Dobot CR 10 Installation manual

User Guide
Shenzhen Yuejiang Technology Co., Ltd
Dobot CR10 Hardware
User Guide
Issue: V1.3 (Translated Version)
Date: 2021-07-07

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
i
Copyright © Shenzhen Yuejiang Technology Co., Ltd 2021. All rights reserved.
No part of this document may be reproduced or transmitted in any form or by any means
without the prior written consent of Yuejiang Technology Co., Ltd.
Disclaimer
To the maximum extent permitted by applicable law, the products described (including its
hardware, software, and firmware, etc.) in this documentare provided AS IS, which may have flaws,
errors or faults. Yuejiang makes no warranties of any kind, express or implied, including but not
limited to, merchantability, satisfaction of quality, fitness for a particular purpose and non-
infringement of third party rights. In no event will Yuejiang be liable for any special, incidental,
consequential or indirect damages resulting from the use of our products and documents.
Before using our product, please thoroughly read and understand the contents of this document
and related technical documents that are published online, to ensure that the robot is used on the
premise of fully understanding the robot and related knowledge. Please use this document with
technical guidance from professionals. Even if follow this document or any other related
instructions, Damages or losses will be happening in the using process, Dobot shall not be
considered as a guarantee regarding all security information contained in this document.
The user has the responsibility to make sure following the relevant practical laws and
regulations of the country, in order that there is no significant danger in the use of the robot.
If this document is incorrect, please refer to the original document.
Shenzhen Yuejiang Technology Co., Ltd
Address: Floor 9-10, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd, Nanshan
District, Shenzhen, Guangdong Province, China
Website: www.dobot.cc

Dobot CR10 Hardware User Guide Preface
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
ii
Preface
Purpose
This Document describes the functions, technical specifications, installation guide of DOBOT
CR10 robot, making it easy for users to fully understand and use it.
IntendedAudience
This document is intended for:
Customer
Sales Engineer
Installation and Commissioning Engineer
Technical Support Engineer
Change History
Date
Change Description
2021/03/29
The first releases
2021/04/27
Add product size, nameplate and so on.
2021/07/07
Replace the figure of Robot base size.
Symbol Conventions
The symbols that may be founded in this document are defined as follows.
Symbol
Description
DANGER
Indicates a hazard with a high level of risk which, if not
avoided, could result in death or serious injury
WARNING
Indicates a hazard with a medium level or low level of
risk which, if not avoided, could result in minor or
moderate injury, robot damage
NOTICE
Indicates a potentially hazardous situation which, if not
avoided, can result in equipment damage, data loss, or
unanticipated result
NOTE
Provides additional information to emphasize or
supplement important points in the main text
Referenced Document
The reference document for this manual: DobotSCStudio User Manual (CR Robot).

Dobot CR10 Hardware User Guide Contents
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
iii
Contents
Security Precautions................................................................................................1
Security Warning Sign ......................................................................................................1
General Security................................................................................................................1
Personal Security ..............................................................................................................5
Overview...................................................................................................................7
Technical Specifications ...................................................................................................7
Robot Body Technical Parameters.......................................................................7
Controller Technical Parameters..........................................................................9
Product Size....................................................................................................................10
Robot Body Size................................................................................................10
Controller Size...................................................................................................11
Nameplate Description....................................................................................................11
Security Warning Labels.................................................................................................12
Robot Workspace............................................................................................................13
End-effector Size ............................................................................................................13
End-effector Load Description........................................................................................14
Stop Time and Angle.......................................................................................................14
Home Description...........................................................................................................15
Factory posture ...............................................................................................................15
Product Features .............................................................................................................16
Motion Function................................................................................................16
Coordinate System.............................................................................................19
Singularity Point................................................................................................22
Collision Detection............................................................................................24
Key Description on Robot ..............................................................................................24
Electrical Specifications.........................................................................................27
Controller I/O Interface Description...............................................................................27
Emergency Stop I/O Description....................................................................................30
User Emergency Stop........................................................................................30
Protective Stop...................................................................................................30
Automatic Operation Remote Confirmation .....................................................31
End I/O Interface Description.........................................................................................31
Interface Board ...............................................................................................................33
External Interface Board Description................................................................33
Digital Input ......................................................................................................35
Multiplex Digital Input/ Digital Output.............................................................36
Analog Input......................................................................................................36
Analog Output...................................................................................................37
Incremental Encoder ABZ Input........................................................................38
Installation and Commissioning...........................................................................39
Installation Environment.................................................................................................39
Installation Location .......................................................................................................39

Dobot CR10 Hardware User Guide Contents
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
iv
Controller Installation Location.........................................................................39
Robot Installation Location...............................................................................40
Connecting cables...........................................................................................................41
Precautions ........................................................................................................41
Connecting Controller and Robot by Heavy Duty Cables.................................42
Connecting Emergency Stop Switch.................................................................42
Connecting WiFi Module ..................................................................................43
Connecting to Power Supply.............................................................................44
Three-Position Enabling Accessory...................................................................44
Maintenance and Repair.......................................................................................45
Safety Instructions ..........................................................................................................45
Body Maintenance..........................................................................................................45

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
1
Security Precautions
This topic describes the security precautions that should be noticed when using this product.
Please read this document carefully before using the robot for the first time. This product needs to
be carried out in an environment meeting design specification. You cannot remold the product
without authorization, otherwise, it could lead to product failure, and even personal injury, electric
shock, fire, etc. People who use this product for system design and manufacture must be trained by
our company, relevant institution, or must have the same professional skills. The installation
personnel, operators, teaching personnel, programmers and system developers of the robot must
read this document carefully and use the robot strictly according to the regulations of this document
strictly.
Security Warning Sign
The following safety warning signs may appear in this manual, and their meanings are as
follows.
Sign
Description
DANGER
Indicates a high degree of potential danger, which, if unavoidable, will
result in death or serious injury
ELECTRICITY
Dangerous power consumption will soon be caused. If it cannot be avoided,
it will cause personal injury or serious injury to the equipment.
HOT
May cause dangerous hot surfaces, if touched, may cause personal injury
WARNNING
Indicates that there is a moderate or low potential hazard. If it cannot be
avoided, it may cause minor injuries to the equipment and damage to the
equipment.
ATTENTION
Indicates a potential risk, and ignoring these texts may result in damage to
the robotic arm, loss of data, or unpredictable results
NOTICE
A situation that, if unavoidable, can cause personal injury or equipment
damage
For items marked with such symbols, depending on the specific situation,
there is sometimes the possibility of significant consequences
General Security
The following security rules should be followed when using the robot for industrial design and
manufacture.
DANGER
Robot is electrical equipment. Non-professional technicians cannot modify the

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
2
circuit, otherwise, it is vulnerable to injury the device or the person.
You should comply with the local laws and regulations when operating the robot.
The security precautions in this document are only supplemental to the local laws
and regulations.
Please use the robot in the specified environment scope. If not, exceeding the
specifications or load conditions will shorten the service life of the robot, even
damage it.
Please ensure that the robot is operated under the security conditions and there is no
harmful object around the robot.
Turning on or off the power continually may result in that the performance of the
main circuit components inside the controller is degraded. If turning on or off the
power continually is required, please keep frequency less than once a minute.
HOT
The robot and the controller will generate heat during operation. Please do not
operate or touch the robot when the robot is working or has just stopped working.
Turn off the power and wait an hour for the robot to cool down.
Do not put your fingers where the control cabinet gets hot.
NOTICE
The personnel responsible for installation, operation and maintenance of equipment
must first undergo rigorous training, understand various safety precautions, and
master the correct operation and maintenance methods before they can operate and
maintain equipment.
Personnel without professional training shall not disassemble and repair the
equipment without authorization. If the device fails, please contact Shenzhen
Yuejiang Technology Co., Ltd technical support engineer in time.
Be sure to carry out daily inspections and regular maintenance, and replace faulty
components in time to ensure the safe operation of the equipment.
If the equipment is scrapped, please comply with relevant laws to properly handle
industrial waste and protect the environment.
In order to prevent personnel from accidentally entering the working space of the
robotic arm, be sure to set up safety fence to prevent personnel from entering the
hazardous area.
Before operating the robot, make sure that no one is inside the safety fence. When
operating the robot, be sure to operate outside the safety fence.
Do not expose the robot to permanent magnetic fields all the time. Strong magnetic
fields can cause damage to the robot.

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
3
Shenzhen Yuejiang Technology Co., Ltd. assumes no responsibility for robot
damage or personal injury caused by failure to follow product instructions or other
improper operations.
Handling operations such as lifting rings and driving need to use appropriate and
reliable lifting equipment. According to the relevant regulations of various
countries, it must be carried out by personnel with operating qualification
certificates or personnel authorized by the company.
Please make sure that there are no obstacles within 2 meters of the robot during
transportation, and relevant personnel should stay away from the suspended robot.
Shenzhen Yuejiang Technology Co., Ltd. is not responsible for the damage caused
during the transportation and handling of equipment.
Please make sure that the robot is in the packing posture before packaging, and the
brakes on each axis are normal.
Please make sure that there are no obstacles around the packing area, so that the
staff can leave in a timely manner.
When the robot is transported, the packaging needs to be fixed to ensure that the
robot is stable.
After removing the outer packaging, please make sure that the robot maintains the
original packing posture and the brakes on each axis are normal.
During the commissioning process, it is necessary to confirm that no relevant
personnel and equipment (include computer used for debugging) stay in the
dangerous area of the machine.
If necessary, wear corresponding safety protective equipment, such as safety
helmets, safety shoes (with non-slip soles), face shields, protective glasses and
gloves. Inappropriate clothing may cause personal injury.
In order to prevent personnel from entering the working space of the robot arm by
mistake, please set up safety barriers to prevent personnel from entering the
hazardous area.
Do not enter the working space of the manipulator at will during operating the robot,
otherwise cause injury to the robot or yourself.
The personnel responsible for installation, operation, and maintenance of the
equipment must first undergo strict training, understand various safety precautions,
and master the correct operation and maintenance methods before operating and
maintaining the equipment.
When an abnormality occurs in the mechanical arm, it is necessary to ensure that
the machine is stopped and then checked.
After the commissioning of the operator is completed, the test needs to be performed
in the Manual mode first, and then it is automatically run after it is confirmed to be

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
4
correct.
If the controller needs to be restarted due to power failure, when restarting, the robot
must be manually returned to the initial position of the automatic operation program
before restarting the automatic operation.
Before maintenance and wiring work, the power supply must be cut off, and the
sign No power supply must be put on. Otherwise, electric shock and personal injury
may result.
Please observe the ESD regulations when disassembling the robot or controller.
Avoid dismantling the power supply system in the controller. After the controller is
turned off, its power supply system may still have high voltage for several hours.
Please contact our technical support stafffor the disassembly and repair of the robot.
Maintenance and repair work must be carried out by designated personnel,
otherwise electric shock and personal injury may result.
If the brake is manually released, the robot may move because of the action of
gravity. So, when manually releasing the brake, please ensure that the robot body
and the tools or workpieces installed on the robot are effectively supported.
In order to prevent electric shock, when replacing parts, please turn off the circuit
breaker in advance and cut off the main power before proceeding.
Turn off the main power supply for 5 minutes before replacing parts.
The replacement operation must be performed by the specified operator.
The robot is designed and tested according to the group I class A engineering
medical robot standard. In order to reduce the radio interference in in light industry
or family environment, please take protective measures.
It is prohibited to operate the robot in strong radiation environment, for example,
RF source without shielding, otherwise, it could lead to robot abnormally.
WARNING
Before the operation, please wear protective clothing, such as antistatic uniform,
protective gloves, and protective shoes.
It is prohibited to modify or remove the nameplates, instructions, icons, and marks
on the robot and the related equipment.
Before operating and maintaining the robot, the personnel responsible for the
installation, operation and maintenance must be trained to understand the various
security precautions and to master the correct methods of operation, and
maintenance.
All the required cables must be connected before powering on the equipment.

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
5
Be careful during the robot carrying or installing. Please follow the instructions on
the packing box to put down the robot gently and place it correctly in direction of
the arrow.
Please use the matched cables when connecting a robot to internal or external
equipment for personal security and equipment protection.
Please do not plug or unplug the power cables or communication cables when
equipment is normally operated.
Please ensure that robot and tools are installed correctly.
Please ensure that the robot has enough space to move freely.
If the robot is damaged, please do not continue to use it.
Any impact will release a lot of kinetic energy, which is much higher than that under
high speed and high load
Personal Security
When operating the robot system, it is necessary to ensure the personal safety of the operator.
The general precautions are listed below, please strictly follow.
WARNING
To reduce the risk of personal injury, please comply with local regulations with
regard to the maximum weight one person is permitted to carry.
Do not touch the terminal blocks or disassemble the equipment with the power ON.
Otherwise, it may result in an electric shock
Please confirm that the equipment is well grounded, otherwise it will endanger
personal safety.
Do not touch the terminal blocks or remove the interval circuit components in 10
minutes after the power is shut off, to avoid an electric shock since there is residual
capacitance inside the controller.
Please do not reach out into the workspace of the robot when operating it, otherwise,
it will be vulnerable to injury the device or the person.
Even if the power switch of the controller is already in the OFF status, touching the
terminal blocks or removing the interval circuit components is not allowed, to avoid
an electric shock since there is residual capacitance inside the controller.
Please do not reach out into the workspace of the robot when operating it, otherwise,
it will be vulnerable to injury the device or the person.
When working with robots, please do not wear loose clothing or jewelry. When
operating the robot, make sure that the long hair bundle is behind your head.
If the robot appears to have stopped during the operation of the equipment, it may
be because the robot is waiting for the start signal and is in the state of being about
to move. In this case, the robot should also be considered to be in motion, please do
not approach the robot.

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
6
Please ensure that the robot establishes safety measures near the operation area,
such as guardrails, to protect the operator and surrounding people.
When a person is trapped by the robot, rescuers can push hard on the joints of the
robot until the person is freed.

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
7
Overview
The collaborative robot worksystem is composed of the collaborative robot body, robot control
software, and robot operation software. DOBOT CR10 supports APP wireless direct connection and
computerdirect connection, which is reallysimple and easyto use. With the self-developed dynamic
algorithm, one-handed teach-in and sensor less collision detection are realized to ensure the safety
of human and machine working together. The drag trajectory reproduction function is creatively
introduced, which completely reproduces the drag trajectory and reduces the threshold for robot use.
DOBOT CR10 has a repeat positioning accuracy of ±0.03mm, a max load of 10kg. It is a product
with the advantages of both industrial robots and collaborative robots.
Figure 2.1 Robot system
Technical Specifications
Robot Body Technical Parameters
Table 2.1 Robot body technical parameters
Product name
DOBOT CR10
Product model
DT-CR-6R100-00I
Weight
40 kg
Max load(kg)
10 kg
Reach(mm)
1300 mm
Full-load current
9.4 A

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
8
Rated voltage
DC 48V
Maximum Speed of
End-effector
4 m/s
Motion Range (°)
J1
±360°
J2
±360°
J3
±160°
J4
±360°
J5
±360°
J6
±360°
Joint Maximum
Speed(°/s)
J1
120°/s
J2
120°/s
J3
180°/s
J4
180°/s
J5
180°/s
J6
180°/s
End-effector I/O
Interface
DI
2
DO
2
AI (RS485 multiplexing)
2
RS485（AI multiplexing）
ModBus_RTU
Repeatability
±0.03mm
IP Classification
IP54
Temperature
0℃~45℃
Typical Power Supply
450W
Material
Aluminum alloy, ABS
Operating altitude range
≤ 1000 m
Package Size
995 mm x 575 mm x 383 mm
Packing Weight
(including the robot)
47.7 kg
Safety Standard
UL1740: 2018-Standard for Safety：Robot and Robotic Equipment;
CSA Z434-14 (R2019) Industrial robots and robot systems
NFPA 79:2018 Electrical Standard for Industrial Machinery
EN ISO 10218-1:2011 Steel wire and wire products. General. Test methods

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
9
EN 60204-1:2018 Safety of machinery. Electrical equipment of machines.
General requirements;
IEC 60204-1:2016 Safety of machinery. Electrical equipment of machines.
General requirements;
EN ISO 12100:2010 Safety of machinery. General principles for design. Risk
assessment and risk reduction;
ISO/TS 15066:2016 Robots and robotic devices-Collaborative robots;
ISO 13849-1:2015 Safety of machinery-Safety-related parts of control systems
-Part 1: General principles for design
EMC Standard
EN IEC 61000-6-2:2019-Generic Standards-Immunity for industrial
environments;
EN IEC 61000-6-4:2019-Generic standards - Emission standard for industrial
environments;
EN IEC 61000-6-7:2014 Electromagnetic compatibility (EMC). Generic
standards. Immunity requirements for equipment intended to perform functions
in a safety-related system (functional safety) in industrial locations
Controller Technical Parameters
Table 2.2 Controller technical parameters
Product name
DOBOT CC162
Product model
DT-CR-6R162-00I
Axis control
6 axes
Input power
1 PHASE
AC 100V~240V, 50/60 Hz
Output power
48V DC, MAX 12.5 A
I/O interface
16 Digital Inputs
16 Digital Inputs/Outputs (Multiplexing)
2 Analog Outputs (Voltage: 0V-10V, Current: 4mA-20mA)
2 Analog Inputs (Voltage: 0V-10V, Current: 4mA-20mA)
1 Incremental Encoder ABZ Input
Teaching method
APP，Computer
Programming
Language
Script/Tree Programming/Graphical Programming
Installation Method
Floor mounting
Environment
Temperature: 0℃ - 45℃
Humidity: ≤95%, and no condensation

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
10
Protection Grade
IP20
Cooling Method
Forced air cooling
Safety Function
Emergency stop function and reserved external safety interface (can be controlled by
I/O interface) Protective stop interface, Automatic Operation Remote Confirmation
Indicator Status
The indicator light will be steady red when the power is on; the indicator light will be
off when the power is off
Maintenance
Diagnostic software
Power-off Zero Save
Reserved remote service
Safety Standard
UL1740: 2018-Standard for Safety：Robot and Robotic Equipment;
CSA Z434-14 (R2019) Industrial robots and robot systems
NFPA 79:2018 Electrical Standard for Industrial Machinery
EN ISO 10218-1:2011 Steel wire and wire products. General. Test methods
EN 60204-1:2018 Safety of machinery. Electrical equipment of machines.
General requirements;
IEC 60204-1:2016 Safety of machinery. Electrical equipment of machines.
General requirements;
EN ISO 12100:2010 Safety of machinery. General principles for design. Risk
assessment and risk reduction;
ISO/TS 15066:2016 Robots and robotic devices-Collaborative robots;
ISO 13849-1:2015 Safety of machinery-Safety-related parts of control systems -Part 1:
General principles for design
EMC Standard
EN IEC 61000-6-2:2019-Generic Standards-Immunity for industrial environments;
EN IEC 61000-6-4:2019-Generic standards - Emission standard for industrial
environments;
EN IEC 61000-6-7:2014 Electromagnetic compatibility (EMC). Generic standards.
Immunity requirements for equipment intended to perform functions in a safety-related
system (functional safety) in industrial locations
Product Size
Robot Body Size

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
11
Figure 2.2 Robot body size
Controller Size
Figure 2.3 Controller size
Nameplate Description
The nameplate includes the product name, model number, weight and certification mark, as
shown in Figure 2.4.

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
12
Figure 2.4 Nameplate
Security Warning Labels
The operator must strictly abide by the warning mark content on the body and controller to
avoid the occurrence of danger. The specific content of the warning labels is shown in Figure 2.5.
Figure 2.5 Security warning labels

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
13
Robot Workspace
Figure 2.6 shows the workspace of CR10 robot.
Figure 2.6 CR10 robot workspace
End-effector Size

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
14
Figure 2.7 End-effector Size
End-effector Load Description
The robot actuator can bear the load of the cylinder whose center of mass is located at an axial
distance of LD80mm from the center of the End -effector and a radial distance of LR60mm and no
more than 5kg. As shown in Figure 2.8.
Figure 2.8 End-effector load diagram
Stop Time and Angle
The Stop time and angle of axis J1~J6 at the max speed, load and arm stretch are shown below.
Table 2.3 Stop time and angle
Axis
Stop angle（°）
Stop time（ms）
J1
10.18
138
J2
14.09
223

Dobot CR10 Hardware User Guide
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
15
Axis
Stop angle（°）
Stop time（ms）
J3
15.24
167
J4
4.76
24
J5
4.48
21
J6
4.74
23
Home Description
After some parts (motors, reduction gear units) of the robot have been replaced or the robot has
been hit, the origin of the robot will be changed. You need to reset the origin. Figure 2.9 shows the
Home setting, for details, please see HOME chapter of DobotSCStudio User Guide (MG400 Robot).
Figure 2.9 Home setting
Factory posture
When the robot leaves the factory, moving robot to the factory posture can reduce the robot
space, easy to pack and transport. Figure 2.10 shows the factory posture. For details, please see
Home Point chapter of DobotSCStudio User Guide (MG400 Robot).