Dobot CR5 - Protective Stop

DOBOT CR5 User Guide 3 Electrical Specifications
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
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connect external emergency stop devices. The interface description is as follows:
Table 3.2 User emergency stop I/O description
Output Interface
Input Interface
Factory connection
Description
I/O28（X18:4）
DI12（X19:4）
Short connection
I/O28 and DI12, I/O29 and DI13 are
redundant circuits of the user emergency stop
interface. Any one of the disconnections will
cause the user emergency stop function to be
triggered
I/O29（X18:5）
DI13（X19:5）
Short connection
Protective Stop
Protective stop I/O is a protective stop interface provided to users, and users can connect
external protective stop devices. The interface description is as follows:
Table 3.3 Protective stop I/O description
Output Interface
Input Interface
Factory connection
Description
I/O31（X18:7）
DI15（X18:7）
Short connection
I/O31 and DI15, I/O32 and DI16 are
redundant circuits of the protective stop
interface，Any one of the disconnections will
cause the protective stop function to be
triggered
I/O32（X18:8）
DI16（X19:8）
Short connection
Automatic Operation Remote Confirmation
The automatic operation remote confirmation interface is an interface for users to access the
automatic operation remote confirmation button. The main function is that the user can manually
confirm the operation at the remote before automatic operation to ensure the safety of personnel.
The interface description is as follows:
Table 3.4 Automatic Operation Remote Confirmation I/O description
Output Interface
Input Interface
Factory connection
Description
I/O27（X18:3）
DI11（X19:3）
Short connection
I/O27 and DI11 are one circuits of automatic
remote confirmation interface, users can
confirm the operation script of the robot arm
through APP