment meeting design specification. You cannot remold the product without authorization, otherwise, it could lead to product failure, and even personal injury, electric shock, fire, etc.
  • Page 7 Dobot CR7 Hardware User Guide circuit, otherwise, it is vulnerable to injury the device or the person.  You should comply with the local laws and regulations when operating the robot. The security precautions in this document are only supplemental to the local laws and regulations.
  • Page 8 Dobot CR7 Hardware User Guide  Shenzhen Yuejiang Technology Co., Ltd. assumes no responsibility for robot damage or personal injury caused by failure to follow product instructions or other improper operations.  Handling operations such as lifting rings and driving need to use appropriate and reliable lifting equipment.
  • Page 9 Dobot CR7 Hardware User Guide correct.  If the controller needs to be restarted due to power failure, when restarting, the robot must be manually returned to the initial position of the automatic operation program before restarting the automatic operation.

  • Page 10: Personal Security

    Dobot CR7 Hardware User Guide  Be careful during the robot carrying or installing. Please follow the instructions on the packing box to put down the robot gently and place it correctly in direction of the arrow.  Please use the matched cables when connecting a robot to internal or external equipment for personal security and equipment protection.
  • Page 11 Dobot CR7 Hardware User Guide  Please ensure that the robot establishes safety measures near the operation area, such as guardrails, to protect the operator and surrounding people.  When a person is trapped by the robot, rescuers can push hard on the joints of the robot until the person is freed.

  • Page 12: Overview

    DOBOT CR12 has a repeat positioning accuracy of ± 0.03mm, a rated load of 12kg. It is a product with the advantages of both industrial robots and collaborative robots.
  • Page 13 Dobot CR7 Hardware User Guide Rated Load 12 kg Working radius 1200 mm Max Reach 1425 mm Full-load Current 9.4 A Rated Voltage DC 48V Maximum Speed of 4 m/s End-effector ±360° ±360° ±160° Motion Range (° ) ±360° ±360°...

  • Page 14: Controller Technical Parameters

    Dobot CR7 Hardware User Guide (including the robot) Installation mode Normal mounting, lifting, side mounting and mounting at any angle Safety Standard UL1740: 2018-Standard for Safety：Robot and Robotic Equipment; CSA Z434-14 (R2019) Industrial robots and robot systems NFPA 79:2018 Electrical Standard for Industrial Machinery EN ISO 10218-1:2011 Steel wire and wire products.

  • Page 15: Product Size

    Dobot CR7 Hardware User Guide Programming Script/Blockly Programming Language Installation Method Floor mounting Temperature: 0℃ - 45℃ Environment Humidity: ≤95%, and no condensation Protection Grade IP20 Cooling Method Forced air cooling Safety Function Emergency stop, protective stop, protective stop reset, automatic operation...

  • Page 16: Controller Size

    Dobot CR7 Hardware User Guide Figure 2.2 Robot body size Controller Size Figure 2.3 Controller size Robot Workspace Figure 2.4 shows the workspace of CR12 robot. Issue V1.0 (2022-03-16) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 17: End Flange Size

    Dobot CR7 Hardware User Guide Figure 2.4 CR12 robot workspace End Flange Size End Flange design conforms to GB/T 14468.1-50-4-M6. Issue V1.0 (2022-03-16) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 18: Factory Posture

    Dobot CR7 Hardware User Guide Figure 2.5 End-effector Size Factory posture When the robot leaves the factory, moving robot to the factory posture can reduce the robot space, easy to pack and transport. Axis Angle（°） -154 Product Features Motion Function The motion trajectory consists of a series of interpolated motions since the interpolated motion is the basic motion type.
  • Page 19 Dobot CR7 Hardware User Guide Figure 2.6 Go/MoveJ modes 2.6.1.2 Linearly Interpolated Motion The joints will perform a straight line trajectory from point A to point B, as shown in Figure 2.7. Figure 2.7 Move mode  Jump: The trajectory looks like a door. From point A to point B, the robot will move in the Move mode Move up to the lifting height (StartHeight is a relative height).
  • Page 20 Dobot CR7 Hardware User Guide NOTICE  Point A and point B cannot be higher than zLimit. Otherwise, an alarm will be triggered.  If point A plus StartHeight or point B plus EndHeight is higher than zLimit, the robot moves up from point A to zLimit or moves down from zLimit to point B directly, the trajectory looks like a door without transition, as shown in Figure 2.9.

  • Page 21: Coordinate System

    Cartesian coordinate system. 2.6.2.1 Joint Coordinate System The Joint coordinate system is determined by the motion joints. Figure 2.13 shows the Joint coordinate system of a CR12 robot. All the joints are rotating joints. Issue V1.0 (2022-03-16) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 22 Dobot CR7 Hardware User Guide Figure 2.13 Joint coordinate of a CR12 robot 2.6.2.2 Base Coordinate System The Base coordinate system is determined by the base. Figure 2.14 shows the Base coordinate system. Issue V1.0 (2022-03-16) User Guide Copyright © Yuejiang Technology Co., Ltd...
  • Page 23 Tool coordinate system which is located at the robot flange without end effector and cannot be changed. And the others can be customized by users. Figure 2.15 shows the default Tool coordinate system of a CR12 robot. Figure 2.15 The default Tool coordinate system of CR12 robot Issue V1.0 (2022-03-16)

  • Page 24: Singularity Point

    Base coordinate system by default and cannot be changed. And the others can be customized by users. Figure 2.16 shows the default User coordinate system of a CR12robot. Figure 2.16 The default User coordinate system of CR12 robot Singularity Point When the robot moves under the Cartesian coordinate system, the resultant velocity of the two axes cannot be in any direction if the directions of them are aligned, resulting in that the degrees of freedom of the robot are degraded.
  • Page 25 Dobot CR7 Hardware User Guide Figure 2.17 Wrist singularity point  Shoulder singularity point: The intersection point of axes of joints 5 and 6 lies in the plane passing through the axes of joints 1 and 2. Figure 2.18 Shoulder singularity point ...

  • Page 26: Collision Detection

    Dobot CR7 Hardware User Guide Figure 2.19 Elbow singularity point Collision Detection Collision detection is mainly used for reducing the impact on the robot, to avoid damage to the robot or external equipment. If the collision detection is activated, the robot arm will pause running automatically when the robot arm hit an obstacle.
  • Page 27 Dobot CR7 Hardware User Guide Table 2.3 Key description Description  Open/close hand-hold Long press and then release: Open hand-hold teach, and the LED indicator turns teach blue and blinks  Short press and then release: Close hand-hold teach, and the LED indicator turns green ...

  • Page 28: Electrical Specifications

    Dobot CR7 Hardware User Guide Electrical Specifications Controller Interface Interface Board Description Figure 3.1 shows the interface board of the CC series controller. Table 3.1 lists the description. Figure 3.1 Interface board of the controller Table 3.1 Interface description Description...

  • Page 29: General I/O Interface Description

    Dobot CR7 Hardware User Guide Description External DC 48V power supply reserved port For accessing the AGV, the AGV will supply 48V DC power to the robot System security I/O interface For the safe use and operation of robots Heavy-duty connector interface...
  • Page 30 Dobot CR7 Hardware User Guide Table 3.2 PIN definition of digital output terminal J1 Name Definition Digital input 1 Digital input 2 Digital input 3 Digital input 4 Digital input 5 Digital input 6 Digital input 7 Digital input 8...
  • Page 31 Dobot CR7 Hardware User Guide Name Definition DI16 Digital input 16 I/O 0V Ground for I/O interface Ground for internal DC24V power supply I/O25 Digital input 25/output 9 I/O26 Digital input 26/output 10 I/O27 Digital input 27/output 11 I/O28 Digital input 28/output 12...
  • Page 32 Dobot CR7 Hardware User Guide Name Definition I/O 0V Ground for I/O interface AO 2 Analog output 2 The controller I/O connection is shown below. Figure 3.3 Controller I/O Connection NOTE  The inner power supply and the outer power supply of every I/O can’t exceed 500mA.
  • Page 33 Dobot CR7 Hardware User Guide Figure 3.4 Simple digital input circuit Table 3.3 Technical specifications Item Specification Input channel 16 channels Connection method Tube type pre-insulated end terminal Input type Optical coupling isolation input Input voltage (DC) 24V±10% The multiplex digital input/ digital output interface can be powered by the internal or external power supply.
  • Page 34 Dobot CR7 Hardware User Guide Figure 3.5 Simple digital output circuit Table 3.4 Technical specifications Item Specification Output channel 16 channels Connection method Tube type European terminal Output type High-side switch Power supply (DC) 24V±10% Load current of single channel...
  • Page 35 Dobot CR7 Hardware User Guide Figure 3.6 Simple analog input circuit Table 3.5 lists the relation between the DIP switch and analog input. Table 3.5 The relation between the DIP switch and analog input Analog input type Range Current input...

  • Page 36: Secure I/O Interface Description

    Dobot CR7 Hardware User Guide 3.1.2.3 Incremental Encoder ABZ Input An encoder is a device that converts angular or linear displacement into electrical signals. Namely, it converts displacement into periodic electrical signals and then converts electrical signals into count pluses. So, the displacements can be measured by the number of pluses.
  • Page 37 Dobot CR7 Hardware User Guide Low level triggers the robot to enter the emergency stop state. The operation of the robot can be resumed by restoring the emergency stop input signal and clearing the APP end emergency stop alarm. ...

  • Page 38: Body Interface

    Dobot CR7 Hardware User Guide The non-stop state output interface is used to check whether the script is running. The output voltage is high when the script is running, and high resistance when the script is not running.  Reduction Mode State Interface Description Reduction mode state output interface is used to check whether the robot enters the reduction mode.

  • Page 39: End I/O Interface Description

    Dobot CR7 Hardware User Guide Table 3.9 Communication interface Name Description Pin1 Transmit data + Pin2 Transmit data - Pin3 Receive data + Pin6 Receive data - End I/O Interface Description The cable used for the end pins is the designated cable，the model is Lumberg RKMV 8-354.
  • Page 40 Dobot CR7 Hardware User Guide Figure 3.10 End I/O connection Lumberg RKMV 8-354 I/O pins are shown below. Figure 3.11 Lumberg RKMV 8-354 I/O pins Table 3.11 Lumberg RKMV 8-354 I/O pins description Pins Cable color Name White 485A Brown...
  • Page 41 Dobot CR7 Hardware User Guide Issue V1.0 (2022-03-16) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 42: Installation And Commissioning

    Dobot CR7 Hardware User Guide Installation and Commissioning Installation Environment To maintain the controller and robot performance and to ensure the safety, please place them in an environment with the following conditions.  Install indoors with good ventilation.  Do not install in a closed environment.

  • Page 43: Robot Installation Location

    Dobot CR7 Hardware User Guide Figure 4.1 Installation space requirement Robot Installation Location The stability of a robot depends on the installation. You can design the platform according to the size of the hole of the base and the real environment for mounting a robot. And the installation height of the robot should be above 0.6 meters.The platform must not only bear the robot but also...

  • Page 44: Connecting Cables

    Dobot CR7 Hardware User Guide Figure 4.2 Robot base size Connecting cables Precautions  The specifications and installation of the external wiring should comply with local laws and regulations.  Do not disassemble the controller by yourself. Otherwise, it may result in electric leakage.

  • Page 45: Connecting Controller And Robot By Heavy Duty Cables

    Dobot CR7 Hardware User Guide  After the cable connections are complete, please make sure that there are no redundant screws or exposed cables inside the equipment.  When the equipment is running, please do not plug or unplug the power and communication cables.

  • Page 46: Connecting Wifi Module

    Dobot CR7 Hardware User Guide Figure 4.4 Connecting emergency stop switch NOTICE  Before running a robot, please make sure that the emergency stop switch has been turned on (the red button has been released). Otherwise, the robot cannot work normally.

  • Page 47: Connecting To Power Supply

    Dobot CR7 Hardware User Guide Figure 4.5 Connecting WiFi module Connecting to Power Supply Plug power cable into controller. As shown in Figure 4.6. Figure 4.6 Connecting to Power Supply Issue V1.0 (2022-03-16) User Guide Copyright © Yuejiang Technology Co., Ltd...

  • Page 48: Maintenance And Repair

     Remove all parts that do not belong to Dobot.  Before returning to Dobot, please make a backup copy of the files. Dobot will not be responsible for the loss of programs, data or files stored in robot. ...
  • Page 49 Dobot technical engineer. 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 Dobot technical engineer. Issue V1.0 (2022-03-16) User Guide...

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