Dobot CR A Series User Manual
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Dobot CR A Series User Manual

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Issue: V1.3
Date: 2023-09-14
Shenzhen Yuejiang Technology Co., Ltd.|China

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  • Page 1 Issue: V1.3 Date: 2023-09-14 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 A Series User Guide Preface Scope of Application Robot arm:  DOBOT CR3A  DOBOT CR5A  DOBOT CR7A  DOBOT CR10A  DOBOT CR12A  DOBOT CR16A  DOBOT CR20A You can find the model of robot arm on the right-top corner of the nameplate on the robot base.
  • Page 4 Dobot CR A Series User Guide Purpose This document introduces the functions, technical specifications and installation procedure of Dobot CR A series robots, which is convenient for users to understand and use the robot. Intended Audience This document is intended for: ...
  • Page 5 Dobot CR A Series User Guide Symbol Description avoided, could result in minor or moderate injury, robot damage Indicates a potentially hazardous situation which, if not avoided, can NOTICE result in equipment damage, data loss, or unanticipated result Provides additional information to emphasize or supplement important...

  • Page 6: Table Of Contents

    Dobot CR A 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 ........................5 Emergency ........................
  • Page 7 Dobot CR A Series User Guide CR7A dimensions and working space ............... 26 CR7A base installation dimensions ..............27 CR7A flange dimensions ................... 27 CR7A load curve ....................27 CR10A mechanical specifications .................. 29 CR10A dimensions and working range ............. 29 CR10A base installation dimensions ..............
  • Page 8 Dobot CR A Series User Guide Robot installation ......................59 Robot arm installation ..................59 Controller installation ..................61 Protective cover installation (optional) .............. 62 Tool installation ....................64 Wiring ..........................64 Debugging ........................65 Maintenance ......................66 Safety instructions ......................66 Robot maintenance......................

  • Page 9: Safety

    Dobot. The robot may cause injury or damage even if all safety instructions are observed. Intended Use Dobot CR A series robots are industrial robots only for general industrial use, such as processing or delivering products or parts through end tools.

  • Page 10: Safety Warning Signs

    Dobot CR A Series User Guide • Use over-stated specifications. • 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 11 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 12 Dobot CR A Series User Guide  When the robot is transported, the packaging needs to be fixed to ensure that the robot is stable.  After removing the outer packaging, make sure that the robot maintains the original packing posture and the brakes of each axis are normal.

  • Page 13: Personal Safety

    Dobot CR A Series User Guide WARNING  Before the operation, please wear protective clothing, such as antistatic uniform, protective gloves, and protective shoes.  It is prohibited to modify or remove the nameplates, instructions, icons and marks on the robot and the related equipment.

  • Page 14: Emergency

    Dobot CR A Series User Guide Emergency Emergency stop switch After you press the emergency stop switch in emergencies, the robot will immediately stop all motions and be locked. According to IEC 60204-1 and ISO 13850, the emergency stop switch is not a safeguard. It is a complimentary protective measure and not intended to prevent injury.

  • 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 A Series User Guide Product Introduction Overview Figure 3.1 Robot overview The main components of the robot system include: CR A robot: Six-axis robot arm, main moving parts. ⚫ Controller: Core computing and electrical components, with IP54 protective cover ⚫...

  • Page 17: Robot Arm

    Robot arm Composition CR A series robot arm includes 6 rotating motion joints, and two connecting rods (upper arm and forearm), as shown in Figure 3.3 and Figure 3.4(taking CR5A and CR20A as examples). The robot arm is equipped with a heavy-duty interface on its base, models other than the CR20A are equipped with buttons and indicator lights on its end, and an aviation plug on the side of its end flange.

  • Page 18: End Buttons And Indicator Lights

    Dobot CR A Series User Guide Figure 3.4 CR20A robot End buttons and indicator lights The end buttons and indicators of CR A series robot arms (except CR20A) are shown in Figure 3.5. Figure 3.5 End buttons and indicator light (except CR20A) Issue V1.3 (2023-09-14)
  • 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, long press the button to enter the enabled status.

  • Page 20: Controller

    The configuration of the end of CR20A is shown in Figure 3.6. Figure 3.6 End buttons and indicator light (CR20A) The indicators of CR20A have the same meaning as other models of CR A series robots. The functions of the buttons are described below.

  • Page 21: Operation Terminal

    For details on its electrical interfaces and switches, see 6 Electrical Features. Figure 3.7 Controller appearance Operation terminal CR A series robot arms support control through PC and App, as shown in Table 3.2. Table 3.2 Operation terminal parameters Terminal type...

  • Page 22: Product Features

    Dobot CR A 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 custom workpiece or workbench coordinate system.

  • Page 23: Tool Coordinate System

    Dobot CR A 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.

  • Page 24: Home Posture

    Dobot CR A Series User Guide Home posture When the robot arm is in the vertical state shown in Figure 4.1, the angle of each joint is 0 degree. This posture is called the home posture. The home-posture stickers (transparent sticker with a blue line in the middle for alignment), as shown in Figure 4.4, are attached to each joint of the...

  • Page 25: Elbow Singularity

    Dobot CR A Series User Guide 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 When the J4 axis and J6 axis are parallel, it will lead to singularity, as shown in Figure 4.7.
  • Page 26 Dobot CR A Series User Guide For the J1 axis, the test is performed by moving horizontally, namely, the rotation axis is perpendicular to the ground. Figure 4.8 J1 Emergency stop test For the J2 and J3 axis tests, the robot follows a vertical trajectory, namely, the rotation axis is parallel to the ground, and triggers an emergency stop when the robot moves downward.
  • Page 27 Dobot CR A Series User Guide The table below includes the data of some models for your reference. Table 4.1 Emergency stop time and distance Braking time/distance Axis CR3A CR5A CR10A CR20A 209ms/160.58mm 351ms/389.94mm 306ms/420.46mm 448ms/836.23mm 257ms/259.44mm 239ms/366.58mm 242ms/411.42mm 456ms/835.95mm 270ms/187.42mm...

  • Page 28: Mechanical Specifications

    Dobot CR A Series User Guide Mechanical Specifications All dimensions in this chapter are in millimeters (mm). CR3A mechanical specifications CR3A 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 try to avoid moving the tool to the cylindrical space. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting in low working efficiency of the robot and difficult risk assessment.

  • Page 29: Cr3A Base Installation Dimensions

    CR3A base installation dimensions Figure 5.2 CR3A base installation dimensions CR3A flange dimensions The end flanges of CR A series robot arms (except CR20A) are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.3 End flange dimensions...
  • Page 30 Dobot CR A Series User Guide for judgement are as follows:  According to r = √�� , calculate r = 10cm. + ��  Select the corresponding curve according to the weight of the load. As the load is 2.8kg, you need to find the curve of 3kg correspondingly.

  • Page 31: Cr5A Mechanical Specifications

    Dobot CR A Series User Guide CR5A mechanical specifications CR5A 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 try to avoid moving the tool to the cylindrical space. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting in low working efficiency of the robot and difficult risk assessment.

  • Page 32: Cr5A Base Installation Dimensions

    CR5A base installation dimensions Figure 5.6 CR5A base installation dimensions CR5A flange dimensions The end flanges of CR A series robot arms (except CR20A) are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.7 End flange dimensions...
  • Page 33 Dobot CR A Series User Guide the abscissa Z[cm] represents the distance from the gravity center of the load to the robot flange in Z direction. You can determine the working condition of the robot according to the statistical results.

  • Page 34: Cr7A Dimensions

    Dobot CR A Series User Guide CR7A dimensions CR7A 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 try to avoid moving the tool to the cylindrical space. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting in low working efficiency of the robot and difficult risk assessment.

  • Page 35: Cr7A Base Installation Dimensions

    CR7A base installation dimensions Figure 5.10 CR7A base installation dimensions CR7A flange dimensions The end flanges of CR A series robot arms (except CR20A) are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.11 End flange dimensions...
  • Page 36 Dobot CR A Series User Guide Z direction. You can determine the working condition of the robot according to the statistical results. For example, if the load is 2.8kg, X = 6cm, Y = 8cm, Z = 5cm, and you can get r = 10cm. The steps for judgement are as follows: ...

  • Page 37: Cr10A Mechanical Specifications

    Dobot CR A Series User Guide CR10A mechanical specifications CR10A 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 try to avoid moving the tool to the cylindrical space. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting in low working efficiency of the robot and difficult risk assessment.

  • Page 38: Cr10A Base Installation Dimensions

    CR10A base installation dimensions Figure 5.13 CR10A base installation dimensions CR10A flange dimensions The end flanges of CR A series robot arms (except CR20A) are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.14 End flange dimensions...
  • Page 39 Dobot CR A Series User Guide for judgement are as follows:  According to r = √�� , calculate r = 10cm. + ��  Select the corresponding curve according to the weight of the load. As the load is 2.8kg, you need to find the curve of 3kg correspondingly.

  • Page 40: Cr12A Mechanical Specifications

    Dobot CR A Series User Guide CR12A mechanical specifications CR12A 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 try to avoid moving the tool to the cylindrical space. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting in low working efficiency of the robot and difficult risk assessment.

  • Page 41: Cr12A Base Installation Dimensions

    CR12A base installation dimensions Figure 5.17 CR12A base installation dimensions CR12A end flange dimensions The end flanges of CR A series robot arms (except CR20A) are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.18 End flange dimensions...
  • Page 42 Dobot CR A Series User Guide  According to r = √�� , calculate r = 10cm. + ��  Select the corresponding curve according to the weight of the load. As the load is 3.8kg, you need to find the curve of 4kg correspondingly.

  • Page 43: Cr16A Mechanical Specifications

    Dobot CR A Series User Guide CR16A mechanical specifications CR16A 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 try to avoid moving the tool to the cylindrical space. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting in low working efficiency of the robot and difficult risk assessment.

  • Page 44: Cr16A Base Installation Dimensions

    CR16A base installation dimensions Figure 5.20 CR16A base installation dimensions CR16A flange dimensions The end flanges of CR A series robot arms (except CR20A) are all in the same size. The flange design conforms to ISO 9409-1. Figure 5.21 End flange dimensions...
  • Page 45 Dobot CR A Series User Guide for judgement are as follows:  According to r = √�� , calculate r = 10cm. + ��  Select the corresponding curve according to the weight of the load. As the load is 2.8kg, you need to find the curve of 3kg correspondingly.

  • Page 46: Cr20A Mechanical Specifications

    Dobot CR A Series User Guide CR20A mechanical specifications CR20A 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 try to avoid moving the tool to the cylindrical space. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting in low working efficiency of the robot and difficult risk assessment.

  • Page 47: Cr20A Base Installation Dimensions

    Dobot CR A Series User Guide CR20A base installation dimensions Figure 5.24 CR20A base installation dimensions CR20A flange dimensions Figure 5.25 CR20A end flange dimensions Issue V1.3 (2023-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.

  • Page 48: Controller Dimensions

    Dobot CR A Series User Guide Controller dimensions CC262 dimensions The dimensions of CC262 controller are shown below. The right figure shows the length after the protective cover is installed. Other dimensions are the same as those of the controller without protective cover.

  • Page 49: Electrical Features

    Dobot CR A Series User Guide Electrical Features Controller interface Overview The electrical interfaces of the controller are all on the front side, as shown in the figure below. The interface distribution of CC263 is basically the same as that of the CC262 AC model, with only the power interface and switch modeling differing.

  • Page 50: Smartpendant And Emergency Stop Switch Interface

    Dobot CR A Series User Guide Description USB interface For importing/exporting files LAN interface, default address:  LAN1: 192.168.5.1  LAN2: 192.168.200.1 For connecting to PC, or other external network equipment of TCP/IP or Modbus TCP protocol Only LAN1 IP address can be modified through DobotStudio Pro.

  • Page 51: I/O Interface Panel

    Dobot CR A Series User Guide Definition Emergency stop circuit 1 input (normally closed) DC 24V Emergency stop circuit 2 input (normally closed) 7~15 Communication of specified SmartPendant I/O interface panel The robot controller contains an I/O interface panel for connecting to external equipment, such as air pump, PLC, etc.

  • Page 52: I/O Interface Power

    Dobot CR A Series User Guide Table 6.2 Pin definition Screen Definition I/O 5V Internal power source +5V I/O 0V Internal power source 0V A+/A- Pulse encoder interface. See 6.1.8 Encoder I/O interface B+/B- for details Z+/Z- RP 24V Remote switch interface. See 6.1.7 Remote switch...

  • Page 53: Digital I/O Interface

    Dobot CR A Series User Guide The I/O interface can be powered by internal and external 24V power supply, with a maximum of 500mA for each DO and a total output current of 3A. When using the internal power supply, short circuit 0V and 24V with the nearest I/O 0V and I/O 24V, as shown below.
  • Page 54 Dobot CR A Series User Guide Figure 6.3 DI connected to simple switch The wiring of DI connected to external PNP-type three-wire sensor is shown below. When the sensor is powered by the controller, short circuit the corresponding COM to I/O 0V (left figure below);...
  • Page 55 Dobot CR A Series User Guide Figure 6.5 DI connected to NPN-type input DO is PNP type by default, which can be configured to NPN type through the software. If the configuration of the upper computer is opposite with the load wiring (e.g. the upper computer is set to PNP type, and the load wiring is NPN type), the load cannot work normally.

  • Page 56: Analog I/O Interface

    Dobot CR A Series User Guide Figure 6.7 NPN-type DO connected to external load Analog I/O interface The analog signal supports voltage (0~10V) or current (4~20mA) signal (default: voltage). You can switch it to current signal through the software. The wiring of AI interface connected to the tested object is shown below.

  • Page 57: Remote Switch Interface

    Dobot CR A Series User Guide Figure 6.9 AO connected to external load Remote switch interface The remote switch interface is used to remotely control the controller to switch on/off. When the ON interface inputs in high level for 0.5s or more, the controller will be turned on. In the power- on status, when the OFF interface inputs in high level for 3s or more, the controller will be turned off.

  • Page 58: Rs485 Interface

    Dobot CR A Series User Guide converts displacement into periodic electrical signals and then converts electrical signals into count pluses, so that the displacements can be measured by the number of pulses. The input signal in a specified format is supported.
  • Page 59 Dobot CR A Series User Guide Safety input SI1~SI10 interfaces are described below. Screen Definition SI1, SI2 Emergency stop input SI3, SI4 Protective stop input SI5¬SI10 You can configure in dual circuits to emergency stop input (no status output), protective stop reset input and reduced mode input through the software (no configuration by default).
  • Page 60 Dobot CR A Series User Guide Figure 6.13 SI connected to multiple emergency stop switches Protective stop input The protective stop interface is used for connecting external protective devices (such as safety gate, safety light curtains, etc.). The protective stop input is the normally closed signal input of high level by default. Low level triggers the robot to enter the protective stop status (pause status).
  • Page 61 Dobot CR A Series User Guide Figure 6.14 SI connected to protective stop device (with reset switch) Reduced mode input The reduced mode interface is used to control the robot to enter reduced mode. In the reduced mode, the motion parameters of the robot arm (joint speed, TCP speed) are limited within the range of the user-defined reduced mode.
  • Page 62 Dobot CR A Series User Guide shown below. Figure 6.15 SO connected to external load Protective stop status output When the robot is in emergency stop status, the output voltage is low level, otherwise, the output voltage is high level.

  • Page 63: Robot Interface

    The heavy-duty interface of robot base is connected to the controller by overloading lines. It provides power supply and control signal for the robot. The CR A series (except CR20A) robotic arm heavy duty interface pinouts and definitions are as follows.

  • Page 64: Tool I/O Interface

    Dobot CR A Series User Guide Name Description DC48V DC48V + DC48V DC48V + DC48V - DC48V - Functional grounding Protective earthing Send data + Send data - Receive data + Receive data - Tool I/O interface The tool interface is an aviation plug located on the side of the end flange. The socket pins are distributed and defined as follows.
  • Page 65 DI1 of X2 is DI3 and DI2 of X2 is DI4, and similarly for the cable pins below. The cable used in the tool I/O is the cable specified by Dobot (model: SIGNAL 120108-06- 014 (CR20A) / Lutronic FP-222460 (other CR A models)). The pin distribution and cable definition of the plug are shown as follows.
  • Page 66 Dobot CR A Series User Guide Figure 6.16 Tool DI connected to simple switch When using PNP-type three-wire sensor as the DI input source, the wiring is shown below. Figure 6.17 Tool DI connected to PNP-type sensor The tool digital output is PNP type, powered by internal power supply, and the output current of the whole end is not greater than the maximum current of the 24V output as described before, with single DO output current ≤...

  • Page 67: Installation And Use

    Dobot CR A 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 68 Dobot CR A Series User Guide Figure 7.1 CR A robot installation posture When installing the robot arm, position the mounting holes on the installation platform according to the installation size of the robot base. Fix the robot arm base on the platform using bolts.

  • Page 69: Controller Installation

    Dobot CR A Series User Guide of robot arm and cause the robot arm to stop. Figure 7.2 CR A robot installation posture Controller installation Place the controller on a stable platform outside the working range of the robot arm, and reserve enough space for wiring and operation.

  • Page 70: Protective Cover Installation (Optional)

    Dobot CR A Series User Guide Figure 7.4 Horizontal-type installation Protective cover installation (optional) The controller can be equipped with a protective cover. After correct installation of the protective cover, the controller can reach IP54 protection level. The figure below shows the components of the protective cover.
  • Page 71 Dobot CR A Series User Guide wrench, and remove the cable entry plate from the protective cover. Loosen three M4 bolts on the side of the cable entry frame using M4 inner hexagon wrench to disassemble the cable entry plate and take out the cable entry module.

  • Page 72: Tool Installation

    In order to accurately adjust the position of the tool, you can also use the reserved Φ6 positioning hole, and position it using pins. The end flanges of CR A series robot arms are all in the same size. For detailed dimensions, refer to 5 Mechanical Specifications.

  • Page 73: Debugging

    Dobot CR A Series User Guide Black Power supply (negative) Yellow-green Protective grounding NOTICE  Set the specifications and installation method of external cables in compliance with local power distribution laws and regulations.  Do not disassemble the robot by yourself, otherwise it may cause electricity leakage.

  • Page 74: Maintenance

    Robots or parts returned to Dobot should follow the instructions below: 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 75 Dobot CR A Series User Guide Table 8.1 Check items Period Maintenance Maintenance essential item Daily 3 months 6 months Use a rag dipped in water, 10% ethanol, √ Robot clean etc. to wipe any dust, dirt, oil, etc. visible on the robotic arm...
  • Page 76 Dobot CR A Series User Guide 8 mm / 0.32 in 37 Nm The tightening torques vary depending on the type of base metal or bolt. When it is not specified, please contact Dobot technical engineer. Issue V1.3 (2023-09-14) User Guide...

  • Page 77: 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 78: Appendix Technical Specifications

    Dobot CR A Series User Guide Appendix Technical Specifications Appendix A Robot technical specifications Table 1 CR3/5/7A Product DOBOT CR3A DOBOT CR5A DOBOT CR7A Weight 17.5kg (38.6lb) 25kg (55.1lb) 24kg (52.9lb) Maximum load 3kg (6.6lb) 5kg (11lb) 7kg (15.4lb) Working radius 620mm (24.4in)
  • Page 79 Dobot CR A Series User Guide consumption Installation mode Any angle Cable length from 5m (16.4 feet) robot to controller Material Aluminum alloy, ABS Table 2 CR10/12/16A Product DOBOT CR10A DOBOT CR12A DOBOT CR16A Weight 40kg (88.2lb) 38.5kg (84.9lb) 38kg (83.8lb)
  • Page 80 Dobot CR A Series User Guide Noise 70dB(A) Temperature 0℃~50℃ Typical Power 350W Supply Installation mode Any angle Cable length from 5m (16.4 feet) robot to controller Material Aluminum alloy, ABS Table 3 CR20A Product DOBOT CR20A Weight 73kg (160.9lb) Maximum load 20kg (44.1lb)
  • Page 81 Dobot CR A Series User Guide RS485 Support (four AIs multiplexing) Repeatability ±0.1mm IP rating IP54 Noise 70dB(A) Temperature 0℃~50℃ Typical Power 5000W Supply Installation mode Any angle Cable length from 6m (19.7 feet) robot to controller Material Aluminum alloy, ABS Issue V1.3 (2023-09-14)

  • Page 82: Appendix B Controller Technical Specifications

    Dobot CR A Series User Guide Appendix B Controller technical specifications Product DOBOT CC262 DOBOT CC263 Compatible Models CR3A~CR16A CR20A Weight 9.5kg (20.9lb) 8.5kg (18.7lb) 14.5kg (32lb) Input Power 100~240V, 47~63HZ 30~60V 100~240V, 47~63HZ IO Power 24V, Max 3A, maximum 0.5A for each...

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