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User Manual

AUBO-i5 & CB4

Translate Version 4.3

Published by AUBO (Beijing) Robotics Technology Co., Ltd.

For the information of this version of the user manual, please refer to the version information section

of this manual. Before using the manual, please check the actual product version information

carefully.

Main Page

Table of Contents5
Components of Aubo-I5 Robot12
More Information12
Safety13
Introduction13
Warning Symbols in this Manual13
Safety Precautions14
General14
Terms and Conditions14
Operator Safety18
Responsibility and Standard19
Hazard Identification20
Intended Use21
Emergency Situations22
Emergency Stop Device22
Recovering from the Emergency Condition23
Emergency Move for Joint23
Excessive Force Protection23
Transportation and Precautions25
Maintenance, Repair and Disposal27
Maintenance and Repair27
Disposal28
Warranties29
Product Warranty29
Disclaimer29
Robot Hardware Composition31
Robot Installation33
Brief Installation Steps33
Important Safety Instructions33
Workspace of the Robot34
Mechanical Dimensions of Manipulator34
Effective Working Range34
Hardware Installation35
The Manipulator Base35
Manipulator Installation36
End-Effector Installation39
Mechanical Structure Size of End-Effector Flange39
Getting Started41
Installation41
Installing Robots41
Cable Connection42
Power on the Manipulator45
Preparation45
Power on System46
Power off the Manipulator47
The I Series Standard Control Box49
Introduction49
Electrical Warnings and Cautions50
I Series Control Box's Internal Electrical Interface51
Introduction51
Safety I/O52
Default Safety Configuration54
External Emergency Stop Input55
Safeguard Stop Input56
Reduce Mode Input58
Safeguard Stop Reset Input59
Enabling Device Input60
Operational Mode Input61
Hand Guiding Enable Input61
System Stop Input62
Robot Emergency Stop Output63
Robot Moving Output64
Robot Not Stopping Output65
Reduced Mode Output66
Not Reduced Mode Output67
System Error Output68
Internal I/O69
General I/O Electrical Interface69
End-Effector I/O Interface76
Communication Interface77
Getting Started78
Safety78
Notes before Use78
Control Box Panel79
Manual Mode and Linkage Mode80
Manual Mode80
Manipulator Are Powered Off. Linkage Mode80
Teach Pendant Enable Switch82
Teach Pendant85
Turn on the Teach Pendant85
Shut down the Teach Pendant86
10. Teach Pendant User Interface87
Coordinate System87
Base Coordinate System87
End Coordinate System88
Initial Interface88
Robot Teaching" User Interface88
Software Shut down Button89
Menu90
Robot 3D Display Window90
Simulation/Real Control Switch Button91
Step Mode Control91
Position Control91
Robot Real-Time Status Parameter Display92
Orientation Control93
Joint Axis Control94
Zero Pose, Init Pose94
Motion Speed Control95
I/O Control Interface95
Controller I/O Tab95
User I/O96
Tool I/O Tab96
Robot Setting Tab98
Initpose98
Tool Calibration99
Tool Kinematics Calibration100
Tool Dynamics Calibration102
Tool Calibrate103
Coordinate Calibration104
Safety109
System Settings Tab110
Language Tab110
Date& Time Tab111
Network Tab112
Password Tab113
System114
Update Tab115
Extensions117
System Info Tab122
About123
11. Online Programming125
Introduction125
Project Tab126
New Project126
Load Project127
Save Project128
Default Project129
Auto Move Tab130
Procedure131
Command & Condition Tabs132
Loop132
Break132
Switch135
Set136
Wait136
Timer137
Line Comment137
Block Comment138
Goto138
Message139
Empty140
Move140
Waypoint146
Thread146
Procedure147
Script148
Record Track149
Offline Record150
Track Record152
Variable Tab153
Timer154
Simulation Model155
Scripts File Configuration156
Appendix159
A Glossary159
B Certification160
C Stopping Time & Stopping Distance162
D Guideline163
E Technical Specification164
F Payload165
G Manipulator Installation Requirements166

AUBO i5 - Page 3

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