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Summary of Contents for Dobot CR10
- Page 1 User Guide Dobot Palletizing Workstation User Guide Issue: V1.0 Date: 2022-11-3 Shenzhen Yuejiang Technology CO.,Ltd.|China...
- 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 Palletizing Workstation User Guide Preface Purpose This Document describes the functions, technical specifications, installation guide of DOBOT palletizing workstation, making it easy for users to fully understand and use it. Intended Audience This document is intended for: Customer ...
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Page 4: Table Of Contents
Dobot Palletizing Workstation User Guide Contents 1. Safety ......................... 1 1.1 Responsibilities and Norms ....................1 1.2 Intended Use ........................1 1.3 Safety Instructions ......................1 1.4 Emergencies ........................2 1.4.1 Emergency stop device ..................2 1.4.2 Emergency recovery .................... 2 2. -
Page 5: Safety
All safety information contained in this manual should not be regarded as a guarantee of Dobot, even if all safety instructions are followed, the robot may still cause injury or damage. -
Page 6: Emergencies
Dobot Palletizing Workstation User Guide 1.4 Emergencies Emergency stop device 1.4.1 In case of emergency, press the emergency stop switch, the robotic arm and the lifting kit will stop all movement and lock. Emergency switches are not safety guards, but can be considered secondary protective equipment. -
Page 7: Product Introduction
Figure 2.1 Main components of palletizing workstation The robitic arm parts including： 1. CR10 robotic arm: The main moving part of the palletizing workstation, is installed on the lifting kit to drive the boxes for stacking. 2. Suction cup system: Used to suck the boxes through vacuum. - Page 8 Dobot Palletizing Workstation User Guide ⚫ Stop button: Stop the project ⚫ Reset button: Clear alarms ⚫ E-stop button: After pressing, the workstation will stop in an emergency, and then rotate clockwise to pop up again. Figure 2.2 Control button box 4.
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Page 9: Hardware Installation
Dobot Palletizing Workstation User Guide 3. Hardware Installation 3.1 Installation Environment To maintain the workstation performance and to ensure the safety, please place them in an environment with the following conditions. WARNING Install indoors with good ventilation. Do not install in a closed environment. - Page 10 Dobot Palletizing Workstation User Guide Please use the matched cables for personal security and equipment protection. After the cable connections are complete, please make sure that there are no redundant screws or exposed cables inside the equipment. ...
- Page 11 3. Insert the pallet sensor placed on the base (connected to the main cabinet) into the sensor slot. 4. Fix the CR10 robotic arm to the top of the lifting kit exposed from the top of the main cabinet and lock it with 4 M8 * 30 screws.
- Page 12 Dobot Palletizing Workstation User Guide Figure 3.5 Install the suction cup system with extra reach bracket 7. Connect the air tubes protruding from the main cabinet to the four suction cups respectively, and fix the tube package on the robotic arm with wire clamps. The installation dimensions shown in the following figure are for reference only, please adjust according to the actual state of the tube package during operation.
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Page 13: Optional) Switch To The Sponge Vacuum Pad
Dobot Palletizing Workstation User Guide 9. Connect one end of the power cord attached to the equipment to the power interface in the terminal panel of the workstation, and the other end to the AC 110V~240V power supply. Figure 3.8 Power interface 10. - Page 14 Dobot Palletizing Workstation User Guide Figure 3.10 Default air circuit 3. Remove the inlet tube and outlet tube of the vacuum generator (just remove the interface at the red circle in the figure above), and properly keep the inlet tube (black one branch two tubes).
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Page 15: Installing The Conveyor Belt
Dobot Palletizing Workstation User Guide Figure 3.12 Air tube connection of sponge vacuum pad 3.4 Installing the Conveyor Belt Please install the conveyor belt on the back side of the workstation (opposite to the terminal blocks). It is recommended that the total height of the box and the conveyor belt be kept within 1000~1300mm (the distance from the installation plane of the workstation). -
Page 16: Software Operation
Dobot Palletizing Workstation User Guide 4. Software Operation 4.1 Configuring the Tool Coordinate System Connect the computer to any LAN port on the terminal panel of the workstation through the network cable, or insert a wireless communication module into the USB interface of the stacking workstation, then open the DobotStudio Pro software and connect it to the robot (see the help document of DobotStudio Pro for details). -
Page 17: Global Setting
Dobot Palletizing Workstation User Guide Figure 4.2 Palletizing process panel On the main interface of palletizing, click "New" to open the new project window. After customizing the project name, click "Finish" to create a new palletizing project. 4.3 Global Setting Select the type of project according to actual needs. -
Page 18: Palletizing Style Setting
Dobot Palletizing Workstation User Guide Click the "Style" tab to enter the palletizing style setting page. 4.4 Palletizing Style Setting Set the dimensions of the pallet. You can select the corresponding pallet size from the drop-down box, or select "Custom" and manually enter the length, width and height of the pallet. - Page 19 Dobot Palletizing Workstation User Guide Figure 4.7 Palletizing style setting Set two styles a and b respectively (you can also set only one style), the setting method is as follows. Figure 4.8 Palletizing style edit ⚫ : Click to add a box, which will be shown in the schematic on the left side of the page.
- Page 20 Dobot Palletizing Workstation User Guide alignment buttons (left, down, right, up from left to right), the box will be aligned with the edge of the nearest box in the corresponding direction, and if there is no other box in the corresponding direction, it will be aligned with the edge of the pallet.
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Page 21: Pick Box Setting
Dobot Palletizing Workstation User Guide whether all the box points in the set pattern are reachable. When all the box points are reachable, it will display "OK", if there are unreachable box points, it will display "NG", and the style needs to be modified. -
Page 22: Place Box Setting
Dobot Palletizing Workstation User Guide Figure 4.12 Motion path and box detection setting Click the "Place Box" tab to enter the place box setting page. 4.6 Place Box Setting In the jog panel, set both the user coordinate system and the tool coordinate system to 0 (the default coordinate system). -
Page 23: Debug
Dobot Palletizing Workstation User Guide Click the "Debug" tab to enter the debug page. 4.7 Debug In this page, you can control the lift axis and suction cup for debugging. Figure 4.14 Debug Lifiting Axis Control Click the "Connect" button, the system will start to connect the lifting axis, and the button will change to "Connected"... - Page 24 Dobot Palletizing Workstation User Guide button will change to "Pause". Clicking "Pause" will pause the project and the button will change to "Resume". Clicking "Resume" resumes the paused project and the button changes to "Pause". Clicking "Stop" will stop running the current project, and the button on the left changes to "Run".
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Page 25: Remote Control Button Configuration
Dobot Palletizing Workstation User Guide The alarm info window displays the alarm information when the project is running. Click the broom icon to clear the alarm information. Figure 4.18 IO Monitor Pull down the page to see the IO monitoring function, and click the monitoring camera icon to view the IO information related to palletizing. - Page 26 Dobot Palletizing Workstation User Guide Figure 4.19 Remote I/O mode Configure "Start" as DI_11 (corresponding to the Start button), configure "Stop" as DI_12 (corresponding to the Stop button), configure "Clear alarm" as DI_13 (corresponding to the Reset button), and configure the rest of the functions as Reserve (or configure on demand).
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Page 27: Product Specifications
Dobot Palletizing Workstation User Guide 5. Product Specifications 5.1 Product Dimensions Workstation Dimensions 5.1.1 Workstation dimensions are shown in the figure below. Figure 5.1 Workstation dimensions For the dimensions of the robtic arm, please refer to the user manual of the CR series. - Page 28 Dobot Palletizing Workstation User Guide The dimensions of the suction cup system without extra reach bracket are shown below. Figure 5.3 Suction cup system without extra reach bracket The dimensions of the suction cup system with extra reach bracket are shown below.
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Page 29: Technical Specifications
Dobot Palletizing Workstation User Guide 5.2 Technical Specifications Table 5.1 Palletizing workstation technical specifications End tool type Suction cup Maximum box weight 8 kg (17.6 lb) Minimum box dimensions The minimum box dimensions depend on pallet dimensions. See section below for more details. -
Page 30: Electrical Topology
Dobot Palletizing Workstation User Guide 5.3 Electrical topology Figure 5.7 Electrical topology of palletizing workstation 5.4 Electrical Interface The electrical interfaces of the palletizing workstation are concentrated on the front terminal panel, as shown in the figure below. Figure 5.8 Electrical interface of palletizing workstation Issue V1.0 (2022-11-03) - Page 31 Dobot Palletizing Workstation User Guide Table 5.2 Electrical interface description Silk screen Description LAN1 The LAN port used to connect the debugging device has no fixed IP, and the network segment is 192.168.1.xxx. During debugging, the IP of the debugging device needs to LAN2 be changed to the IP of this network segment.
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Page 32: Maintenance
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 33 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 (2022-11-03) User Guide...
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Page 34: Component List
Dobot Palletizing Workstation User Guide 7. Component list Table 7.1 Component list Component Description CR10 robitc arm Body only, the controller has been installed in the workstation cabinet. Workstation Cabinet It is fixed on the base, and the pallet baffles and pallet sensors on both sides of the base are disassembled. -
Page 35: Quality Assurance
Dobot Palletizing Workstation User Guide 8. Quality Assurance 8.1 Product Quality Assurance Without prejudice to any claims agreement that the user (customer) may have with the dealer or retailer, the manufacturer shall give the customer a product warranty under the terms listed below:...
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