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.
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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.

Dobot CR A Series User Guide
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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

Dobot CR A Series User Guide
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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.