Dobot CR5 - Table of Contents

DOBOT CR5 User Guide Contents
Issue V3.5.3.1 (2020-05-09) User Guide Copyright © Yuejiang Technology Co., Ltd
iii
Contents
Security Precautions ................................................................................................ 1
Security Warning Sign ...................................................................................................... 1
General Security................................................................................................................ 1
Personal Security .............................................................................................................. 5
Overview ................................................................................................................... 6
Technical Specifications ................................................................................................... 6
Robot Body Technical Parameters ....................................................................... 6
Controller Technical Parameters .......................................................................... 8
Robot Workspace .............................................................................................................. 8
End-effector Size .............................................................................................................. 9
End-effector Load Description ........................................................................................ 10
Product Features ............................................................................................................. 10
Motion Function ................................................................................................ 10
Coordinate System ............................................................................................. 13
Arm Orientation................................................................................................. 16
Singularity Point ................................................................................................ 17
Collision Detection ............................................................................................ 18
Key Description on Robot .............................................................................................. 19
Electrical Specifications ......................................................................................... 21
Controller I/O Interface Description ............................................................................... 21
Emergency Stop I/O description ..................................................................................... 23
User Emergency Stop ........................................................................................ 23
Protective Stop................................................................................................... 24
Automatic Operation Remote Confirmation ..................................................... 24
End I/O Interface Description ......................................................................................... 25
Interface Board ............................................................................................................... 26
External Interface Board Description ................................................................ 26
Internal Module Description .............................................................................. 27
Digital Input ...................................................................................................... 28
Multiplex Digital Input/ Digital Output ............................................................. 29
Analog Input ...................................................................................................... 30
Analog Output ................................................................................................... 31
Incremental Encoder ABZ Input ........................................................................ 32
Installation and Commissioning ........................................................................... 33
Installation Environment ................................................................................................. 33
Installation Location ....................................................................................................... 33
Controller Installation Location......................................................................... 33
Robot Installation Location ............................................................................... 34
Connecting cables ........................................................................................................... 34
Precautions ........................................................................................................ 34
Connecting Controller and Robot by Heavy Duty Cables ................................. 35
Connecting Emergency Stop Switch ................................................................. 35