Dobot Nova Series User Guide

Issue: V1.
2
Date: 2023-02-23
Shenzhen Yuejiang Technology Co.,Ltd.|China
Dobot Nova Series User Guide
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.cc
Issue V1.2 (2023-02-23) User Guide Copyright © Yuejiang Technology Co., Ltd.
i
Preface
Scope of Application
Robot arm: DOBOT Nova 2, DOBOT Nova 5
You can find the model of robot arm on the right-top corner of the nameplate on the robot base.
Controller: DOBOT CCBOX

You can find the model of controller on the right-top corner of the nameplate.
Purpose
This document introduces the functions, technical specifications and installation procedure of
Dobot Nova series robots, which is convenient for users to understand and use the robot.
Intended Audience
This document is intended for:
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 Customer
 Sales Engineer
 Installation and Commissioning Engineer
 Technical Support Engineer
Change History
Date Change Description
2023/02/23 Add wiring diagram of emergency stop switch
2023/02/02 Update description on power interface and energy feedback resistance interface
Add load curves
2022/11/18 The first release
Symbol Conventions
The symbols that may be found in this document are defined as follows.
Symbol Description
Indicates a hazard with a high level of risk which, if not avoided,

DANGER could result in death or serious injury
Indicates a hazard with a medium level or low level of risk which, if

WARNING not avoided, could result in minor or moderate injury, robot damage
Indicates a potentially hazardous situation which, if not avoided, can

NOTICE 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 security ............................................................................................................... 6
Emergency ........................................................................................................................ 6
Emergency stop switch ........................................................................................ 6
Emergency recovery ............................................................................................ 6
Forced joint movement ........................................................................................ 7
Transportation ......................................................................................................... 8
Product Introduction ............................................................................................... 9
Overview........................................................................................................................... 9
Robot arm ....................................................................................................................... 10
Composition ...................................................................................................... 10
End button and indicator lights .......................................................................... 11
CCBOX........................................................................................................................... 11
Operation terminal .......................................................................................................... 12
Product Features .................................................................................................... 14
Coordinate system........................................................................................................... 14
Joint coordinate system ..................................................................................... 14
User coordinate system...................................................................................... 14
Tool coordinate system ...................................................................................... 15
Home posture .................................................................................................................. 15
Singularity Point ............................................................................................................. 16
Shoulder singularity........................................................................................... 16
Elbow singularity............................................................................................... 17
Wrist singularity ................................................................................................ 17
Mechanical Specifications ..................................................................................... 18
Nova 2 mechanical specifications ................................................................................... 18
Nova 2 dimensions and working space ............................................................. 18
Nova 2 base ....................................................................................................... 19
Nova 2 flange specifications.............................................................................. 19
Nova 2 load curve.............................................................................................. 20
Nova 5 mechanical specifications ................................................................................... 21
Nova 5 specifications and working space.......................................................... 21
Nova 5 base installation dimensions ................................................................. 22
Nova 5 flange dimensions ................................................................................. 23
Nova 5 load curve.............................................................................................. 23
CCBOX dimensions........................................................................................................ 24
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CCBOX product dimensions ............................................................................. 24

CCBOX horizontal-type installation specifications .......................................... 24
CCBOX vertical-type installation specifications............................................... 25
Electrical Features ................................................................................................. 27
CCBOX interface ............................................................................................................ 27
Overview ........................................................................................................... 27
Robot interface .................................................................................................. 27
Power interface .................................................................................................. 27
Emergency stop switch interface ....................................................................... 28
RS485 interface ................................................................................................. 28
Remote switch interface .................................................................................... 28
Analog I/O interface .......................................................................................... 29
Digital I/O interface ........................................................................................... 30
LAN interface .................................................................................................... 32
USB interface .................................................................................................... 32
Energy feedback resistance interface................................................................. 32
Tool I/O interface ............................................................................................................ 32
Installation and Use ............................................................................................... 36
Installation environment ................................................................................................. 36
Unpacking ....................................................................................................................... 36
Robot installation ............................................................................................................ 37
Robot arm installation ....................................................................................... 37
CCBOX installation........................................................................................... 37
End tool installation ........................................................................................... 39
Wiring ............................................................................................................................. 39
Debugging....................................................................................................................... 40
Maintenance ........................................................................................................... 41
Safety instructions........................................................................................................... 41
Robot maintenance.......................................................................................................... 41
Warranty ................................................................................................................ 43
Product warranty ............................................................................................................. 43
Disclaimer ....................................................................................................................... 43
Appendix Technical Specifications ........................................................................... 44
Appendix A Robot technical specifications ............................................................................ 44
Appendix B CCBOX technical specifications ........................................................................ 45
v
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.
• 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 Nova series robots are commercial robots only for general commercial use, such as
processing or delivering food or other products through end tools.
Dobot Nova 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.
• Use over-stated specifications.
1
• 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
Indicates a high degree of potential danger, which, if not avoided, will result in death
DANGER or serious injury.
May cause dangerous power consumption soon, which, if not avoided, will cause
ELECTRICITY personal injury or serious damage to the equipment.
May cause dangerous hot surfaces, which, if touched, may cause personal injury.
HOT
or
Indicates a moderate or low potential hazard, which, if not avoided, may cause
WARNNING minor personal injury and damage to the equipment.
Indicates a potential risk, which, if ignored, may result in damage to the robot arm,
ATTENTION loss of data or unpredictable results
A situation that, if not avoided, can cause personal injury or damage to the
NOTICE 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.
2
 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.
 In order to prevent personnel from accidentally entering the working space of the
robot 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 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
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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.
 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.
4
 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.
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.
5
 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.
Personal security
When operating the robot system, please strictly follow the general precautions listed below to
ensure the personal safety of the operator.
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.
Emergency
Emergency stop switch
After you press the emergency stop switch in emergency, the robot will immediately stop all
motions and be locked.
The emergency stop switch is not a safeguard. It is a complimentary protective measure and
are not intended to prevent injury.
Emergency recovery
6
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.
WARNING
Please operate the robot to recover from the emergency only after the danger of the robot
system is completely removed.
Forced joint movement
In the unlikely event of an emergency, you may need to move the robot joint/s when the
robot power is either impossible or unwanted. In this case, you must push or pull the robot arm
hard to move the joint.
WARNING
Moving the locked joints forcefully may cause joint damage. Please operate only in
emergencies.
7
Transportation
You need to transport the robot in its packaging posture (set in the control software in reference
to the user manual 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.
8
Product Introduction
Overview
Figure 3.1 Robot overview
The main components of the robot system include:

⚫ Nova robot: six-axis robot arm, main moving parts.
⚫ CCBOX: core computing and electrical components.
⚫ Emergency stop switch: connected to the control cabinet to realize the emergency stop
function.
⚫ Wireless receiver: plugged into the CCBOX, so that the operating terminal can be
connected to and control the robot via WiFi.
In addition, the system includes an operating terminal (tablet or PC) for installing the robot
control software.
9
Figure 3.2 Operation terminal
Robot arm
Composition
Nova series robot arm includes 6 rotating motion joints, and two connecting rods (upper arm
and forearm), as shown in Figure 3.3. The robot arm is equipped with a hand-guiding button and an
indicator light at its end, and an aerial plug on its end flange side.
Figure 3.3 Nova robot arm
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End button and indicator lights
Nova series robot arm is equipped with a button and an indicator light, as shown in Figure 3.4.
Figure 3.4 End button and indicator light
The definition of the indicator lights of the CCBOX is shown in Table 3.2.
Table 3.1 Definition of indicator lights
Color Status Definition
Blue light Steady on CCBOX has been started and the robot arm is not enabled
Flash CCBOX is starting/The robot arm and CCBOX failed to be connected
Green light Steady on The robot arm is enabled (not run projects)
Flash Automatic running (project is running)
Yellow light Steady on Trajectory recording
Flash Trajectory playback
Red light Steady on System error
When the robot arm is in the enabled status (the indicator light is green and steady on), long
press the end button for 3 seconds and then release it, and the robot arm will enter the hand-guiding
status (the indicator light flashes blue). After dragging the robot arm to the teaching point, press the
end button again for a short time, and the robot arm will exit the hand-guiding status (the indicator
light changes back to green and steady on).
CCBOX
Nova series robot arms need to be used with a small control cabinet (CCBOX). Figure 3.5
shows the appearance of the CCBOX. For details on its electrical interfaces, see 6 Electrical
11
Features.
Figure 3.5 CCBOX
The definition of the indicator lights of the CCBOX is shown in Table 3.2.
Table 3.2 Definition of indicator lights
Color Status Definition
Blue light Steady on CCBOX has been started and the robot arm is not enabled
Flash CCBOX is starting/The robot arm and CCBOX failed to be

connected
Green light Steady on The robot arm is enabled (not run projects)
Flash Automatic running (project is running)
Red light Steady on System error
After connecting the power supply and the robot arm, press the power switch to turn on the
CCBOX and the robot arm. Then the blue light starts to flash. When the blue light is steady on, it
indicates the CCBOX is started successfully.
After the CCBOX is started, long press the power switch for more than 3s and release it, then
the CCBOX and the robot arm will be powered off. When the blue light is off, it indicates the
CCBOX is powered off.
Operation terminal
Nova series robot arms support control through PC and App, as shown in Table 3.3. If you need
to use WiFi for control, you need to plug the WiFi module into the CCBOX.
Table 3.3 Operation terminal parameters
Terminal type PC Tablet (Android) iPad
12
Operation system Windows7/10/11 Android 10 and above iOS 10 and above
Control software DobotStudio Pro Dobot CRStudio Dobot CRStudio
Minimum CPU: Intel Core i3 CPU: 4-core Memory space: 32G

configuration Memory: 4GB Running memory: 2G
Memory space: 256GB Memory space: 32G
Communication mode LAN/WiFi WiFi WiFi
When purchasing Nova series robot arms, you can ask for matching Android tablets; or use
self-prepared operating terminal which meets the minimum configuration in Table 3.3. It is
recommended to use Huawei C5 tablet.
13
Product Features
Coordinate system
Joint coordinate system
The joint coordinate system is determined based on all motion joints. All joints are rotating
joints, as shown in Figure 4.1.
Figure 4.1 Joint coordinate system
User coordinate system
The user coordinate system is a movable coordinate system which is used for representing
equipment like fixtures, workbenches. The origin and the orientations of axes can be defined based
on the site requirements to measure point data within the workspace and arrange tasks conveniently.
The default user coordinate system is determined based on the center point at the robot base, as
shown in Figure 4.2.
14
Figure 4.2 User coordinate system
Tool coordinate system
The tool coordinate system defines the tool center point (TCP) and tool posture, of which the
origin and orientations vary with the position and angle of the workpiece at the end of robot. The
default tool coordinate system is determined based on the center point of the end flange, as shown
in Figure 4.3.
Figure 4.3 Tool coordinate system
Home posture
When the robot arm is in the vertical state shown in Figure 4.1, the angle of all joints is 0
degrees. This posture is called the home posture. The home-point stickers as shown in Figure 4.4
are attached to each joint of the robot arm. When the joint is 0 degree, the stickers on both sides of
the joint will be aligned.
15
Figure 4.4 Home point sticker
If the home point of the robot arm changes due to the replacement of the transmission parts or
the collision, you can move the robot arm to a state where all the home-point stickers of each joint
are aligned, and then calibrate the home-point through the control software.
Singularity Point
Shoulder singularity
When the intersection of the J5 axis and the J6 axis of the robot arm is located in the plane
formed by the J1 axis and the J2 axis, it will lead to singularity, as shown in Figure 4.5.
Figure 4.5 Shoulder singularity
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Elbow singularity
When the upper arm and forearm are in the same line, it will lead to singularity, as shown in
Figure 4.6.
Figure 4.6 Elbow singularity
Wrist singularity
When the J4 axis and J6 axis are parallel, it will lead to singularity, as shown in Figure 4.7.
Figure 4.7 Wrist singularity
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Mechanical Specifications
All dimensions in this chapter are in millimeters (mm).
Nova 2 mechanical specifications

Nova 2 dimensions and working space
When selecting the installation position for the robot, you must consider the cylindrical space
directly over and under the robot, and avoid moving the tool to the cylindrical space as much as
possible. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting
in low working efficiency of the robot and difficult risk assessment.
Figure 5.1 Nova 2 dimensions and working space
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Nova 2 base
Figure 5.2 Nova 2 base installation dimensions
Nova 2 flange specifications
The end flanges of Nova series robot arms are all the same size. The flange design conforms
to ISO 9409-1.
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Figure 5.3 Nova 2 end flange dimensions
Nova 2 load curve
In the load curve, the coordinate origin is the center of the end flange, and X, Y represent the
distance between the gravity center of load and the robot flange in X and Y directions. According to
r = √𝑋 2 + 𝑌 2, the value r corresponds to the vertical coordinate X, Y[cm] of the load curve, and
the abscissa Z[cm] represents the distance from the gravity center of the load to the robot flange in
Z direction. You can determine the working condition of the robot according to the statistical results.
For example, if the load is 1.5kg, X = 6cm, Y = 8cm, Z = 5cm, and you can get r = 10cm. The steps
for judgement are as follows:
 According to r = √𝑋 2 + 𝑌 2, calculate r = 10cm.
 Select the corresponding curve according to the weight of the load. As the load is 1.5kg,
you need to find the curve of 1.5kg correspondingly.
 Determine a point according to the r and Z coordinates, and compare the positional
relationship between the point and the 1.5kg curve to judge the working condition. If the
point is below the curve, the model is proper, otherwise you need to select other models.
20
Figure 5.4 Nova 2 end load curve
Nova 5 mechanical specifications

Nova 5 specifications and working space
When selecting the installation position for the robot, you must consider the cylindrical space
directly over and under the robot, and avoid moving the tool to the cylindrical space as much as
possible. Because this will cause the joints to rotate too fast while the tool moves slowly, resulting
in low working efficiency of the robot and difficult risk assessment.
21
Figure 5.5 Nova 5 dimensions and working space
Nova 5 base installation dimensions
22
Figure 5.6 Nova 5 base installation dimensions
Nova 5 flange dimensions
The end flanges of Nova series robot arms are all the same size. The flange design conforms
to ISO 9409-1.
Figure 5.7 Nova 5 end flange dimensions
Nova 5 load curve
In the load curve, the coordinate origin is the center of the end flange, and X, Y represent the
distance between the gravity center of load and the robot flange in X and Y directions. According to
r = √𝑋 2 + 𝑌 2, the value r corresponds to the vertical coordinate X, Y[cm] of the load curve, and
the abscissa Z[cm] represents the distance from the gravity center of the load to the robot flange in
Z direction. You can determine the working condition of the robot according to the statistical results.
For example, if the load is 3.8kg, X = 6cm, Y = 8cm, Z = 5cm, and you can get r = 10cm. The steps
for judgement are as follows:
23
 According to r = √𝑋 2 + 𝑌 2, calculate r = 10cm.

 Select the corresponding curve according to the weight of the load. As the load is 3.8kg,
you need to find the curve of 4kg correspondingly.
 Determine a point according to the r and Z coordinates, and compare the positional
relationship between the point and the 4kg curve to judge the working condition. If the
point is below the curve, the model is proper, otherwise you need to select other models.
Figure 5.8 Nova 5 load curve
CCBOX dimensions
CCBOX product dimensions
Figure 5.9 CCBOX dimensions
CCBOX horizontal-type installation specifications
24
Figure 5.10 Horizontal-type dimensions
CCBOX vertical-type installation specifications
25
Figure 5.11 Vertical-type dimensions
26
Electrical Features
CCBOX interface
Overview
The interfaces of the CCBOX are shown in Figure 6.1.
Figure 6.1 CCBOX interfaces
Robot interface
It is used to connect the robot arm for powering the robot arm and communicating with the
robot arm. The default IP address of LAN1 is 192.168.5.1, and the default IP address of LAN2 is
192.168.100.6.
Power interface
It is used to connect the external power supply for powering the CCBOX.
27
The nominal voltage of the robot is 48V. You can use the AC to DC power supply shown in
Appendix to connect to the mains power. If you use your own DC power supply, ensure that the
voltage fluctuation ranges within 30V~60V.
Emergency stop switch interface
It is used to connect the emergency stop switch for controlling the emergency stop of the robot
arm.
Nova series robot arm includes an emergency stop switch in its delivery accessories. The wiring
terminals has been connected. You just need to plug it into the corresponding interface.
If you use your self-prepared emergency stop switch, please connect as shown below.
Figure 6.2 Connect one or more emergency switches
RS485 interface
The RS485 interface is shown in Figure 6.3, which can be used for Modbus RTU
communication.
Figure 6.3 RS485 interface
NOTE: Modbus RTU communication is not available now.
Remote switch interface
The remote switch interface is shown in Figure 6.4, which can be used for turning on/off the
CCBOX remotely.
28
Figure 6.4 Remote switch interface
The wiring of connecting external switch is shown in Figure 6.5.
Figure 6.5 Remote switch wiring
If the switch is turned on for 1 seconds and then disconnected, the CCBOX will be powered
on. If the switch is turned on for more than 3 seconds and then disconnected, the CCBOX will be
powered off.
Analog I/O interface
The analog input/output have 2 channels respectively, as shown in Figure 6.6, which are used
for the input and output of analog signal.
The type of analog signal is voltage, ranging from 0V to 10V.
Figure 6.6 Analog I/O interface
AI wiring
29
The wiring between the AI interface and the tested object is shown in Figure 6.7.
Figure 6.7 AI wiring
AO wiring
The wiring between the AO interface and the external load is shown in Figure 6.8.
Figure 6.8 AI wiring
Digital I/O interface
The digital input/output have 8 channels respectively, as shown in Figure 6.9, which can be
used for the input and output of digital signals.
The digital signal is PNP type by default, which can be set to NPN type through the control
software.
The I/O power supply is equipped inside, with voltage of 24V and total maximum current
output of 2A (0.5A maximum for each channel). The external power supply is not supported.
30
Figure 6.9 Digital signal interface
DI wiring
1. When you use an external simple circuit as the DI input, the wiring is shown in Figure
6.10.
Figure 6.10 DI wiring (simple switch)
2. When you use the DO terminal of an external device as the DI input, connect the cables as
shown in Figure 6.11. This figure takes the PNP DO without power supply as an example.
If the DO has a power supply, you do not need to connect V+.
Figure 6.11 DI wiring (PNP DO)
DO wiring
The wiring of DO interface connecting an external load is shown in Figure 6.12.
31
Figure 6.12 DO wiring
LAN interface
The CCBOX has two LAN interfaces used for TCP/IP and Modbus TCP communication.
USB interface
The CCBOX has two USB interfaces. You can use any of them to connect wireless receiver,
and the other can be reserved.
Energy feedback resistance interface
When the robot arm moves at a fast speed and decelerates for a short time, the overvoltage may
occur (the control software will report an overvoltage alarm). If the overvoltage often occurs, you
can connect an additional energy feedback resistance to the CCBOX to inhibit.
It is recommended to use a 150W 2R aluminum shell resistance. During installation, you need
to remove the cable between RB2 and RB3, and then connect the resistance between RB1 and RB2,
as shown in Figure 6.13.
Figure 6.13 Connecting feedback resistance
Tool I/O interface

The tool I/O interface is an aerial socket located on the end flange. The socket pins are
distributed and defined as follows.
32
Pin Name Description
1 485A 485A
2 485B 485B
3 DI_2 Digital input 2
4 DI_1 Digital input 1
5 24V 24V output
6 DO_2 Digital output 2
7 DO_1 Digital output 1
8 GND GND
The cable used in the tool I/O is specified by Dobot (model: Lutronic FP-222460). The pin
distribution and cable definition of the plug are shown as follows.
Pin Wire color Description
1 white 485_A
2 brown 485_A
3 green OUTPUT 2
33
4 yellow OUTPUT 1
5 grey 24 V
6 pink INPUT 2
7 blue INPUT 1
8 red GND
The maximum current of 24V output of tool I/O is 2A (no more than 1s continuously), and the
digital input is PNP type.
When using external simple switching circuit as the DI input source, the wiring is shown in
Figure 6.14.
Figure 6.14 End DI wiring (simple switch)
When using the DO terminal of an external device as the DI input source, the wiring is shown
in Figure 6.15, which takes a PNP-type DO without power supply as an example. If the DO has its
own power supply, you do not need to connect the 24V cable.
Figure 6.15 End DI wiring (PNP type DO)
The digital output of the tool I/O is NPN type, with the single output current no more than
400mA and the total output current no more than 400mA. The wiring is shown as follows.
34
Figure 6.16 End DO wiring
35
Installation and Use
Installation environment
To maintain the controller performance and ensure safe use, please place the controller and
robot in an environment with the following conditions.
NOTICE
Please make sure that the installation environment meets the following conditions to
avoid damage.
 Install indoors with good ventilation.

 Keep away from excessive vibration and shock.
 Keep away from direct sunlight.
 Keep away from dust, oily smoke, salinity, metal powder, corrosive gases, and other
contaminants.
 Do not use in a closed environment. A closed environment may cause high temperature
of the controller and shorten its service life.
 Keep away from flammable.
 Keep away from cutting and grinding fluids
 Keep away from sources of electromagnetic interference, such as large transformer, large
electromagnetic contactor, electric welding machine, etc.
 When the robot is transported, ensure that the robot is stable and kept in proper place.
 When the robot is hoisted, be sure to take appropriate measures to locate the moving parts
so as not to cause accidental movement and harm during hoisting and transportation.
 When moving the robot from the packing box to the mounting position, hold the robot
until all bolts on the robot base are fastened.
 When the robot is installed, take corresponding measures to locate it. Be sure to use 4 hex
bolts M6 (Nova 2)/M8 (Nova 5) (ISO898-1: 2013, property class: 12.9) with 20N•m
torque to fix and tighten the robot base.
 When the robot is installed on the wall or upside down, be sure to take the anti-fall
measures of the robot base.
 When the robot is installed, fix the robot on a sufficiently strong base, which needs to be
able to fully withstand the reaction force of the robot acceleration and deceleration and
the static weight of the robot and the workpiece.
Unpacking
When unpacking, please check the attached shipping list to ensure that all contents are included.
If there is anything missing, please contact your supplier.
36
Robot installation
Robot arm installation
Nova robotic arm supports 360° installation at any angle. Figure 7.1 shows several typical
installation postures.
Figure 7.1 Nova robot installation posture
The installation platform of the robot arm should be stable enough to withstand at least 10
times the maximum torque of the J1 joint, and at least 5 times the weight of the robot arm.
If the robot arm is mounted on a linear axis or a moving platform, the acceleration of the
platform should be low, and high acceleration may trigger the robotic arm's collision detection
mechanism and cause the robotic arm to stop.
Position the mounting holes on the installation platform according to the installation size of the
robot base. Fix the robot arm base on the surface using bolts (4 M6 bolts for Nova 2, and 4 M8 bolts
for Nova 5). You can refer to 5 Mechanical Specifications for the specific dimensions of the robot
base.
Figure 7.2 Base installation
CCBOX installation
The CCBOX supports horizontal-type, vertical-type and rail-type installation. Please leave at
least 50 mm gap on each side except the installation surface to ensure enough space for heat
dissipation.
Horizontal-type
After installing the horizontal bracket to the bottom of both sides of the CCBOX, place the
CCBOX horizontally on the flat and stable installation surface, and fixed it on the surface with 4
M3*8 screws.
37
Figure 7.3 Horizontal-type installation
Vertical-type
After installing the vertical bracket on the rear of both sides of the CCBOX, place the CCBOX
vertically on the flat and stable installation surface, and fixed it on the surface with 4 M3*8 screws.
Figure 7.4 Vertical-type installation
Rail-type
After installing the rail-type bracket to the middle of the rear side of the CCBOX, hang the
CCBOX on the 35mm mounting rail.
Figure 7.5 Rail-type installation
38
End tool installation
The end flange of the robot arm has four M6 threaded holes, which can fix the tool to the end
of the robot arm. In order to accurately adjust the position of the tool, you can also use the
reserved Φ6 positioning hole. The end flange of Nova 2 and Nova 5 robot arms is in the same size.
For detailed dimensions, refer to 5 Mechanical Specifications.
Wiring
1. Connect the cable extending from the base of the robot arm to the robot interface of the
CCBOX. Plug the RJ connector of the network cable to the LAN interface (①), and
connect the power cable to the power interface (②) through the wiring terminal. Tighten
the screws on the wiring terminal.
2. Connect the emergency stop switch to the emergency stop switch interface (④) of the
CCBOX through the wiring terminal. Tighten the screws on the wiring terminal.
3. Plug the wireless receiver into any of the USB interface (⑤).
4. Connect the matched DC power supply to the power interface of the CCBOX through the
wiring terminal. Tighten the screws on the wiring terminal
Figure 7.6 Wiring
NOTICE
⚫ Set the specifications and installation method of external cables in compliance with
local power distribution laws and regulations.
⚫ Do not remove the CCBOX by yourself, otherwise it may cause electricity leakage.
⚫ Make sure the device is grounded.
39
⚫ Do not bend the cable excessively, otherwise it may cause poor contact or cable
breakage.
⚫ Make sure the power outlet for the control system is disconnected when connecting
an external device, otherwise it may cause an electric shock or device failure.
⚫ Use supporting cables to protect device and personal safety.
⚫ After wiring, ensure that there are no fallen screws or exposed cables in the device.
⚫ Do not plug or remove the power cable or communication cable when the device is
running normally.
⚫ Power on the device only after connecting all the cables required.
⚫ Ensure that the cables are connected correctly, otherwise, it may cause fault in
internal modules or external devices.
⚫ Before connecting, check whether there is breakage in the insulation and shield of
the external cables.
Debugging
After turning on the external power supply, press Power button on the CCBOX. When the
indicator lights at the end of the robot arm and on the CCBOX turn blue, you can connect the robot
arm, enable it and jog it for debugging through the operation terminal.
For specific operations, refer to DobotStudio Pro User Guide (for PC) or Dobot CRStudio User
Guide (for App).
40
Maintenance
Maintenance and repairing must be performed in compliance with all safety instructions in this
manual.
The purpose of maintenance and repairing is to ensure that the system is kept operational, or
to return the system to an operational state in the event of a fault. Repairing includes troubleshooting
in addition to the actual repair itself.
Repairing must be performed by an authorized system integrator or Dobot staff.
Robots or parts returned to Dobot should be as the following instructions.
⚫ Remove all parts that do not belong to Dobot.
⚫ Before returning to Dobot, please make a backup copy of the files. Dobot will not be
responsible for the loss of programs, data or files stored in robot.
⚫ The robot should move to the package point before returning to Dobot.
Safety instructions
The following safety procedures and warnings must be observed during the operation of the
robot or controller:
 Replace faulty components using new components with the same model or equivalent
components approved by Dobot.
 Reactivate all deactivated safety measures immediately after the repairing is completed.
 Record all repairs and save them in the technical document with the robot system.
 Remove the main input cables from the back of the controller to ensure that it is
completely unpowered. Cut off any other power source connected to the robot or
controller. Take necessary precautions to prevent other people from powering on the
system during the repair period.
 Observe ESD regulations during the disassembly of the parts of the robot arm or
controller.
 Avoid disassembling the power supply inside the controller. High voltage may remain
inside the power supply for several hours after the controller has been powered off.
 Prevent water and dust from entering the robot arm or controller.
Robot maintenance
In order for the robot to maintain high performance for a long time, a maintenance inspection
must be carried out. The personnel in charge of the maintenance must prepare a maintenance plan
and carry out the maintenance. The maintenance items are shown below.
Table 8.1 Check items
Period Maintenance Maintenance essential
41
Daily 3 months 6 months item
Wipe off dirt, dust, cutting residue on the body

√ Robot clean
with water or 10% alcohol
Check the torque of joint bolts based on the

√ Joint bolts specified tightening torque table (Push aside the
rubber to check)
Tool mounting Check the torque based on the specified

√
bolts tightening torque table
√ Motor Confirm abnormal heating or sound
Check whether the robot arm or end-effector will

√ Brake
fall when the servo is powered off
√ Reducer Check abnormal vibration, noise, and oil leakage
The bolt tightening torque is shown in Table 8.2.
Table 8.2 Bolt tightening torque
Outer hexagonal bolt Hexagonal bolt

Bolt size Inner hexagonal bolt (12.9)
(joint) (rear cover)
3 mm / 0.118 in 2 Nm 2.4 Nm 0.7 Nm
4 mm / 0.157 in 4 Nm 4.5 Nm -
5 mm / 0.197 in 7.5 Nm 9 Nm -
6 mm / 0.236 in 15 Nm 18 Nm -
8 mm / 0.32 in - 37 Nm -
The tightening torques vary depending on the type of base metal or bolt. When it is not
specified, please contact Dobot technical engineer.
In addition, overall maintenance is required every 20,000 hours of operation time or every 4
years (select the shorter of the two periods for maintenance). If you are not clear about the
maintenance processes, please contact Dobot technical support.
42
Warranty
Product warranty
Without prejudice to any claim agreement that the user (customer) may reach with the
distributor or retailer, the manufacturer shall guarantee the quality of the products to the customer
in accordance with the terms and conditions below:
If defects caused by manufacturing and/or improper material occur in a new device and its
components within 12 months (15 months at most if the shipping time is included) after the device
is put into use, Dobot shall provide the necessary spare part, and the user (customer) shall offer
personnel to replace the spare part, using another part that represents the latest technology level to
replace or repairing the related part.
If the device defects are caused by improper handling and/or failure to follow the relevant
information set out in the User Guide, the warranty is invalid.
This warranty does not apply to or extend to maintenance (e.g. installation, configuration,
software download) performed by the authorized distributer or customer.
The user (customer) must provide the purchase receipt and the purchase date as valid evidence
for the warranty. Claims under this warranty must be made within two months of the apparent failure
to perform the product warranty.
The ownership of the equipment or components that are replaced or returned to Dobot shall
remain with Dobot. Any other claims arising from or related to the equipment are not covered by
this warranty.
Any items in this product warranty do not intend to limit or exclude the legal rights of the
customer or to limit or exclude the liability of the manufacturer for the personnel casualty resulting
from its negligence. The duration of this product warranty shall not be extended due to the services
provided under the product warranty terms. Under the principle of not violating the warranty, Dobot
reserves the right to charge customers for the replacement or maintenance. The foregoing does not
imply a change in the burden of proof to the detriment of the client. If there are defects on the
equipment, Dobot shall not be liable for any damage or loss arising therefrom, including but not
limited to loss of production or damage to other production equipment.
Disclaimer
Dobot is committed to improve the reliability and performance of its products, and as such
reserves the right to upgrade products without prior notice. Dobot strives to ensure the contents of
the User Guide are precise and reliable, but takes no responsibility for any errors or missing
information.
43
Appendix Technical Specifications
Appendix A Robot technical specifications
Product Nova 2 Nova 5
Weight 11kg (24.3lb) 14kg (30.9lb)
Nominal load 2kg (4.4lb) 5kg (11lb)
Working radius 625mm (24.6in) 850mm (33.5in)
Maximum working speed 1.6m/s (63in/s) 2m/s (78.7in/s)
Range of joint motion J1 ±360° ±360°
J2 ±180° ±180°
J3 ±156° ±160°
J4 ±360° ±360°
J5 ±360° ±360°
J6 ±360° ±360°
Maximum joint speed J1 135°/s 100°/s
J2 135°/s 100°/s
J3 135°/s 100°/s
J4 135°/s 100°/s
J5 135°/s 100°/s
J6 135°/s 100°/s
End IO DI 2 inputs 2 inputs
DO 2 outputs 2 outputs
RS485 Support Support
Repeated Positioning accuracy ±0.05mm ±0.05mm
IP rating IP54 IP54
Noise 65dB(A) 70dB(A)
Temperature range 0~50℃ 0~50℃
Typical power consumption 100W 230W
Maximum power consumption 250W 770W
Installation mode Any angle Any angle

①
Cable length 3m (118.1 in) 3m (118.1 in)
44
Material acrylonitrile butadiene styrene acrylonitrile butadiene styrene

plastic plastic
Appendix B CCBOX technical specifications
Product CCBOX
Size 200*120*55 mm (7.9*4.7*2.2 in)
Weight 1.3 kg (2.9 lb)
Input power 30~60V DC
IO power 24V, Max 2A, Max 0.5A for each channel
IO interface DI 8 inputs (PNP or NPN)
DO 8 outputs (PNP or NPN)
AI 2 inputs, voltage mode, 0~10V
AO 2 outputs, voltage mode, 0~10V
Communicatio LAN 2
n interface
USB 2
RS485 1
Environment temperature 0~50℃
Environment humidity ≤95%, no condensation
Remote power on/off Support
IP rating IP20
Cooling mode Passive heat loss
Teaching mode PC (Windows), APP (iOS/Android)
45

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Issue: V1.

Shenzhen Yuejiang Technology Co., Ltd.

Controller: DOBOT CCBOX

Date Change Description

2023/02/23 Add wiring diagram of emergency stop switch

Add load curves

2022/11/18 The first release

Indicates a hazard with a high level of risk which, if not avoided,

Indicates a hazard with a medium level or low level of risk which, if

Indicates a potentially hazardous situation which, if not avoided, can

NOTE Provides additional information to emphasize or supplement

CCBOX product dimensions ............................................................................. 24

• Use as a climbing aid.

Safety warning signs

 The robot system is electrical equipment. Non-professional technicians should not

 The personnel responsible for installation, operation and maintenance of equipment

 If necessary, wear corresponding safety protective equipment, such as safety

 The personnel responsible for installation, operation, and maintenance of the

 When an abnormality occurs in the mechanical arm, it is necessary to ensure that

 Maintenance and repair work must be carried out by designated personnel,

 The replacement operation must be performed by the specified operator.

 It is prohibited to modify or remove the nameplates, instructions, icons and marks

 If the robot is damaged, do not continue to use it.

Forced joint movement

 Be sure to follow all installation instructions when installing the robot.

Figure 3.1 Robot overview

The main components of the robot system include:

Figure 3.2 Operation terminal

Figure 3.3 Nova robot arm

End button and indicator lights

Figure 3.4 End button and indicator light

Table 3.1 Definition of indicator lights

Color Status Definition

Flash CCBOX is starting/The robot arm and CCBOX failed to be connected

Flash Automatic running (project is running)

Yellow light Steady on Trajectory recording

Flash Trajectory playback

Red light Steady on System error

Figure 3.5 CCBOX

Table 3.2 Definition of indicator lights

Color Status Definition

Flash CCBOX is starting/The robot arm and CCBOX failed to be

Flash Automatic running (project is running)

Red light Steady on System error

Table 3.3 Operation terminal parameters

Terminal type PC Tablet (Android) iPad

Operation system Windows7/10/11 Android 10 and above iOS 10 and above

Control software DobotStudio Pro Dobot CRStudio Dobot CRStudio

Minimum CPU: Intel Core i3 CPU: 4-core Memory space: 32G

Memory space: 256GB Memory space: 32G

Communication mode LAN/WiFi WiFi WiFi

Figure 4.1 Joint coordinate system

User coordinate system

Figure 4.2 User coordinate system

Tool coordinate system

Figure 4.3 Tool coordinate system

Figure 4.4 Home point sticker

Figure 4.5 Shoulder singularity

Figure 4.6 Elbow singularity

Figure 4.7 Wrist singularity