AUBO CB4 Collaborative Robot Manuals

Manuals and User Guides for AUBO CB4 Collaborative Robot. We have 2 AUBO CB4 Collaborative Robot manuals available for free PDF download: User Manual

AUBO CB4 User Manual

AUBO CB4 User Manual (179 pages)

Brand: AUBO | Category: Robotics | Size: 10 MB

Table of Contents

Table of Contents
5
Catalog

11
Preface

11
Components of Aubo-I10 Robot

12
More Information

12
Safety

13
- Introduction
  13
- Warning Symbols in this Manual
  13
- Safety Precautions
  14
  - General
    14
  - Terms and Conditions
    14
  - Operator Safety
    18
- Responsibility and Standard
  19
- Hazard Identification
  21
- Intended Use
  22
- Emergency Situations
  23
Transportation and Precautions

25
Maintenance, Repair and Disposal

27
- Maintenance and Repair
  27
- Disposal
  28
Warranties

29
- Product Warranty
  29
- Disclaimer
  29
Robot Hardware Composition

31
Robot Installation

33
- Brief Installation Steps
  33
- Important Safety Instructions
  33
- Workspace of the Robot
  34
  - Mechanical Dimensions of Manipulator
    34
  - Effective Working Range
    35
- Hardware Installation
  36
  - The Manipulator Base
    36
  - Manipulator Installation
    37
- End-Effector Installation
  39
  - Mechanical Structure Size of End-Effector Flange
    39
- Cable Connection
  40
The I Series Standard Control Box

45
- Introduction
  45
- Electrical Warnings and Cautions
  46
- Control Box Panel Introduction
  46
  - Control Box Front Panel
    47
  - Control Box Side Panel
    48
  - Control Box Back Panel
    51
- Selection of Working Mode
  52
  - Manual Mode
    53
  - Linkage Mode
    53
Internal Electrical Interface

57
- Introduction
  57
- Electrical Warnings and Cautions
  57
- Control Box Communication Interface
  58
- Control Box I/O Power Supply
  59
  - Internal Power Supply
    59
  - External Power Supply
    59
- Safety I/O
  60
  - Introduction
    60
  - Safety Tips
    60
  - Safety I / O Function Definition
    60
  - Default Safety Configuration
    61
  - External Emergency Stop Input
    62
  - Safeguard Stop Input
    63
  - Reduce Mode Input
    65
  - Safeguard Stop Resert Input
    66
  - Enabling Device Input
    67
    
    Hand Guiding Enable Input
    68
    
    Operational Mode Input
    68
    
    System Stop Input
    69
    
    Robot Emergency Stop Output
    70
    
    Robot Moving Output
    71
    
    Robot Not Stopping Output
    72
    
    Reduced Mode Output
    73
    
    Not Reduced Mode Output
    74
- System Error Output
  75
- Internal I/O
  76
- General I/O
  77
  - General Purpose Digital I/O Interface
    77
  - Example
    78
    
    Analog I/O Interface
    80
    
    Example
    81
    
    Clear Alarm Signal Interface
    82
- Remote Switch Control I/O Interface
  82
  - Remote Power on
    83
  - Remote Power off
    83
- Linkage Control I/O Interface
  83
  - Robot Tool I/O Interface
    85
Getting Started

88
- Basic Function Introduction
  88
- Installing the Robot System
  89
- Power on the Manipulator
  89
  - Preparation
    89
  - Power on System
    90
- Power off the Manipulator
  91
- Start System Quick
  91
Teach pendant

92
- Instruction
  92
- Teach pendant Operation Interface
  92
  - User Login
    92
  - Initial Interface
    93
  - Robot Movement Control
    94
  - Robot Teaching User Interface
    94
  - Currently Logged in User
    95
  - Logout Button
    95
  - Software Shut down Button
    95
  - Menu
    95
  - Robot 3D Display Window
    96
  - Simulation/Real Control Switch Button
    97
  - Step Mode Control
    97
  - Position Control
    97
  - Coordinate System
    98
  - User-Defined Coordinate System
    99
  - Robot Real-Time Status Parameter Display
    99
  - Target Selection
    99
  - Orientation Control
    100
  - Joint Axis Control
    101
  - Zero Pose, Init Pose
    101
  - Motion Speed Control
    102
  - Date and Time Display
    102
  - Speed Control
    102
- Robot I/O Settings and Status Display
  102
  - Controller I/O Tab
    103
  - User I/O Tab
    104
  - Tool I/O Tab
    104
- Robot Setting Tab
  106
  - Initpose
    106
  - Tool Calibration
    107
  - Tool Kinematics Calibraton
    108
  - Tool Dynamics Calibration
    110
  - Tool Calibrate
    111
    
    Coordinate Calibration
    112
- Robot Safety Settings
  116
- System Setting Tab
  117
  - Language Tab
    117
  - Date& Time Tab
    118
  - Network Tab
    119
  - Password Tab
    119
  - Lock Screen
    120
  - Update Tab
    121
  - Factory Reset
    121
  - Update Software/Firmware
    122
  - File Export
    122
- Extensions
  123
- System Info Tab
  126
Online Programming

128
- Instruction
  128
- Function Module Description
  130
  - Text Box Editor
    130
- Project Tab
  130
  - New Project
    130
  - Load Project
    132
  - Save Project
    133
  - Default Project
    134
  - Automove Tab
    135
  - Procedure
    136
- Procedure (Process)
  137
  - Calling Subproject Commands（Procedure
    137
- Move Condition
  139
  - Type of Move
    140
  - Move Joint
    140
  - Move Line
    141
  - Move Track
    142
    
    Waypoint
    144
- Basic Command & Condition Tabs
  145
  - Loop
    146
  - Break
    146
  - If...else
    147
  - Switch
    148
  - Set
    149
  - Wait
    150
  - Line Comment
    150
  - Block Comment
    151
    
    Goto
    151
    
    Message
    152
    
    Empty
    153
- Advanced Command & Condition Tabs
  153
  - Thread
    153
  - Script
    153
  - Offline Record
    154
- Record Track
  155
- Variable Tab
  157
  - Timer
    158
    
    Inserch Timer
    158
    
    Timer Status Display
    159
  - Simulation Model
    159
  - Scripts File Configuration
    160
Appendix

162
A Glossary

162
B Certification

163
C Stopping Time & Stopping Distance

165
D Guideline

166
E Technical Specification

167
F Payload

168
G Alarm Information & Description of General Problem

170

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AUBO CB4 User Manual

AUBO CB4 User Manual (177 pages)

Brand: AUBO | Category: Robotics | Size: 10 MB

Table of Contents

Table of Contents
5
Catalog

11
Preface

11
Components of Aubo-I3 Robot

12
More Information

12
Safety

13
- Introduction
  13
- Warning Symbols in this Manual
  13
- Safety Precautions
  14
  - General
    14
  - Terms and Conditions
    14
  - Operator Safety
    18
- Responsibility and Standard
  19
- Hazard Identification
  21
- Intended Use
  22
- Emergency Situations
  23
Transportation and Precautions

25
Maintenance, Repair and Disposal

27
- Maintenance and Repair
  27
- Disposal
  28
Warranties

29
- Product Warranty
  29
- Disclaimer
  29
Robot Hardware Composition

31
Robot Installation

33
- Brief Installation Steps
  33
- Important Safety Instructions
  33
- Workspace of the Robot
  34
  - Mechanical Dimensions of Manipulator
    34
  - Effective Working Range
    35
- Hardware Installation
  36
  - The Manipulator Base
    36
  - Manipulator Installation
    37
- End-Effector Installation
  39
  - Mechanical Structure Size of End-Effector Flange
    39
- Cable Connection
  39
The I Series Standard Control Box

43
- Introduction
  43
- Electrical Warnings and Cautions
  44
- Control Box Panel Introduction
  44
  - Control Box Front Panel
    45
  - Control Box Side Panel
    46
  - Control Box Back Panel
    49
- Selection of Working Mode
  50
  - Manual Mode
    51
  - Linkage Mode
    51
Internal Electrical Interface

55
- Introduction
  55
- Electrical Warnings and Cautions
  55
- Control Box Communication Interface
  56
- Control Box I/O Power Supply
  57
  - Internal Power Supply
    57
  - External Power Supply
    57
- Safety I/O
  58
  - Introduction
    58
  - Safety Tips
    58
  - Safety I / O Function Definition
    58
  - Default Safety Configuration
    59
  - External Emergency Stop Input
    60
  - Safeguard Stop Input
    61
  - Reduce Mode Input
    63
  - Safeguard Stop Resert Input
    64
  - Enabling Device Input
    65
    
    Hand Guiding Enable Input
    66
    
    Operational Mode Input
    66
    
    System Stop Input
    67
    
    Robot Emergency Stop Output
    68
    
    Robot Moving Output
    69
    
    Robot Not Stopping Output
    70
    
    Reduced Mode Output
    71
    
    Not Reduced Mode Output
    72
- System Error Output
  73
- Internal I/O
  74
- General I/O
  75
  - General Purpose Digital I/O Interface
    75
  - Example
    76
    
    Analog I/O Interface
    78
    
    Example
    79
    
    Clear Alarm Signal Interface
    80
- Remote Switch Control I/O Interface
  80
  - Remote Power on
    81
  - Remote Power off
    81
- Linkage Control I/O Interface
  81
  - Robot Tool I/O Interface
    83
Getting Started

86
- Basic Function Introduction
  86
- Installing the Robot System
  87
- Power on the Manipulator
  87
  - Preparation
    87
  - Power on System
    88
- Power off the Manipulator
  89
- Start System Quick
  89
Teach pendant

90
- Instruction
  90
- Teach pendant Operation Interface
  90
  - User Login
    90
  - Initial Interface
    91
  - Robot Movement Control
    92
  - Robot Teaching User Interface
    92
  - Currently Logged in User
    93
  - Logout Button
    93
  - Software Shut down Button
    93
  - Menu
    93
  - Robot 3D Display Window
    94
  - Simulation/Real Control Switch Button
    95
  - Step Mode Control
    95
  - Position Control
    95
  - Coordinate System
    97
  - User-Defined Coordinate System
    97
  - Robot Real-Time Status Parameter Display
    98
  - Target Selection
    98
  - Orientation Control
    98
  - Joint Axis Control
    99
  - Zero Pose, Init Pose
    100
  - Motion Speed Control
    100
  - Date and Time Display
    100
  - Speed Control
    101
- Robot I/O Settings and Status Display
  101
  - Controller I/O Tab
    101
  - User I/O Tab
    102
  - Tool I/O Tab
    102
- Robot Setting Tab
  104
  - Initpose
    104
  - Tool Calibration
    105
  - Tool Kinematics Calibraton
    106
  - Tool Dynamics Calibration
    108
  - Tool Calibrate
    109
    
    Coordinate Calibration
    110
- Robot Safety Settings
  114
- System Setting Tab
  115
  - Language Tab
    115
  - Date& Time Tab
    116
  - Network Tab
    117
  - Password Tab
    117
  - Lock Screen
    118
  - Update Tab
    119
  - Factory Reset
    119
  - Update Software/Firmware
    120
  - File Export
    120
- Extensions
  121
- System Info Tab
  124
Online Programming

126
- Instruction
  126
- Function Module Description
  128
  - Text Box Editor
    128
- Project Tab
  128
  - New Project
    128
  - Load Project
    130
  - Save Project
    131
  - Default Project
    132
  - Automove Tab
    133
  - Procedure
    134
- Procedure (Process)
  135
  - Calling Subproject Commands（Procedure
    135
- Move Condition
  137
  - Type of Move
    138
  - Move Joint
    138
  - Move Line
    139
  - Move Track
    140
    
    Waypoint
    142
- Basic Command & Condition Tabs
  143
  - Loop
    144
  - Break
    144
  - Switch
    146
  - Set
    147
  - Wait
    148
  - Line Comment
    148
  - Block Comment
    149
    
    Goto
    149
    
    Message
    150
    
    Empty
    151
- Advanced Command & Condition Tabs
  151
  - Thread
    151
  - Script
    151
  - Offline Record
    152
- Record Track
  153
- Variable Tab
  155
  - Timer
    156
    
    Inserch Timer
    156
    
    Timer Status Display
    157
  - Simulation Model
    157
  - Scripts File Configuration
    158
Appendix

160
A Glossary

160
B Certification

161
C Stopping Time & Stopping Distance

163
D Guideline

164
E Technical Specification

165
F Payload

166
G Alarm Information & Description of General Problem

168

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