Dobot CR Series User Manual

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User manual (75 pages)

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Issue: V1.1

Date: 2023-04-27

Shenzhen Yuejiang Technology Co.,Ltd.|China

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Page 1 Issue: V1.1 Date: 2023-04-27 Shenzhen Yuejiang Technology Co.,Ltd.|China...
Page 2 AS IS, which may have flaws, errors or faults. Dobot makes no warranties of any kind, express or implied, including but not limited to, merchantability, satisfaction of quality, fitness for a particular purpose and non-infringement of third party rights.
Page 3 Dobot CR Series User Guide Preface Scope of Application Robot arm:  DOBOT CR3  DOBOT CR5  DOBOT CR7  DOBOT CR10  DOBOT CR12  DOBOT CR16 You can find the model of robot arm on the right-top corner of the nameplate on the robot base.
Page 4 Dobot CR Series User Guide Purpose This document introduces the functions, technical specifications and installation procedure of Dobot CR series robots, which is convenient for users to understand and use the robot. Intended Audience This document is intended for: ...
Page 5: Table Of Contents
Dobot CR Series User Guide Contents Safety ......................... 1 Liability ..........................1 Validity and Responsibility .................. 1 Limitation of Liability ..................1 Intended Use ......................1 Safety warning signs ......................2 General safety ........................2 Personal safety ........................6 Emergency ........................6 Emergency stop switch ..................
Page 6 Dobot CR Series User Guide CR7 dimensions ......................25 CR7 product dimensions ................... 25 CR7 base ......................26 CR7 end flange ....................27 CR10 mechanical specifications ..................28 CR10 dimensions and working range ..............28 CR10 base installation dimensions ..............28 CR10 end flange dimensions ................
Page 7 Dobot CR Series User Guide Product warranty ......................69 Disclaimer ........................69 Appendix Technical Specifications ................70 Appendix A Robot technical specifications ................. 70 Appendix B Controller technical specifications ..............74 Appendix C I/O simple circuit and specifications ..............76 Issue V1.1 (2023-04-27)
Page 8: Safety
Dobot. The robot may cause injury or damage even if all safety instructions are observed. Intended Use Dobot CR series robots are industrial robots only for general industrial use, such as processing or delivering products or parts through end tools.
Page 9: Safety Warning Signs
Dobot CR Series User Guide • Use as a climbing aid. Safety warning signs The following safety warning signs may appear in this document, and their meanings are described as follows. The same safety warning signs are also used in the products.
Page 10 Do not expose the robot to permanent magnetic fields all the time. Strong magnetic fields can cause damage to the robot.  Dobot assumes no responsibility for robot damage or personal injury caused by failure to follow product instructions or other improper operations. ...
Page 11 Dobot CR Series User Guide transportation. Relevant personnel should stay away from the suspended robot.  Dobot is not responsible for any damage caused during the transportation and handling of equipment.  Make sure that the robot is in the packing posture before packaging, and the brakes on each axis are normal.
Page 12 Dobot CR Series User Guide  Please observe the ESD regulations when disassembling the robot or controller.  Avoid dismantling the power supply system in the controller. After the controller is turned off, its power supply system may still have high voltage for several hours.
Page 13: Personal Safety
Dobot CR Series User Guide  If the robot is damaged, do not continue to use it.  Any impact will release a lot of kinetic energy, which is much higher than that under high speed and high load. Personal safety When operating the robot system, please strictly follow the general precautions listed below to ensure the personal safety of the operator.
Page 14: Forced Joint Movement
Dobot CR Series User Guide The emergency stop switch will be locked after you press it. To unlock the switch, you need to rotate the switch according to the mark on the switch. WARNING Please operate the robot to recover from the emergency only after the danger of the robot system is completely removed.
Page 15: Transportation
Ensure that the operator is not unduly stressed on their back or other body parts when lifting the equipment, and use appropriate lifting equipment if necessary.  Dobot shall not be held responsible for any damage caused by transportation of the equipment. ...
Page 16: Product Introduction
Dobot CR Series User Guide Product Introduction Overview Figure 3.1 Robot overview The main components of the robot system include: CR robot: six-axis robot arm, main moving parts. ⚫ Controller: core computing and electrical components. ⚫ Emergency stop switch: connected to the controller to realize the emergency stop ⚫...
Page 17: Robot Arm
Robot arm Composition CR series robot arm includes 6 rotating motion joints, and two connecting rods (upper arm and forearm), as shown in Figure 3.3 (taking CR5 as an example). The robot arm is equipped with a heavy-duty interface on its base, buttons and indicator light on its end, and an aerial plug on its end flange side.
Page 18: End Buttons And Indicator Lights
Dobot CR Series User Guide Figure 3.3 CR robot End buttons and indicator lights CR series robot arm is equipped with several buttons and indicator light on its end, as shown in Figure 3.4. Issue V1.1 (2023-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 19  End control button: Short-press the button to control the end tool. For specific functions, you need to configure in “Dobot+” page of the control software.  Enabling button: When the robot arm is powered on and in the disabled status (the indicator light is blue and steady on), long press the button for 3 seconds and then release it, and the robot arm will enter the enabled status (the indicator light flashes blue).
Page 20: Controller
(the indicator light turns to green and steady on). Controller CR series robot arms need to be used with a controller. Figure 3.5 shows the appearance of the controller. For details on its electrical interfaces, see 6 Electrical Features.
Page 21: Operation Terminal
Operation terminal CR series robot arms support control through PC and App, as shown in Table 3.2. If you need to use WiFi for control, you need to plug the WiFi module into the controller. Table 3.2 Operation terminal parameters...
Page 22: Product Features
Dobot CR Series User Guide Product Features Coordinate system Joint coordinate system The joint coordinate system is determined based on all motion joints. All joints are rotating joints, as shown in Figure 4.1. Figure 4.1 Joint coordinate system User coordinate system The user coordinate system is a movable coordinate system which is used for representing equipment like fixtures, workbenches.
Page 23: Tool Coordinate System
Dobot CR Series User Guide Figure 4.2 User coordinate system Tool coordinate system The tool coordinate system defines the tool center point (TCP) and tool posture, of which the origin and orientations vary with the position and angle of the workpiece at the end of robot. The default tool coordinate system is determined based on the center point of the end flange, as shown in Figure 4.3.
Page 24: Singularity Point
Dobot CR Series User Guide Figure 4.4 Home point sticker If the home point of the robot arm changes due to the replacement of the transmission parts or the collision, you can move the robot arm to a state where all the home-point stickers of each joint are aligned, and then calibrate the home-point through the control software.
Page 25: Elbow Singularity
Dobot CR Series User Guide Figure 4.5 Shoulder singularity Elbow singularity When the upper arm and forearm are in the same line, it will lead to singularity, as shown in Figure 4.6. Figure 4.6 Elbow singularity Wrist singularity Issue V1.1 (2023-04-27) User Guide Copyright ©...
Page 26: Braking Time And Braking Distance
Dobot CR Series User Guide When the J4 axis and J6 axis are parallel, it will lead to singularity, as shown in Figure 4.7. Figure 4.7 Wrist singularity Braking time and braking distance When the J1~J3 axes triggers an emergency stop at 100% speed, maximum load and maximum arm span, the braking time and braking distance of each joint are shown in the table below.
Page 27: Mechanical Specifications
Dobot CR Series User Guide Mechanical Specifications All dimensions in this chapter are in millimeters (mm). CR3 mechanical specifications CR3 dimensions and working space When selecting the installation position for the robot, you must consider the cylindrical space directly over and under the robot, and avoid moving the tool to the cylindrical space as much as possible.
Page 28: Cr3 Flange Dimensions
Dobot CR Series User Guide Figure 5.2 CR3 base installation dimensions CR3 flange dimensions The end flanges of CR series robot arms are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.3 End flange dimensions CR3 load curve Issue V1.1 (2023-04-27)
Page 29: Cr5 Mechanical Specifications
Dobot CR Series User Guide In the load curve, the coordinate origin is the center of the end flange, and X, Y represent the distance between the gravity center of load and the robot flange in X and Y directions. According to , the value r corresponds to the vertical coordinate X, Y[cm] of the load curve, and r = √��...
Page 30: Cr5 Base Installation Dimensions
Dobot CR Series User Guide Figure 5.5 CR5 dimensions and working space CR5 base installation dimensions Issue V1.1 (2023-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 31: Cr5 Flange Dimensions
Dobot CR Series User Guide Figure 5.6 CR5 base installation dimensions CR5 flange dimensions The end flanges of CR series robot arms are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.7 End flange dimensions...
Page 32: Cr7 Dimensions
Dobot CR Series User Guide distance between the gravity center of load and the robot flange in X and Y directions. According to , the value r corresponds to the vertical coordinate X, Y[cm] of the load curve, and r = √��...
Page 34: Cr7 End Flange
Dobot CR Series User Guide Figure 5.10 CR7 base installation dimensions CR7 end flange The end flanges of CR series robot arms are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.11 End flange dimensions Issue V1.1 (2023-04-27)
Page 35: Cr10 Mechanical Specifications
Dobot CR Series User Guide CR10 mechanical specifications CR10 dimensions and working range When selecting the installation position for the robot, you must consider the cylindrical space directly over and under the robot, and avoid moving the tool to the cylindrical space as much as possible.
Page 36: Cr10 End Flange Dimensions
Dobot CR Series User Guide Figure 5.13 CR10 base installation dimensions CR10 end flange dimensions The end flanges of CR series robot arms are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.14 End flange dimensions Issue V1.1 (2023-04-27)
Page 37: Cr10 Load Curve
Dobot CR Series User Guide CR10 load curve In the load curve, the coordinate origin is the center of the end flange, and X, Y represent the distance between the gravity center of load and the robot flange in X and Y directions. According to , the value r corresponds to the vertical coordinate X, Y[cm] of the load curve, and r = √��...
Page 38: Cr12 Base Installation Dimensions
Dobot CR Series User Guide Figure 5.16 CR12 dimensions and working space CR12 base installation dimensions Issue V1.1 (2023-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 39: Cr12 End Flange Dimensions
Dobot CR Series User Guide Figure 5.17 CR12 base installation dimensions CR12 end flange dimensions The end flanges of CR series robot arms are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.18 End flange dimensions CR16 mechanical specifications Issue V1.1 (2023-04-27)
Page 40: Cr16 Dimensions And Working Space
Dobot CR Series User Guide CR16 dimensions and working space When selecting the installation position for the robot, you must consider the cylindrical space directly over and under the robot, and avoid moving the tool to the cylindrical space as much as possible.
Page 41: Cr16 End Flange Dimensions
Dobot CR Series User Guide Figure 5.20 CR16 base installation dimensions CR16 end flange dimensions The end flanges of CR series robot arms are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.21 End flange dimensions Issue V1.1 (2023-04-27)
Page 42: Cr16 Load Curve
Dobot CR Series User Guide CR16 load curve In the load curve, the coordinate origin is the center of the end flange, and X, Y represent the distance between the gravity center of load and the robot flange in X and Y directions. According to , the value r corresponds to the vertical coordinate X, Y[cm] of the load curve, and r = √��...
Page 44: Electrical Features
Dobot CR Series User Guide Electrical Features Controller interface Overview The interfaces of the controller are shown in Figure 6.1. Figure 6.1 Controller electrical interfaces Table 6.1 Interface panel description Description USB interface For connecting to WiFi module SmartPendant and emergency stop switch interface For connecting to SmartPendant (optional) or emergency stop switch LAN interface (default address: 192.168.5.1)
Page 45: General I/O Interface Panel
Dobot CR Series User Guide Description External DC 48V power supply reserved port For accessing AGV to supply 48V DC power to the robot Security I/O interface See 6.1.6 Security I/O interface for details Heavy-duty connector interface For connecting to robot, powering robot and communication...
Page 46 Dobot CR Series User Guide Table 6.2 Pin definition 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 I/O 0V Ground for I/O interface...
Page 47: Digital I/O Interface
Dobot CR Series User Guide Name Definition 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 I/O29...
Page 48 Dobot CR Series User Guide Digital I/O interfaces can be powered by internal 24V power supply, with total output current of 2A and 500mA maximum for each I/O output. When using the internal power supply, short-circuit 0V with I/O 0V or 24V with I/O 24V interfaces, as shown below.
Page 49: Analog I/O Interface
Dobot CR Series User Guide Figure 6.5 DI connected to PNP-type input The wiring of DI connected to external DO is shown in Figure 6.6, which takes PNP-type DO without power supply as an example. If DO has its own power supply, you do not need to connect V+ cable.
Page 50: Encoder I/O Interface
Dobot CR Series User Guide The analog signal supports voltage (0~10V) or current (4~20mA) signal (default: voltage). If you need to adjust it to current signal, please contact Dobot technical support. The wiring of AI interface connected to the tested object is shown in Figure 6.8...
Page 51: Security I/O Interface
Dobot CR Series User Guide Color Description Black White Orange Black and red White and red Orange and red Security I/O interface The security I/O includes 20 interfaces: SI1~SI10, SO1~SO10. SI02/SI03/SI04/SI05/SI10 interfaces can be configured to user emergency stop input, protective stop input, protective stop reset input, reduction mode input and automatic running input through control software.
Page 52 Dobot CR Series User Guide Figure 6.10 SI connected to an emergency stop switch Figure 6.11 SI connected to multiple emergency stop switches Protective stop interface The protective stop interface is used for connecting external protective devices (such as safety gate, safety light curtains, etc.).
Page 53 Dobot CR Series User Guide Figure 6.12 SI connected to protective stop device (with reset switch) Reduction mode interface Reduction mode interface is used to control the robot into reduction mode. In reduction mode, the motion parameters of the robot arm (joint speed, TCP speed) are limited within the range of the user-defined reduction mode.
Page 54: Robot Interface
Dobot CR Series User Guide interface panel. The figure below only shows an example. Figure 6.14 SO connected to external load Running state output interface The running state output interface is used to confirm whether the robot is in running state. The output voltage is low level in the running state, and high level in the non-running state.
Page 55: Heavy-Duty Interface
Dobot CR Series User Guide Heavy-duty interface The heavy-duty connector of robot base is connected to the controller by overloading lines. It provides power supply and control signal for the robot. The pin distribution is shown below. Name Description Power interface...
Page 56 DO_2 Digital output 2 DO_1 Digital output 1 The cable used in the end I/O is the cable specified by Dobot (model: Lutronic FP-222460). The pin distribution and cable definition of the plug are shown as follows. Wire color Description...
Page 57 Dobot CR Series User Guide When using external simple switching circuit as the DI input source, the wiring is shown in Figure 6.15. Figure 6.15 End DI wiring (simple switch) When using the DO terminal of an external device as the DI input source, the wiring is shown in Figure 6.16, which takes a PNP-type DO without power supply as an example.
Page 59: Installation And Use
Dobot CR Series User Guide Installation and Use Installation environment To maintain the performance of the controller and robot arm and ensure safe use, please place the controller and robot in an environment with the following conditions. NOTICE Please make sure that the installation environment meets the following conditions to avoid damage.
Page 60: Robot Installation
Dobot CR Series User Guide Robot installation Robot arm installation CR robot arm supports 360° installation at any angle. Figure 7.1 shows several typical installation postures. Figure 7.1 CR robot installation posture The installation platform of the robot arm should be stable enough to withstand at least 10 times the maximum torque of the J1 joint, and at least 5 times the weight of the robot arm.
Page 61: End Tool Installation
In order to accurately adjust the position of the tool, you can also use the reserved Φ6 positioning hole. The end flanges of CR series robot arms are in the same size. For detailed dimensions, refer to 5 Mechanical Specifications.
Page 62: Debugging
Dobot CR Series User Guide 4. Plug one end of the power cable into the power interface of the controller, and the other end into main power socket. Figure 7.5 Controller wiring NOTICE Set the specifications and installation method of external cables in compliance with ⚫...
Page 63 Dobot CR Series User Guide For specific operations, refer to DobotStudio Pro User Guide (for PC) or Dobot CRStudio User Guide (for App). Issue V1.1 (2023-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
Page 64: Maintenance
Robots or parts returned to Dobot should be as the following instructions. 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 65 Dobot CR Series User Guide item Daily 3 months 6 months Wipe off dirt, dust, cutting residue on the body √ Robot clean with water or 10% alcohol Check the torque of joint bolts based on the √ Joint bolts...
Page 76: Warranty
12 months (15 months at most if the shipping time is included) after the device is put into use, Dobot shall provide the necessary spare part, and the user (customer) shall offer personnel to replace the spare part, using another part that represents the latest technology level to replace or repairing the related part.
Page 77: Appendix Technical Specifications
Dobot CR Series User Guide Appendix Technical Specifications Appendix A Robot technical specifications Product DOBOT CR3 DOBOT CR5 DOBOT CR7 Weight 16.5kg (36.4lb) 25kg (55.1lb) 24.5kg (54lb) Maximum load 3kg (6.6lb) 5kg (11lb) 7kg (15.4lb) Working radius 620mm (24.4in) 900mm (35.4in) 800mm (31.5in)
Page 78 Dobot CR Series User Guide consumption Maximum power 170W 300W 300W consumption Material Aluminum alloy, ABS Operating altitude ≤1000m range Installation mode Normal mounting, lifting, side mounting and mounting at any angle UL1740: 2018-Standard for Safety: Robot and Robotic Equipment; CSA Z434-14...
Page 79 Dobot CR Series User Guide range ±160° ±360° ±360° ±360° Maximum 120°/s joint 120°/s speed 180°/s 180°/s 180°/s 180°/s End I/O RS485 ModBus_RTU ((AI multiplexing)) Repeatability ±0.03mm IP rating IP54 Temperature 0℃~45℃ Typical Power 350W Supply Maximum power 450W 450W...
Page 80 Dobot CR Series User Guide EN ISO 12100:2010 Safety of machinery. General principles for design. Risk assessment and risk reduction; ISO/TS 15066:2016 Robots and robotic devices-Collaborative robots; ISO 13849-1:2015 Safety of machinery-Safety-related parts of control systems -Part 1: General principles for design EN IEC 61000-6-2:2019-Generic Standards-Immunity for industrial environments;...
Page 81: Appendix B Controller Technical Specifications
Dobot CR Series User Guide Appendix B Controller technical specifications Product Name DOBOT CC162 Product Model DT-CR-6R162-00I Axis Control 6 axes Input Power 1 PHASE 100V~240V AC, 50/60 Hz Output Power 48V DC, MAX nominal current: 12.5A, maximum current: 20A I/O Interface ...
Page 82 Dobot CR Series User Guide EMC Standard EN IEC 61000-6-2:2019-Generic Standards-Immunity for industrial environments; EN IEC 61000-6-4:2019-Generic standards - Emission standard for industrial environments; EN IEC 61000-6-7:2014 Electromagnetic compatibility (EMC). Generic standards. Immunity requirements for equipment intended to perform functions in a safety-related system (functional safety) in industrial locations Issue V1.1 (2023-04-27)
Page 83: Appendix C I/O Simple Circuit And Specifications
Dobot CR Series User Guide Appendix C I/O simple circuit and specifications Digital input Figure C.1 Digital input simple internal circuit Table C.1 Digital input technical specifications Item Specification Input channel 16 channels Connection method Tube type pre-insulated terminal E0510...
Page 84 The type of output can be adjusted through a DIP switch. "U" means voltage output, and "I" means current output (default: voltage). The DIP switch is located inside the controller. If you need to adjust it, please contact Dobot technical support.
Page 85 Dobot CR Series User Guide Figure C.4 Analog output simple circuit Table C.4 DIP switch status and analog output type DIP switch status Analog output type Range Current output Current: 4mA~20mA Voltage output Voltage: 0V~10V Issue V1.1 (2023-04-27) User Guide...

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