Dobot CR20A - Default Chapter; Table of Contents

Dobot CR A Series User Guide
Issue V1.3 (2023-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
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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 ........................................................................................................................ 6
Emergency stop switch ........................................................................................ 6
Emergency recovery ............................................................................................ 6
Transportation ......................................................................................................... 7
Product Introduction ............................................................................................... 8
Overview ........................................................................................................................... 8
Robot arm ......................................................................................................................... 9
Composition ........................................................................................................ 9
End buttons and indicator lights ........................................................................ 10
Controller ........................................................................................................................ 12
Operation terminal .......................................................................................................... 13
Product Features .................................................................................................... 14
Coordinate system ........................................................................................................... 14
Joint coordinate system ..................................................................................... 14
User coordinate system ...................................................................................... 14
Tool coordinate system ...................................................................................... 15
Home posture .................................................................................................................. 16
Singularity Point ............................................................................................................. 16
Shoulder singularity ........................................................................................... 16
Elbow singularity............................................................................................... 17
Wrist singularity ................................................................................................ 17
Emergency stop time and distance .................................................................................. 17
Mechanical Specifications ..................................................................................... 20
CR3A mechanical specifications .................................................................................... 20
CR3A dimensions and working space ............................................................... 20
CR3A base installation dimensions ................................................................... 21
CR3A flange dimensions ................................................................................... 21
CR3A load curve ............................................................................................... 21
CR5A mechanical specifications .................................................................................... 23
CR5A dimensions and working space ............................................................... 23
CR5A base installation dimensions ................................................................... 24
CR5A flange dimensions ................................................................................... 24
CR5A load curve ............................................................................................... 24
CR7A dimensions ........................................................................................................... 26