Dobot CR A Series User manual

Issue: V1.3
Date: 2023-09-14
Shenzhen Yuejiang Technology Co., Ltd.|China

Dobot CR A Series User Guide
Issue V1.3 (2023-09-14) User Guide Copyright © Yuejiang Technology Co., Ltd.
i
Copyright © Shenzhen Yuejiang Technology Co., Ltd. 2023. 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 document are provided AS IS, which may have flaws,
errors or faults. Dobot 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 Dobot 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 of following the relevant practical laws and
regulations of the country, in order that there is no significant danger in the use of the robot.
Shenzhen Yuejiang Technology Co., Ltd.
Address: Room 1003, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd, Nanshan
District, Shenzhen, Guangdong Province, China
Website: www.dobot-robots.com

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Preface
Scope of Application
Robot arm:
DOBOT CR3A
DOBOT CR5A
DOBOT CR7A
DOBOT CR10A
DOBOT CR12A
DOBOT CR16A
DOBOT CR20A
You can find the model of robot arm on the right-top corner of the nameplate on the robot base.
The figure below takes CR5A as an example.
Controller:
DOBOT CC262
DOBOT CC263
You can find the model of controller on the right-top corner of the nameplate.

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Purpose
This document introduces the functions, technical specifications and installation procedure of
Dobot CR A series robots, which is convenient for users to understand and use the robot.
Intended Audience
This document is intended for:
Customer
Sales Engineer
Installation and Commissioning Engineer
Technical Support Engineer
Change History
Date
Issue
Change Description
2023/09/14
V1.3
Modify CR20A & CC263 mechanical specifications
Added CR20A heavy-duty interface description
2023/08/24
V1.2
Modify end buttons short/long press time (supported by controller
V4.4.0 and above)
Modify control cabinet installation schematic
Add I/O interface factory default shorting instructions
Modify end flange dimensions
Modify emergency stop time and distance
Add CR20A contents
2023/07/19
V1.1
Modify CR3/5/7 base installation dimensions
Modify the description of general safety
Modify the description of trajectory playback button
Update content styles
2023/05/16
V1.0
The first release
Symbol Conventions
The symbols that may be found 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

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Symbol
Description
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

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Contents
Safety.........................................................................................................................1
Liability.............................................................................................................................1
Validity and Responsibility..................................................................................1
Limitation of Liability .........................................................................................1
Intended Use........................................................................................................1
Safety warning signs.........................................................................................................2
General safety ...................................................................................................................2
Personal safety ..................................................................................................................5
Emergency ........................................................................................................................6
Emergency stop switch........................................................................................6
Emergency recovery............................................................................................6
Transportation .........................................................................................................7
Product Introduction...............................................................................................8
Overview...........................................................................................................................8
Robot arm .........................................................................................................................9
Composition ........................................................................................................9
End buttons and indicator lights ........................................................................10
Controller........................................................................................................................12
Operation terminal ..........................................................................................................13
Product Features....................................................................................................14
Coordinate system...........................................................................................................14
Joint coordinate system .....................................................................................14
User coordinate system......................................................................................14
Tool coordinate system......................................................................................15
Home posture..................................................................................................................16
Singularity Point .............................................................................................................16
Shoulder singularity...........................................................................................16
Elbow singularity...............................................................................................17
Wrist singularity ................................................................................................17
Emergency stop time and distance..................................................................................17
Mechanical Specifications .....................................................................................20
CR3A mechanical specifications ....................................................................................20
CR3A dimensions and working space...............................................................20
CR3A base installation dimensions ...................................................................21
CR3A flange dimensions...................................................................................21
CR3A load curve ...............................................................................................21
CR5A mechanical specifications ....................................................................................23
CR5A dimensions and working space...............................................................23
CR5A base installation dimensions ...................................................................24
CR5A flange dimensions...................................................................................24
CR5A load curve ...............................................................................................24
CR7A dimensions ...........................................................................................................26

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CR7A dimensions and working space...............................................................26
CR7A base installation dimensions ...................................................................27
CR7A flange dimensions...................................................................................27
CR7A load curve ...............................................................................................27
CR10A mechanical specifications ..................................................................................29
CR10A dimensions and working range .............................................................29
CR10A base installation dimensions .................................................................30
CR10A flange dimensions.................................................................................30
CR10A load curve .............................................................................................30
CR12A mechanical specifications ..................................................................................32
CR12A dimensions and working space .............................................................32
CR12A base installation dimensions .................................................................33
CR12A end flange dimensions ..........................................................................33
CR12A load curve .............................................................................................33
CR16A mechanical specifications ..................................................................................35
CR16A dimensions and working space .............................................................35
CR16A base installation dimensions .................................................................36
CR16A flange dimensions.................................................................................36
CR16A load curve .............................................................................................36
CR20A mechanical specifications ..................................................................................38
CR20A dimensions and working space .............................................................38
CR20A base installation dimensions .................................................................39
CR20A flange dimensions.................................................................................39
Controller dimensions.....................................................................................................40
CC262 dimensions.............................................................................................40
CC263 dimensions.............................................................................................40
Electrical Features .................................................................................................41
Controller interface .........................................................................................................41
Overview ...........................................................................................................41
SmartPendant and emergency stop switch interface..........................................42
I/O interface panel .............................................................................................43
I/O interface power............................................................................................44
Digital I/O interface...........................................................................................45
Analog I/O interface..........................................................................................48
Remote switch interface ....................................................................................49
Encoder I/O interface ........................................................................................49
RS485 interface .................................................................................................50
Safety I/O interface............................................................................................50
Robot interface................................................................................................................55
Heavy-duty interface .........................................................................................55
Tool I/O interface ..............................................................................................56
Installation and Use ...............................................................................................59
Installation environment .................................................................................................59
Unpacking.......................................................................................................................59

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Robot installation............................................................................................................59
Robot arm installation .......................................................................................59
Controller installation........................................................................................61
Protective cover installation (optional)..............................................................62
Tool installation .................................................................................................64
Wiring .............................................................................................................................64
Debugging.......................................................................................................................65
Maintenance ...........................................................................................................66
Safety instructions...........................................................................................................66
Robot maintenance..........................................................................................................66
Warranty ................................................................................................................69
Product warranty.............................................................................................................69
Disclaimer.......................................................................................................................69
Appendix Technical Specifications...........................................................................70
Appendix A Robot technical specifications .........................................................................70
Table 1 CR3/5/7A ...........................................................................................................70
Table 2 CR10/12/16A .....................................................................................................71
Table 3 CR20A................................................................................................................72
Appendix B Controller technical specifications...................................................................74

Dobot CR A Series User Guide
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Safety
Liability
Validity and Responsibility
The information in this document does not cover designing, installing and operating a complete
robot system, nor does it cover all peripheral equipment that can affect the safety of the complete
system. The complete system must be designed and installed in accordance with the safety
requirements set forth in the standards and regulations of the country where the robot is installed.
The integrators of Dobot are responsible for ensuring that the applicable safety laws and
regulations in the country concerned are observed and that any significant hazards in the complete
robot application are eliminated. This includes, but is not limited to:
• Performing a risk assessment for the complete robot system.
• Adding safety machines and mechanisms based on the risk assessment, including but not
limited to building a proper safety circuit to achieve safe stop
• Setting up the appropriate safety settings in the software.
• Ensuring that the user will not modify any safety measures.
• Validating that the total robot system is designed and installed correctly.
• Specifying instructions for use.
• Marking relevant signs and contact information of the integrators on the robot.
• Archiving relevant technical files.
Limitation of Liability
Any safety information provided in this document should not be construed as a warranty, by
Dobot. The robot may cause injury or damage even if all safety instructions are observed.
Intended Use
Dobot CR A series robots are industrial robots only for general industrial use, such as
processing or delivering products or parts through end tools.
Dobot CR A series robots are equipped with special safety mechanisms including collision
detection. These mechanisms are purposely designed for human-robot collaborative operation, but
only intended for non-hazardous applications after risk assessment, where tools, commodities,
environments and other machines have been demonstrated to be incapable of significant risk through
application-specific risk assessments.
Any use or application deviating from intended use is deemed to be impermissible misuse,
including, but is not limited to:
• Use in potentially explosive environments.
• Use in life critical applications.
• Use before performing a risk assessment.

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• Use over-stated specifications.
• Use as a climbing aid.
Safety warning signs
The following safety warning signs may appear in this document, and their meanings are
described as follows. The same safety warning signs are also used in the products.
Sign
Description
DANGER
Indicates a high degree of potential danger, which, if not avoided, will
result in death or serious injury.
ELECTRICITY
May cause dangerous power consumption soon, which, if not avoided,
will cause personal injury or serious damage to the equipment.
HOT
or
May cause dangerous hot surfaces, which, if touched, may cause
personal injury.
WARNING
Indicates a moderate or low potential hazard, which, if not avoided, may
cause minor personal injury and damage to the equipment.
ATTENTION
Indicates a potential risk, which, if ignored, may result in damage to the
robot arm, loss of data or unpredictable results
NOTICE
A situation that, if not avoided, can cause personal injury or damage to
the equipment.
For items marked with such signs, depending on the specific situation,
there is sometimes a possibility of significant consequences
General safety
Follow the safety instructions below when starting and using the robot for the first time.
DANGER
The robot system is electrical equipment. Non-professional technicians should not
modify the circuit, otherwise, it may cause damage to devices or personal injury.
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.
Use the robot in the specified environment scope. Exceeding the specifications or
load conditions will shorten the service life of the robot, even damage it.

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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 degraded performance of the
main circuit components inside the controller. If turning on or off the power
continually is required, please keep the frequency less than once per 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 to where the control cabinet gets hot.
NOTICE
The personnel responsible for installation, operation and maintenance of equipment
must first receive strict training, understand various safety precautions, and master
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 Dobot 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.
Please establish safety measures (such as guardrails, ropes or warning lines) near the
operating area of the robot to ensure that personnel remain out of reach of the robot
being operated or the robot about to start operation.
Do not enter the safety range of the robot as determined by the risk assessment or
touch the robot while the system is in operation.
Do not expose the robot to permanent magnetic fields all the time. Strong magnetic
fields can cause damage to the robot.
Dobot assumes no responsibility for robot damage or personal injury caused by failure
to follow product instructions or other improper operations.
Use appropriate and reliable lifting equipment during handling operations such as
lifting rings and bridge crane. 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.
Make sure that there are no obstacles within 2 meters of the robot during
transportation. Relevant personnel should stay away from the suspended robot.
Dobot is not responsible for any damage caused during the transportation and handling
of equipment.
Make sure that the robot is in the packing posture before packaging, and the brakes on
each axis are normal.
Make sure that there are no obstacles around the packing area, so that the staff can
leave in a timely manner in case of an emergency.

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When the robot is transported, the packaging needs to be fixed to ensure that the robot
is stable.
After removing the outer packaging, make sure that the robot maintains the original
packing posture and the brakes of each axis are normal.
During the commissioning process, make sure 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
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 staff for 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 (such as RF source
without shielding), otherwise, it could interference robot work.

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Personal safety
When operating the robot system, please strictly follow the general precautions listed below to
ensure the personal safety of the operator.
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 the equipment, please find and be familiar with the operation
method of the emergency stop function to ensure that the robot arm can be stopped
urgently in the case of sudden stress. The emergency stop function is Stop Category
1.
Be careful when carrying or installing the robot. Please follow the instructions on
the packing box to put down the robot gently and place it correctly in the 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 ensure that the robot and tools are installed correctly.
Please ensure that the robot has enough space to move freely.
If the robot is damaged, 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.
WARNING
Please comply with local laws or 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 within
10 minutes after the power is shut off, so as to avoid an electric shock since there is
residual capacitance inside the controller.
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, so as to
avoid an electric shock since there is residual capacitance inside the controller.
When working with robots, do not wear loose clothing or jewelry. When operating
the robot, make sure that you have bundle your hair 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. Do not
approach the robot.

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Emergency
Emergency stop switch
After you press the emergency stop switch in emergencies, the robot will immediately stop all
motions and be locked.
According to IEC 60204-1 and ISO 13850, the emergency stop switch is not a safeguard. It is
a complimentary protective measure and not intended to prevent injury.
Emergency recovery
The emergency stop switch will be locked after you press it. To unlock the switch, you need to
rotate the switch according to the mark on the switch. The alarm can be cleared through the software
only after the emergency stop switch is unlocked. Then the robot arm can be powered on, enabled
and resumed from the emergency status.
WARNING
Please operate the robot to recover from the emergency only after the danger of the
robot system is completely removed.

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Transportation
You need to transport the robot in its packing posture (set in the control software in reference
to the user guide of the control software for details), and use the original packaging for transportation.
During transportation, ensure that the robot arm is stable and fixed by corresponding measures.
During transportation and long-term storage, ensure that the ambient temperature ranges from
-20 °C to +55 °C, and the ambient humidity is no more than 95% without condensation.
When moving the robot from its packaging to the installation space, hold the robot arm in place
until all mounting bolts are securely tightened at the base of the robot.
After transportation, store the original package in a dry place for repacking and transporting it
in the future.
WARNING
Ensure that the operator is not unduly stressed on their back or other body parts
when lifting the equipment, and use appropriate lifting equipment if necessary.
Dobot shall not be held responsible for any damage caused by transportation of
the equipment.
Be sure to follow all installation instructions when installing the robot.

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Product Introduction
Overview
Figure 3.1 Robot overview
The main components of the robot system include:
⚫CR A robot: Six-axis robot arm, main moving parts.
⚫Controller: Core computing and electrical components, with IP54 protective cover
(optional).
⚫Emergency stop switch: Connected to the controller to realize the emergency stop
function.
⚫Heavy-duty cable: Connect the robot arm to the controller.
In addition, the system includes an operating terminal (tablet or PC) for installing the robot
control software.
Figure 3.2 Operation terminal

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Robot arm
Composition
CR A series robot arm includes 6 rotating motion joints, and two connecting rods (upper arm
and forearm), as shown in Figure 3.3 and Figure 3.4(taking CR5A and CR20A as examples).
The robot arm is equipped with a heavy-duty interface on its base, models other than the
CR20A are equipped with buttons and indicator lights on its end, and an aviation plug on the side
of its end flange.
Figure 3.3 CR5A robot
The CR20A design differs in that there are two ring indicators, located on the J1 rear cover and
on the side of its end flange; there is no keypad on the J6 rear cover, but is equipped with two buttons
and two aviation plugs on the side of its end flange.

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Figure 3.4 CR20A robot
End buttons and indicator lights
The end buttons and indicators of CR A series robot arms (except CR20A) are shown in Figure
3.5.
Figure 3.5 End buttons and indicator light (except CR20A)

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The definition of the indicator lights is shown in Table 3.1.
Table 3.1 Definition of indicator lights
Color
Status
Definition
Blue light
Steady on
The robot arm has been started but not enabled
Quick flash
The robot arm is starting.
Green light
Steady on
The robot arm is enabled (not running)
Slow flash
Automatic running status (project debugging/running/pause,
motion commands except TCP jog, trajectory playback)
Quick flash
Single running status (Jog/Runto in software)/Drag mode/
Trajectory recording status
Red light
Slow flash
Joint brake switched on in disabled status
Steady on
Alarm status
Yellow light
Steady on
Collision detected
The functions of the end button are shown below:
Hand-guiding button: When the robot arm is in the enabled status, long press the button
to enter the hand-guiding status. After dragging the robot arm to the teaching point, short-
press the button and the robot arm will exit the hand-guiding status.
End control button: Short-press the button to control the end tool. For specific functions,
you need to configure in “Dobot+” page of the control software.
Enabling button: When the robot arm is powered on and in the disabled status, long press
the button to enter the enabled status. Then short-press the button to disable robot arm.
Trajectory recording button: When the robot arm is in the enabled status, long press the
button to enter the trajectory recording status. After recording the trajectory, short-press
the button, and the robot arm will exit the trajectory recording status.
Trajectory playback button: When the robot arm is in the enabled status, long press the
button to enter the trajectory playback status to play back the last trajectory recorded by
trajectory recording button. Then short-press the button, and the robot arm will exit the
trajectory playback status.
NOTE
The quick flash frequency is 5Hz (0.2 sec/time), and slow flash frequency is 1.25Hz
(0.8 sec/time).

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The configuration of the end of CR20A is shown in Figure 3.6.
Figure 3.6 End buttons and indicator light (CR20A)
The indicators of CR20A have the same meaning as other models of CR A series robots. The
functions of the buttons are described below.
Hand-guiding button (silkscreen: FREE): When the robot arm is enabled, press and
hold this button to enter the hand-guiding status, and release this button to exit the hand-
guiding status.
Point-saving button (silkscreen: POINT): When the robot arm is enabled, and
DobotStudio Pro is connected to the robot arm and the point list is opened, short-press
this button to save the current point of the robot arm.
Controller
CR A series robots need to be used with a controller.
The controller model of CR A series robot arms (except CR20A) is CC262, includes two
models: AC power input and DC power input. They are common in the dimensions and functions,
except for differences in input power components.
The controller model of CR20A robot arm is CC263, supports AC power input only and looks
NOTE
Short pressing is to release within 1.5s after pressing. Long pressing is to release
within 1.5s~5s after pressing. Pressing for more than 5s and then releasing is an
invalid operation.
Some of the button functions are affected by the manual/automatic mode of the
controller. See the instructions on mode switch in the DobotStudio Pro user
guide for details.