Dobot CR3 - Security I;O and Robot Interfaces

Dobot CR Series User Guide
Issue V1.1 (2023-04-27) User Guide Copyright © Yuejiang Technology Co., Ltd.
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Color
Description
Black
A+
White
B+
Orange
Z+
Black and red
A-
White and red
B-
Orange and red
Z-
Security I/O interface
The security I/O includes 20 interfaces: SI1~SI10, SO1~SO10.
SI02/SI03/SI04/SI05/SI10 interfaces can be configured to user emergency stop input,
protective stop input, protective stop reset input, reduction mode input and automatic running input
through control software. The above interfaces can be configured randomly (single/dual) and are
not configured by factory default.
You can configure the SO03/SO05 interfaces through software as the emergency stop output,
running state output, non-stop output and reduction mode output interfaces. These interfaces can be
configured randomly (single channel) and are not configured by factory default. SO02, SO04 and
SO10 are high level by default and can be connected to security peripherals.
Emergency stop interface
Emergency stop I/O is an emergency stop interface for you to connect to external emergency
stop devices.
By default, the emergency stop input is the normally closed signal input of high level. Low
level triggers the robot to enter the emergency stop status.
If you configure SI02 and SI03 as emergency stop I/O, the wiring of connecting one or multiple
emergency stop switches is shown below (SO02 and SO04 are 24V).