Dobot CR 10 - Table of Contents

Dobot CR10 Hardware User Guide Contents
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
iii
Contents
Security Precautions ................................................................................................ 1
Security Warning Sign ...................................................................................................... 1
General Security................................................................................................................ 1
Personal Security .............................................................................................................. 5
Overview ................................................................................................................... 7
Technical Specifications ................................................................................................... 7
Robot Body Technical Parameters ....................................................................... 7
Controller Technical Parameters .......................................................................... 9
Product Size .................................................................................................................... 10
Robot Body Size ................................................................................................ 10
Controller Size ................................................................................................... 11
Nameplate Description .................................................................................................... 11
Security Warning Labels ................................................................................................. 12
Robot Workspace ............................................................................................................ 13
End-effector Size ............................................................................................................ 13
End-effector Load Description ........................................................................................ 14
Stop Time and Angle ....................................................................................................... 14
Home Description ........................................................................................................... 15
Factory posture ............................................................................................................... 15
Product Features ............................................................................................................. 16
Motion Function ................................................................................................ 16
Coordinate System ............................................................................................. 19
Singularity Point ................................................................................................ 22
Collision Detection ............................................................................................ 24
Key Description on Robot .............................................................................................. 24
Electrical Specifications ......................................................................................... 27
Controller I/O Interface Description ............................................................................... 27
Emergency Stop I/O Description .................................................................................... 30
User Emergency Stop ........................................................................................ 30
Protective Stop................................................................................................... 30
Automatic Operation Remote Confirmation ..................................................... 31
End I/O Interface Description ......................................................................................... 31
Interface Board ............................................................................................................... 33
External Interface Board Description ................................................................ 33
Digital Input ...................................................................................................... 35
Multiplex Digital Input/ Digital Output ............................................................. 36
Analog Input ...................................................................................................... 36
Analog Output ................................................................................................... 37
Incremental Encoder ABZ Input ........................................................................ 38
Installation and Commissioning ........................................................................... 39
Installation Environment ................................................................................................. 39
Installation Location ....................................................................................................... 39