Dobot CR Series User Guide
Issue V1.1 (2023-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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When the J4 axis and J6 axis are parallel, it will lead to singularity, as shown in Figure 4.7.
Figure 4.7 Wrist singularity
Braking time and braking distance
When the J1~J3 axes triggers an emergency stop at 100% speed, maximum load and maximum
arm span, the braking time and braking distance of each joint are shown in the table below.
For the J1 axis, the test is performed by moving horizontally, namely, the rotation axis is
perpendicular to the ground.
For the J2 and J3 axis tests, the robot follows a vertical trajectory, namely, the rotation axis is
parallel to the ground, and triggers an emergency stop when the robot moves downward.
Table 4.1 only includes the data of some models for your reference.
Table 4.1 Braking time and Braking distance
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