User Guide

Dobot CR3 Hardware

User Guide

Issue: V1.3 (Translated Version)

Date: 2021-07-07

Shenzhen Yuejiang Technology Co., Ltd

 Dobot CR3 Hardware User Guide

Copyright © Shenzhen Yuejiang Technology Co., Ltd 2021. All rights reserved.
No part of this document may be reproduced or transmitted in any form or by any means
without the prior written consent of Yuejiang Technology Co., Ltd.

Disclaimer
To the maximum extent permitted by applicable law, the products described (including its
hardware, software, and firmware, etc.) in this document are provided AS IS, which may have flaws,
errors or faults. Yuejiang makes no warranties of any kind, express or implied, including but not
limited to, merchantability, satisfaction of quality, fitness for a particular purpose and non-
infringement of third party rights. In no event will Yuejiang be liable for any special, incidental,
consequential or indirect damages resulting from the use of our products and documents.
Before using our product, please thoroughly read and understand the contents of this document
and related technical documents that are published online, to ensure that the robot is used on the
premise of fully understanding the robot and related knowledge. Please use this document with
technical guidance from professionals. Even if follow this document or any other related
instructions, Damages or losses will be happening in the using process, Dobot shall not be
considered as a guarantee regarding all security information contained in this document.
The user has the responsibility to make sure following the relevant practical laws and
regulations of the country, in order that there is no significant danger in the use of the robot.
If this document is incorrect, please refer to the original document.

Shenzhen Yuejiang Technology Co., Ltd

Address: Floor 9-10, Building 2, Chongwen Garden, Nanshan iPark, Liuxian Blvd, Nanshan
District, Shenzhen, Guangdong Province, China
Website: www.dobot.cc

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
i
 Dobot CR3 Hardware User Guide Preface

Preface
Purpose
This Document describes the functions, technical specifications, installation guide of DOBOT
CR3 robot, making it easy for users to fully understand and use it.
Intended Audience
This document is intended for:
 Customer
 Sales Engineer
 Installation and Commissioning Engineer
 Technical Support Engineer
Change History

Date Change Description

2021/03/29 The first releases

2021/04/27 Add product size, nameplate and so on.

2021/07/07 Replace the figure of Robot base size.

Symbol Conventions
The symbols that may be founded in this document are defined as follows.

Symbol Description

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

DANGER avoided, could result in death or serious injury

Indicates a hazard with a medium level or low level of

WARNING risk which, if not avoided, could result in minor or
moderate injury, robot damage

Indicates a potentially hazardous situation which, if not

NOTICE avoided, can result in equipment damage, data loss, or
unanticipated result

NOTE Provides additional information to emphasize or

supplement important points in the main text

Referenced Document
The reference document for this manual: DobotSCStudio User Manual (CR Robot).

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
ii
 Dobot CR3 Hardware User Guide Contents

Contents
Security Precautions ................................................................................................ 1
Security Warning Sign ...................................................................................................... 1
General Security................................................................................................................ 1
Personal Security .............................................................................................................. 5
Overview ................................................................................................................... 7
Technical Specifications ................................................................................................... 7
Robot Body Technical Parameters ....................................................................... 7
Controller Technical Parameters.......................................................................... 9
Product Size .................................................................................................................... 10
Robot Body Size ................................................................................................ 10
Controller Size ................................................................................................... 11
Nameplate Description.................................................................................................... 11
Security Warning Labels ................................................................................................. 12
Robot Workspace ............................................................................................................ 13
End-effector Size ............................................................................................................ 13
End-effector Load Description........................................................................................ 14
Stop Time and Angle....................................................................................................... 14
Home Description ........................................................................................................... 15
Factory posture ............................................................................................................... 15
Product Features ............................................................................................................. 16
Motion Function ................................................................................................ 16
Coordinate System............................................................................................. 19
Singularity Point ................................................................................................ 22
Collision Detection ............................................................................................ 24
Key Description on Robot .............................................................................................. 24
Electrical Specifications......................................................................................... 26
Controller I/O Interface Description ............................................................................... 26
Emergency Stop I/O Description .................................................................................... 29
User Emergency Stop ........................................................................................ 29
Protective Stop................................................................................................... 30
Automatic Operation Remote Confirmation ..................................................... 30
End I/O Interface Description ......................................................................................... 31
Interface Board ............................................................................................................... 33
External Interface Board Description ................................................................ 33
Digital Input ...................................................................................................... 34
Multiplex Digital Input/ Digital Output............................................................. 35
Analog Input ...................................................................................................... 36
Analog Output ................................................................................................... 36
Incremental Encoder ABZ Input........................................................................ 37
Installation and Commissioning ........................................................................... 39
Installation Environment ................................................................................................. 39
Installation Location ....................................................................................................... 39
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
iii
 Dobot CR3 Hardware User Guide Contents

Controller Installation Location......................................................................... 39

Robot Installation Location ............................................................................... 40
Connecting cables ........................................................................................................... 41
Precautions ........................................................................................................ 41
Connecting Controller and Robot by Heavy Duty Cables ................................. 42
Connecting Emergency Stop Switch ................................................................. 42
Connecting WiFi Module .................................................................................. 43
Connecting to Power Supply ............................................................................. 44
Three-Position Enabling Accessory................................................................... 44
Maintenance and Repair ....................................................................................... 45
Safety Instructions .......................................................................................................... 45
Body Maintenance .......................................................................................................... 45

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
iv
 Dobot CR3 Hardware User Guide 1 Security Precautions

Security Precautions
This topic describes the security precautions that should be noticed when using this product.
Please read this document carefully before using the robot for the first time. This product needs to
be carried out in an environment meeting design specification. You cannot remold the product
without authorization, otherwise, it could lead to product failure, and even personal injury, electric
shock, fire, etc. People who use this product for system design and manufacture must be trained by
our company, relevant institution, or must have the same professional skills. The installation
personnel, operators, teaching personnel, programmers and system developers of the robot must
read this document carefully and use the robot strictly according to the regulations of this document
strictly.

Security Warning Sign

The following safety warning signs may appear in this manual, and their meanings are as
follows.

Sign Description

Indicates a high degree of potential danger, which, if unavoidable, will

DANGER result in death or serious injury

Dangerous power consumption will soon be caused. If it cannot be avoided,

ELECTRICITY it will cause personal injury or serious injury to the equipment.

May cause dangerous hot surfaces, if touched, may cause personal injury
HOT

Indicates that there is a moderate or low potential hazard. If it cannot be

WARNNING avoided, it may cause minor injuries to the equipment and damage to the
equipment.

Indicates a potential risk, and ignoring these texts may result in damage to
ATTENTION the robotic arm, loss of data, or unpredictable results

A situation that, if unavoidable, can cause personal injury or equipment

NOTICE damage

For items marked with such symbols, depending on the specific situation,
there is sometimes the possibility of significant consequences

General Security

The following security rules should be followed when using the robot for industrial design and
manufacture.

DANGER

 Robot is electrical equipment. Non-professional technicians cannot modify the

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
1
 Dobot CR3 Hardware User Guide 1 Security Precautions

circuit, otherwise, it is vulnerable to injury the device or the person.

 You should comply with the local laws and regulations when operating the robot.
The security precautions in this document are only supplemental to the local laws
and regulations.
 Please use the robot in the specified environment scope. If not, exceeding the
specifications or load conditions will shorten the service life of the robot, even
damage it.
 Please ensure that the robot is operated under the security conditions and there is no
harmful object around the robot.
 Turning on or off the power continually may result in that the performance of the
main circuit components inside the controller is degraded. If turning on or off the
power continually is required, please keep frequency less than once a minute.

HOT

 The robot and the controller will generate heat during operation. Please do not
operate or touch the robot when the robot is working or has just stopped working.
 Turn off the power and wait an hour for the robot to cool down.
 Do not put your fingers where the control cabinet gets hot.

NOTICE

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

must first undergo rigorous training, understand various safety precautions, and
master the correct operation and maintenance methods before they can operate and
maintain equipment.
 Personnel without professional training shall not disassemble and repair the
equipment without authorization. If the device fails, please contact Shenzhen
Yuejiang Technology Co., Ltd technical support engineer in time.
 Be sure to carry out daily inspections and regular maintenance, and replace faulty
components in time to ensure the safe operation of the equipment.
 If the equipment is scrapped, please comply with relevant laws to properly handle
industrial waste and protect the environment.
 In order to prevent personnel from accidentally entering the working space of the
robotic arm, be sure to set up safety fence to prevent personnel from entering the
hazardous area.
 Before operating the robot, make sure that no one is inside the safety fence. When
operating the robot, be sure to operate outside the safety fence.
 Do not expose the robot to permanent magnetic fields all the time. Strong magnetic
fields can cause damage to the robot.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
2
 Dobot CR3 Hardware User Guide 1 Security Precautions

 Shenzhen Yuejiang Technology Co., Ltd. assumes no responsibility for robot

damage or personal injury caused by failure to follow product instructions or other
improper operations.
 Handling operations such as lifting rings and driving need to use appropriate and
reliable lifting equipment. According to the relevant regulations of various
countries, it must be carried out by personnel with operating qualification
certificates or personnel authorized by the company.

 Please make sure that there are no obstacles within 2 meters of the robot during
transportation, and relevant personnel should stay away from the suspended robot.

 Shenzhen Yuejiang Technology Co., Ltd. is not responsible for the damage caused
during the transportation and handling of equipment.
 Please make sure that the robot is in the packing posture before packaging, and the
brakes on each axis are normal.

 Please make sure that there are no obstacles around the packing area, so that the
staff can leave in a timely manner.

 When the robot is transported, the packaging needs to be fixed to ensure that the
robot is stable.

 After removing the outer packaging, please make sure that the robot maintains the
original packing posture and the brakes on each axis are normal.

 During the commissioning process, it is necessary to confirm that no relevant

personnel and equipment (include computer used for debugging) stay in the
dangerous area of the machine.

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

helmets, safety shoes (with non-slip soles), face shields, protective glasses and
gloves. Inappropriate clothing may cause personal injury.

 In order to prevent personnel from entering the working space of the robot arm by
mistake, please set up safety barriers to prevent personnel from entering the
hazardous area.

 Do not enter the working space of the manipulator at will during operating the robot,
otherwise cause injury to the robot or yourself.

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

equipment must first undergo strict training, understand various safety precautions,
and master the correct operation and maintenance methods before operating and
maintaining the equipment.

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

the machine is stopped and then checked.

 After the commissioning of the operator is completed, the test needs to be performed
in the Manual mode first, and then it is automatically run after it is confirmed to be
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
3
 Dobot CR3 Hardware User Guide 1 Security Precautions

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, for example,
RF source without shielding, otherwise, it could lead to robot abnormally.

WARNING

 Before the operation, please wear protective clothing, such as antistatic uniform,
protective gloves, and protective shoes.
 It is prohibited to modify or remove the nameplates, instructions, icons, and marks
on the robot and the related equipment.
 Before operating and maintaining the robot, the personnel responsible for the
installation, operation and maintenance must be trained to understand the various
security precautions and to master the correct methods of operation, and
maintenance.
 All the required cables must be connected before powering on the equipment.
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
4
 Dobot CR3 Hardware User Guide 1 Security Precautions

 Be careful during the robot carrying or installing. Please follow the instructions on
the packing box to put down the robot gently and place it correctly in direction of
the arrow.
 Please use the matched cables when connecting a robot to internal or external
equipment for personal security and equipment protection.
 Please do not plug or unplug the power cables or communication cables when
equipment is normally operated.
 Please ensure that robot and tools are installed correctly.
 Please ensure that the robot has enough space to move freely.
 If the robot is damaged, please do not continue to use it.
 Any impact will release a lot of kinetic energy, which is much higher than that under
high speed and high load

Personal Security
When operating the robot system, it is necessary to ensure the personal safety of the operator.
The general precautions are listed below, please strictly follow.

WARNING

 To reduce the risk of personal injury, please comply with local regulations with
regard to the maximum weight one person is permitted to carry.
 Do not touch the terminal blocks or disassemble the equipment with the power ON.
Otherwise, it may result in an electric shock
 Please confirm that the equipment is well grounded, otherwise it will endanger
personal safety.
 Do not touch the terminal blocks or remove the interval circuit components in 10
minutes after the power is shut off, to avoid an electric shock since there is residual
capacitance inside the controller.
 Please do not reach out into the workspace of the robot when operating it, otherwise,
it will be vulnerable to injury the device or the person.
 Even if the power switch of the controller is already in the OFF status, touching the
terminal blocks or removing the interval circuit components is not allowed, to avoid
an electric shock since there is residual capacitance inside the controller.
 Please do not reach out into the workspace of the robot when operating it, otherwise,
it will be vulnerable to injury the device or the person.
 When working with robots, please do not wear loose clothing or jewelry. When
operating the robot, make sure that the long hair bundle is behind your head.
 If the robot appears to have stopped during the operation of the equipment, it may
be because the robot is waiting for the start signal and is in the state of being about
to move. In this case, the robot should also be considered to be in motion, please do
not approach the robot.
Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
5
 Dobot CR3 Hardware User Guide 1 Security Precautions

 Please ensure that the robot establishes safety measures near the operation area,
such as guardrails, to protect the operator and surrounding people.
 When a person is trapped by the robot, rescuers can push hard on the joints of the
robot until the person is freed.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
6
 Dobot CR3 Hardware User Guide 2 Overview

Overview
The collaborative robot work system is composed of the collaborative robot body, robot control
software, and robot operation software. DOBOT CR3 supports APP wireless direct connection and
computer direct connection, which is really simple and easy to use. With the self-developed dynamic
algorithm, one-handed teach-in and sensor less collision detection are realized to ensure the safety
of human and machine working together. The drag trajectory reproduction function is creatively
introduced, which completely reproduces the drag trajectory and reduces the threshold for robot use.
DOBOT CR3 has a repeat positioning accuracy of ±0.02mm, a max load of 3kg. It is a product with
the advantages of both industrial robots and collaborative robots.

Figure 2.1 Robot system

Technical Specifications
Robot Body Technical Parameters

Table 2.1 Robot body technical parameters

Product Name DOBOT CR3

Product Model DT-CR-6R030-00I

Weight 16.5 kg

Max Load(kg) 3 kg

Reach(mm) 620 mm

Full-load Current 4.4 A

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
7
 Dobot CR3 Hardware User Guide 2 Overview

Rated Voltage DC 48V

Maximum Speed of 2 m/s

End-effector

J1 ±360°

J2 ±360°

J3 ±155°
Motion Range (°)
J4 ±360°

J5 ±360°

J6 ±360°

J1 180°/s

J2 180°/s

Joint Maximum J3 180°/s

Speed(°/s) J4 180°/s

J5 180°/s

J6 180°/s

DI 2

End-effector I/O DO 2

Interface AI (RS485 multiplexing) 2

RS485（AI multiplexing） ModBus_RTU

Repeatability ±0.02 mm

IP Classification IP54

Temperature 0℃~45℃

Typical Power Supply 170W

Material Aluminum alloy, ABS

Operating Altitude ≤ 1000 m

Range

Package Size 605 mm x 435 mm x 354 mm

Packing Weight 20.5 kg

(including the robot)

Safety Standard UL1740: 2018-Standard for Safety：Robot and Robotic Equipment;

CSA Z434-14 (R2019) Industrial robots and robot systems

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
8
 Dobot CR3 Hardware User Guide 2 Overview

NFPA 79:2018 Electrical Standard for Industrial Machinery

EN ISO 10218-1:2011 Steel wire and wire products. General. Test methods
EN 60204-1:2018 Safety of machinery. Electrical equipment of machines.
General requirements;

IEC 60204-1:2016 Safety of machinery. Electrical equipment of machines.

General requirements;
EN ISO 12100:2010 Safety of machinery. General principles for design. Risk
assessment and risk reduction;
ISO/TS 15066:2016 Robots and robotic devices-Collaborative robots;
ISO 13849-1:2015 Safety of machinery-Safety-related parts of control systems
-Part 1: General principles for design

EMC Standard EN IEC 61000-6-2:2019-Generic Standards-Immunity for industrial

environments;
EN IEC 61000-6-4:2019-Generic standards - Emission standard for industrial
environments;
EN IEC 61000-6-7:2014 Electromagnetic compatibility (EMC). Generic
standards. Immunity requirements for equipment intended to perform functions
in a safety-related system (functional safety) in industrial locations

Controller Technical Parameters

Table 2.2 Controller technical parameters

Product Name DOBOT CC162

Product Model DT-CR-6R162-00I

Axis Control 6 axes

Input Power 1 PHASE

AC 100V~240V, 50/60 Hz

Output Power 48V DC, MAX 12.5A

I/O Interface  16 Digital Inputs

 16 Digital Inputs/Outputs (Multiplexing)

 2 Analog Outputs (Voltage: 0V-10V, Current: 4mA-20mA)

 2 Analog Inputs (Voltage: 0V-10V, Current: 4mA-20mA)

 1 Incremental Encoder ABZ Input

Teaching Method APP，Computer

Programming Script/Graphical Programming

Language

Installation Method Floor mounting

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
9
 Dobot CR3 Hardware User Guide 2 Overview

Environment Temperature: 0℃ - 45℃

Humidity: ≤95%, and no condensation

Protection Grade IP20

Cooling Method Forced air cooling

Safety Function Emergency stop function and reserved external safety interface (can be controlled by
I/O interface) Protective stop interface, Automatic Operation Remote Confirmation

Indicator Status The indicator light will be steady red when the power is on; the indicator light will be
off when the power is off

Maintenance  Diagnostic software

 Power-off Zero Save

 Reserved remote service

Safety Standard UL1740: 2018-Standard for Safety：Robot and Robotic Equipment;

CSA Z434-14 (R2019) Industrial robots and robot systems
NFPA 79:2018 Electrical Standard for Industrial Machinery

EN ISO 10218-1:2011 Steel wire and wire products. General. Test methods
EN 60204-1:2018 Safety of machinery. Electrical equipment of machines.
General requirements;

IEC 60204-1:2016 Safety of machinery. Electrical equipment of machines.

General requirements;
EN ISO 12100:2010 Safety of machinery. General principles for design. Risk
assessment and risk reduction;
ISO/TS 15066:2016 Robots and robotic devices-Collaborative robots;
ISO 13849-1:2015 Safety of machinery-Safety-related parts of control systems -Part 1:
General principles for design

EMC Standard EN IEC 61000-6-2:2019-Generic Standards-Immunity for industrial environments;

EN IEC 61000-6-4:2019-Generic standards - Emission standard for industrial
environments;
EN IEC 61000-6-7:2014 Electromagnetic compatibility (EMC). Generic standards.
Immunity requirements for equipment intended to perform functions in a safety-related
system (functional safety) in industrial locations

Product Size
Robot Body Size

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
10
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.2 Robot body size

Controller Size

Figure 2.3 Controller size

Nameplate Description
The nameplate includes the product name, model number, weight and certification mark, as
shown in Figure 2.4.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
11
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.4 Nameplate

Security Warning Labels

The operator must strictly abide by the warning mark content on the body and controller to
avoid the occurrence of danger. The specific content of the warning labels is shown in Figure 2.5.

Figure 2.5 Security warning labels

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
12
 Dobot CR3 Hardware User Guide 2 Overview

Robot Workspace
Figure 2.6 shows the workspace of CR3 robot.

Figure 2.6 CR3 robot workspace

End-effector Size

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
13
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.7 End-effector Size

End-effector Load Description

The robot actuator can bear the load of the cylinder whose center of mass is located at an axial
distance of LD80mm from the center of the End -effector and a radial distance of LR60mm and no
more than 3kg. As shown in Figure 2.8.

Figure 2.8 End-effector load diagram

Stop Time and Angle

The Stop time and angle of axis J1~J6 at the max speed, load and arm stretch are shown below.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
14
 Dobot CR3 Hardware User Guide 2 Overview

Table 2.3 Stop time and angle

Axis Stop angle（°） Stop time（ms）

J1 10.18 138

J2 14.09 223

J3 15.24 167

J4 4.76 24

J5 4.48 21

J6 4.74 23

Home Description
After some parts (motors, reduction gear units) of the robot have been replaced or the robot has
been hit, the origin of the robot will be changed. You need to reset the origin. Figure 2.9 shows the
Home setting, for details, please see HOME chapter of DobotSCStudio User Guide (MG400 Robot).

Figure 2.9 Home setting

Factory posture
When the robot leaves the factory, moving robot to the factory posture can reduce the robot
space, easy to pack and transport. Figure 2.10 shows the factory posture. For details, please see
Home Point chapter of DobotSCStudio User Guide (MG400 Robot).

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
15
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.10 Factory posture

Product Features
Motion Function

The motion trajectory consists of a series of interpolated motions since the interpolated motion
is the basic motion type. According to the different trajectories, motion functions are classified as
joint interpolated motion, linearly interpolated motion, circular interpolated motion and continuous
path. The joint interpolated motion is in the joint space. And the other interpolated motions are in
the Cartesian space.
2.11.1.1 Joint Interpolated Motion
Joint interpolated motion includes Go, MoveJ modes.
 Go/MoveJ: From point A to point B, each joint will run from an initial angle to its target
angle, regardless of the trajectory, as shown in Figure 2.11.

Figure 2.11 Go/MoveJ modes

2.11.1.2 Linearly Interpolated Motion

The joints will perform a straight line trajectory from point A to point B, as shown in Figure
2.12.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
16
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.12 Move mode

 Jump: The trajectory looks like a door. From point A to point B, the robot will move in
the Move mode
Move up to the lifting height (StartHeight is a relative height).
Move up to the maximum lifting height (zLimit).
Move horizontally to a point that is above point B.
Move down to a point where the height is point B plus the dropping height
(EndHeight is a relative height).
Move down to Point B.

Figure 2.13 Jump mode

NOTICE

 Point A and point B cannot be higher than zLimit. Otherwise, an alarm will be
triggered.
 If point A plus StartHeight or point B plus EndHeight is higher than zLimit, the
robot moves up from point A to zLimit or moves down from zLimit to point B
directly, the trajectory looks like a door without transition, as shown in Figure 2.14.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
17
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.14 Jump mode (1)

 If the heights of point A and point B are the same with zLimit, the trajectory is
shown in Figure 2.15.

Figure 2.15 Jump mode (2)

2.11.1.3 ARC (Circular Interpolated Motion)

The trajectory is an arc, which is determined by three points (the current point, any point and
the end point on the arc), as shown in Figure 2.16.

Figure 2.16 Arc trajectory

2.11.1.4 Circle (Circular Interpolated Motion))

The trajectory is a circle, which is determined by three points (the current point, any point and
the end point on the arc) as well, as shown in Figure 2.17.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
18
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.17 Circle trajectory

Coordinate System

This topic describes the coordinate systems for different types of robots, which are divided into
Joint coordinate system, Base coordinate system, User coordinate system, and Tool coordinate
system. The next three coordinate systems which are based on the right-handed rule are called the
Cartesian coordinate system.
2.11.2.1 Joint Coordinate System
The Joint coordinate system is determined by the motion joints.
Figure 2.18 shows the Joint coordinate system of a CR3robot. All the joints are rotating joints.

Figure 2.18 Joint coordinate of a CR3 robot

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
19
 Dobot CR3 Hardware User Guide 2 Overview

2.11.2.2 Base Coordinate System

The Base coordinate system is determined by the base.
Figure 2.19 shows the Base coordinate system of a CR3 robot. RxB, RyB, RzB are the
orientation data, which are designated by rotating the tool center point (TCP) around the X, Y, Z
axes under the Base coordinate system.

Figure 2.19 Base coordinate system of CR3 robot

2.11.2.3 Tool Coordinate System

Tool coordinate system is the coordinate system that defines the distance and rotation angle of
the offset, of which the origin and orientations vary with the position and attitude of the workpiece
located at the robot flange. The 10 types of tool coordinate systems can be defined. Tool 0 coordinate
system is the predefined Tool coordinate system which is located at the robot flange without end
effector and cannot be changed. And the others can be customized by users.
Figure 2.20 shows the default Tool coordinate system of a CR3 robot. RXT, RYT, RZT are the
orientation data, which are designated by rotating the tool center point (TCP) around the X, Y, Z
axes under the default Tool coordinate system.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
20
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.20 The default Tool coordinate system of CR3 robot

2.11.2.4 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 site requirements, to measure point data within the workspace and arrange tasks conveniently.
There are totally 10 groups of User coordinate systems, of which the first one is defined as the
Base coordinate system by default and cannot be changed. And the others can be customized by
users.
Figure 2.21 shows the default User coordinate system of a CR3robot. RXU, RYU, RZU are the
orientation data, which are designated by rotating the tool center point (TCP) around the X, Y, Z
axes under the selected User coordinate system.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
21
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.21 The default User coordinate system of CR3 robot

Singularity Point

When the robot moves under the Cartesian coordinate system, the resultant velocity of the two
axes cannot be in any direction if the directions of them are aligned, resulting in that the degrees of
freedom of the robot are degraded. Namely, the robot moves to the singularity point and an alarm
about singularity point is triggered. However, when the robot moves to the singularity point under
the Joint coordinate system, the movement will not be affected. And also, the alarm will not be
triggered.
There are three singularity points shown as follows.
 Wrist singularity point: The axes of J4 and J6 are aligned.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
22
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.22 Wrist singularity point

 Shoulder singularity point: The TCP is located in the plane performed by Joint1 and
Joint2.

Figure 2.23 Shoulder singularity point

 Elbow singularity point: The Rear arm and Forearm in a straight line.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
23
 Dobot CR3 Hardware User Guide 2 Overview

Figure 2.24 Elbow singularity point

Collision Detection

Collision detection is mainly used for reducing the impact on the robot, to avoid damage to the
robot or external equipment. If the collision detection is activated, the robot arm will stop running
automatically when the robot arm hit an obstacle.

Key Description on Robot

There are function keys and LED indicator on the robot for user to manually control robot.

Figure 2.25 Keys on robot

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
24
 Dobot CR3 Hardware User Guide 2 Overview

Table 2.4 Key description

Key Description

Open/close hand-hold  Long press and then release: Open hand-hold teach, and the LED indicator turns
teach blue and blinks

 Short press and then release: Close hand-hold teach, and the LED indicator turns
green

Trajectory record  Long press and release: Open trajectory record, and the LED indicator turns yellow

 Short press and release: Close trajectory record, and the LED indicator turns green

Playback  Long press and then release: Open playback, and the LED indicator turns yellow
and blinks

 Short press and then release: Close playback, and the LED indicator turns green

Control end-effectors Short press and then release: Open or close end-effectors

Enable/disable robot Long press 3s and then release: Enable robot., the LED indicator turns green from blue
and blinks

Long press 6s and then release: Disable robot, the LED indicator turns blue from green
and blink.

NOTE
 If there is an error on robot, the LED indicator turns red.
 If you switch the robot mode to auto mode on the APP, the LED indicator turns
green and blinks.
 The connection between robot and he controller is abnormal, the LED indicator
turns blue and blinks.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
25
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

Electrical Specifications

Controller I/O Interface Description

A robot controller contains I/O interfaces, for connecting to external equipment, such as air
pump, PLC, etc. These I/O interfaces provide 32 digital inputs, 16 digital outputs, 2 analog outputs,
and 2 analog inputs, as shown in Figure 3.1.

Figure 3.1 I/O interface

Table 3.1 PIN definition of digital output terminal J1

PIN Name Definition

1 DI1 Digital input 1

2 DI2 Digital input 2

3 DI3 Digital input 3

4 DI4 Digital input 4

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
26
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

PIN Name Definition

5 DI5 Digital input 5

6 DI6 Digital input 6

7 DI7 Digital input 7

8 DI8 Digital input 8

9 I/O 0V I / O interface reference level

10 0V Internal reference level

11 I/O17 Digital input 17 /output 1

12 I/O18 Digital input 18 /output 2

13 I/O19 Digital input 19 /output 3

14 I/O20 Digital input 20/output 4

15 I/O21 Digital input 21/output 5

16 I/O22 Digital input 22/output 6

17 I/O23 Digital input 23/output 7

18 I/O24 Digital input 24/output 8

19 I/O 24V I / O interface 24V power input

20 24V Internal 24V power output

21 DI9 Digital input 9

22 DI10 Digital input 10

23 DI11 Digital input 11

24 DI12 Digital input 12

25 DI13 Digital input 13

26 DI14 Digital input 14

27 DI15 Digital input 15

28 DI16 Digital input 16

29 I/O 0V I / O interface reference level

30 0V Internal reference level

31 I/O25 Digital input 25/output 9

32 I/O26 Digital input 26/output 10

33 I/O27 Digital input 27/output 11

34 I/O28 Digital input 28/output 12

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
27
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

PIN Name Definition

35 I/O29 Digital input 29/output 13

36 I/O30 Digital input 30/output 14

37 I/O31 Digital input 31/output 15

38 I/O32 Digital input 32/output 16

39 I/O 24V I / O interface 24V power input

40 24V Internal 24V power output

41 I/O 0V I/O interface reference level

42 A- Incremental Encoder ABZ Input

43 B-

44 Z-

50 A+

51 B+

52 Z+

45 I/O 0V I / O interface reference level

46 AI 1 Analog input 1

47 I/O 0V I / O interface reference level

48 AO 1 Analog output 1

49 I/O 5V Internal 5V power output

53 I/O 24V I / O interface 24V power input /

output (in the case of other I / O
24V input, this interface can be
used as an output to power the
analog module)

54 AI 2 Analog input 2

55 I/O 0V I / O interface reference level

56 AO 2 Analog output 2

The controller I/O connection is shown below.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
28
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

Figure 3.2 Controller I/O Connection

NOTE
 The inner power supply and the outer power supply of every I/O can’t exceed
500mA.
 The inner power supply and the outer power supply can’t exist at the same time, the
inner supply power outputs the max current which can’t exceed 2A; the outer power
supply outputs the max current which can’t exceed 4A.
 At least one set of I/O 0V and 0V is short-connected, and at least one set of I/O 24V
and 24V is short-connected when IO is internally powered. At least one set of I/O
0V and I/O 24V is short-connected to external 0V and 24V when IO is externally
powered.

Emergency Stop I/O Description

User Emergency Stop

User emergency stop I/O is an emergency stop interface provided to users, and users can
connect external emergency stop devices. The interface description is as follows:
NOTE
The emergency stop I/O is located at the safety I/O plate in controller, if you need to use
those emergency stop I/O, please contact our technology support.

Table 3.2 User emergency stop I/O description

Output Interface Input Interface Factory connection Description

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
29
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

I/O28（X18:4） DI12（X19:4） Short connection I/O28 and DI12, I/O29 and DI13 are
redundant circuits of the user emergency stop
interface. Any one of the disconnections will
I/O29（X18:5） DI13（X19:5） Short connection cause the user emergency stop function to be
triggered

Protective Stop

Protective stop I/O is a protective stop interface provided to users, and users can connect
external protective stop devices. The interface description is as follows:

Table 3.3 Protective stop I/O description

Output Interface Input Interface Factory connection Description

I/O31 and DI15, I/O32 and DI16 are

I/O31（X18:7） DI15（X18:7） Short connection
redundant circuits of the protective stop
interface，Any one of the disconnections will
I/O32（X18:8） DI16（X19:8） Short connection cause the protective stop function to be
triggered

Automatic Operation Remote Confirmation

The automatic operation remote confirmation interface is an interface for users to access the
automatic operation remote confirmation button. The main function is that the user can manually
confirm the operation at the remote before automatic operation to ensure the safety of personnel.
The interface description is as follows:

Table 3.4 Automatic Operation Remote Confirmation I/O description

Output Interface Input Interface Factory connection Description

I/O27 and DI11 are one circuits of automatic

remote confirmation interface, users can
I/O27（X18:3） DI11（X19:3） Short connection
confirm the operation script of the robot arm
through APP

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
30
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

Figure 3.3 Remote confirmation tips

End I/O Interface Description

The cable used for the end pins is the designated cable，the model is Lumberg RKMV 8-354.
The end I/O pins are shown below.

Figure 3.4 End I/O pins

Table 3.5 End I/O pins description

Pins Name Define

1 AI_1/485A Analog input 1 / 485A

2 AI_2/485B Analog input 2 / 485B

3 DI_2 Digital input 2

4 DI_1 Digital input 1

5 24V 24V（Out）

6 DO_2 Digital output 2

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
31
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

7 DO_1 Digital output 1

8 GND GND

Figure 3.5 End I/O connection

Lumberg RKMV 8-354 I/O pins are shown below.

Figure 3.6 Lumberg RKMV 8-354 I/O pins

Table 3.6 Lumberg RKMV 8-354 I/O pins description

Pins Cable color Name

1 White 485A

2 Brown 485B

3 Green DI_2

4 Yellow DI_1

5 Gray 24V

6 Pink DO_2

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
32
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

7 Blue DO_1

8 Red GND

Interface Board
External Interface Board Description

Figure 3.7 shows the interface board of the CC series controller. Table 3.7 lists the description.

Figure 3.7 Interface board of the controller

Table 3.7 Interface description

No. Description

1 LAN interface

For connecting to external network equipment (Used for debugging). The network segment of the
external device should be set to 192.168.5.X, and the default network segment of the machine is
network segment 5

2 Emergency stop interface

For connecting to emergency stop switch

3 USB interface

For connecting to WiFi module

4 I/O interface. For details, please see 3.1 Controller I/O Interface Description

5 Power switch of controller

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
33
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

No. Description

For controlling the controller power on and off

6 Power interface

For accessing single-phase 1100/220V power supply

7 External DC 48V power supply reserved port

For accessing the AGV, the AGV will supply 48V DC power to the robot

8 System security I/O interface

For the safe use and operation of robots

9 Heavy-duty connector interface

For connecting to robot

10 Power switch of robot

For controlling the robot power on and off

Digital Input

Figure 3.8 shows the simple digital input circuit and Table 3.8 lists the technical specifications.

Figure 3.8 Simple digital input circuit

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
34
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

Table 3.8 Technical specifications

Item Specification

Input channel 16 channels

Connection method Crimping terminal

Input type Optical coupling type

Input voltage (DC) 0V or 24V±10%

Isolation method Optical coupling isolation

Multiplex Digital Input/ Digital Output

3.4.3.1 Introduction
The multiplex digital input/ digital output interface can be powered by the internal or external
power supply. Figure 3.9 shows the simple digital output circuit and Table 3.9 lists the technical
specifications.

Figure 3.9 Simple digital output circuit

Table 3.9 Technical specifications

Item Specification

Output channel 16 channels

Connection method Crimping terminal

Output type High-side switch

Power supply (DC) 24V±10%

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
35
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

Item Specification

Load current of single channel 500mA

Output current 2A

Isolation method Digital isolation

Analog Input

3.4.4.1 Introduction
An analog input can be set to a current input or voltage input by the DIP switch for measuring
current or voltage. A controller uses 2-channel DIP switches to control 2 channel analog inputs.
Each channel can be controlled separately. Figure 3.10 shows the simple analog input circuit. V
indicates the voltage input and I indicates the current input. The default is voltage input. If you need
to change, please contact our technical support.

Figure 3.10 Simple analog input circuit

Table 3.10 lists the relation between the DIP switch and analog input.

Table 3.10 The relation between the DIP switch and analog input

Analog input type Range

Current input Current : 4mA - 20 mA

Voltage input Voltage : ±10V

Analog Output

3.4.5.1 Introduction
Much like the analog input, an analog output can be set to a current output or voltage output
by the DIP switch. A controller uses 2-channel DIP switches to control 2 channel analog outputs.
Each channel can be controlled separately. Figure 3.11 shows the simple analog output circuit. V
indicates the voltage output and I indicates the current output. The default is voltage output. If you
need to change, please contact our technical support.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
36
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

Figure 3.11 Simple analog output circuit

Table 3.11 lists the relation between the DIP switch and analog output.

Table 3.11 The relation between the DIP switch status and analog output

Analog output type Range

Current output Current : 4mA - 20mA

Voltage output Voltage: 0V - 10V

Incremental Encoder ABZ Input

An encoder is a device that converts angular or linear displacement into electrical signals.
Namely, it converts displacement into periodic electrical signals and then converts electrical signals
into count pluses. So, the displacements can be measured by the number of pluses.
This topic takes OMRON E6B2-CWZ1X as an example to describe how to use.
As the different color cables of the encoder, connect the 5V power line to Pin49, the 0V power
line to Pin41, and then connect each coded wiring in turn.
The cable color description is shown as follow.

Table 3.12 Cable color description

Color Description

Brown I/O 5V

Blue I/O 0V

Black A+

White B+

Orange Z+

Black and red A-

White and red B-

Orange and red Z-

Shield Ground

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
37
 Dobot CR3 Hardware User Guide 3 Electrical Specifications

NOTE
If a ground wire is required, it can be fixed to the control cabinet with screws. Non-
special circumstances (strong magnetic interference, etc.)

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
38
 Dobot CR3 Hardware User Guide 4 Installation and Commissioning

Installation and Commissioning

Installation Environment
To maintain the controller and robot performance and to ensure the safety, please place them
in an environment with the following conditions.
 Install indoors with good ventilation.
 Do not install in a closed environment.
 Keep away from excessive and shock.
 Keep away from direct sunlight.
 Keep away from dust, oily smoke, salinity, metal powder, corrosive gases, and other
contaminants.
 Keep away from flammable.
 Keep away from cutting and grinding fluids
 Keep away from sources of electromagnetic interference.
 When the robot is transported, it is necessary to ensure that the robot is stable and kept in
the proper position.
 When the robot is hoisted, proper measures should be taken 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 installation position, hold the robot
until all the bolts of the robot base are fastened.
 When the robot is installed, corresponding measures should be taken for positioning. The
base of the robot must use four hexagon socket bolts M8 (GB / T 3098.1-82 strength level
12.9) and tighten with 20 N • m torque.
 When the robot is mounted on the wall or upside down, just in case, the anti-falling
measures of the robot base must be done.
 When the robot is installed, the robot must be fixed on a sufficiently strong base. The base
must be able to withstand the reaction force of the robot during acceleration and
deceleration and the static weight of the robot and the workpiece.

Installation Location
Controller Installation Location

Please place the controller on the horizontal surface outside robot’s workspace and reserve
enough space for connecting cables and operating controller. Figure 4.1 shows the installation space
requirement. There is no blockage near the air outlet for sufficient heat dissipation.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
39
 Dobot CR3 Hardware User Guide 4 Installation and Commissioning

Figure 4.1 Installation space requirement

Robot Installation Location

The stability of a robot depends on the installation. You can design the platform according to
the size of the hole of the base and the real environment for mounting a robot. And the installation
height of the robot should be above 0.6 meters.The platform must not only bear the robot but also
bear the dynamic force by the maximum acceleration. Note the following before mounting the robot.
 Design the platform according to the robot’s workspace, and ensure that the robot moves
without interference.
 Keep the platform level which is used to mount a robot.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
40
 Dobot CR3 Hardware User Guide 4 Installation and Commissioning

Figure 4.2 Robot base size

Connecting cables
Precautions

 The specifications and installation of the external wiring should comply with local laws
and regulations.
 Do not disassemble the controller by yourself. Otherwise, it may result in electric leakage.
 The equipment must be grounded properly at all times to avoid the risk of electric shock.
 Do not allow unnecessary strain on the cables. Otherwise, damaged cables, disconnection,
and contact failure are extremely hazardous and may result in electric shock.
 Before connecting to external equipment, please turn off the controller and related
equipment, and then unplug the power. If not, it may result in electric shock or malfunction
of the robot system.
 Please make sure that the cables are connected correctly. Otherwise, it may result in a
malfunction of internal modules or external devices.
 Please use the matched cables for personal security and equipment protection.
 After the cable connections are complete, please make sure that there are no redundant
screws or exposed cables inside the equipment.
 When the equipment is running, please do not plug or unplug the power and
communication cables.
 Please confirm that the device cable is connected correctly, otherwise it may cause the

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
41
 Dobot CR3 Hardware User Guide 4 Installation and Commissioning

internal module or external device to malfunction.

 Before connecting, check whether the insulation and shield of the external cable are
damaged.

Connecting Controller and Robot by Heavy Duty Cables

Connect controller and robot by heavy-duty cables. Figure 4.3 shows the connection of the
controller with heavy-duty cables. After plugging the heavy cables into the heavy-duty connector
interface of the controller, please fasten the heavy-duty connector.

Figure 4.3 Connect controller and robot by heavy-duty cables

Connecting Emergency Stop Switch

Plug emergency stop switch cable into controller, when connecting them, you need to align the
red dot on the connector with the red dot on the interface. As shown in Figure 4.4.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
42
 Dobot CR3 Hardware User Guide 4 Installation and Commissioning

Figure 4.4 Connecting emergency stop switch

NOTICE

 Before running a robot, please make sure that the emergency stop switch has been
turned on (the red button has been released). Otherwise, the robot cannot work
normally.
 In the emergency situation, press the emergency stop switch to make the robot stop
running immediately.
 Rotate the emergency stop switch (Red button) clockwise, If the red button is
released, the emergency stop switch is turned on successfully.

Connecting WiFi Module

Plug WiFi module into USB interface.as shown in Figure 4.5. The Overall connection diagram
is shown in Figure 4.5, the default IP is 192.168.1.6.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
43
 Dobot CR3 Hardware User Guide 4 Installation and Commissioning

Figure 4.5 Connecting WiFi module

Connecting to Power Supply

Plug power cable into controller. As shown in Figure 4.6.

Figure 4.6 Connecting to Power Supply

Three-Position Enabling Accessory

The three-position enabling accessory can enable the robot, and it has the function of teaching.
This accessory is an optional part, and the user can contact the sales engineer of Yuejiang
Technology to buy it.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
44
 Dobot CR3 Hardware User Guide 5 Maintenance and Repair

Maintenance and Repair

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. For details, please
see Dobot CR Series Robot APP User Guide.

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 article number or
equivalent components approved by Dobot.
 Reactivate any 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 source of energy connected to the robot or
controller. Take necessary precautions to prevent other persons from powering on the
system during the repair period.
 Observe ESD regulations during the disassembly of the parts of the robot or controller.
 Avoid disassembling the power supply inside the controller. High voltages can be present
inside this power supply for several hours after the controller has been powered off.
 Prevent water and dust from entering the robot or controller.

Body Maintenance
In order for the robot to maintain high performance for a long time, a maintenance check must
be carried out. The person in charge of overhaul must prepare an overhaul plan and carry out an
inspection. The overhaul items is shown below.

Table 5.1 Overhaul item

Cycle Overhaul Item Overhaul essential

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
45
 Dobot CR3 Hardware User Guide 5 Maintenance and Repair

Daily 3 month 6 month

Wipe off dirt, dust, cutting residue on the body

√ Robot clean
with water or 10% alcohol

Check the torque based on the specified

√ Joint bolts tightening torque table (Push aside the rubber to
check)

Tool mounting Check the torque based on the specified

√
bolts tightening torque table

√ Motor Abnormal heating or sound confirmation

Check whether the robot arm or end-effector will

√ Brake
fall when the servo is powered off

Check for abnormal vibration, noise, and oil

√ Reducer
leakage

Table 5.2 lists the bolted tightening torque table.

Table 5.2 Bolted tightening torque table

Outer hexagonal bolt Inner hexagonal bolt hexagonal bolt (Rear

Bolt size
(Joint) (12.9) cover)

3 mm 2 Nm 2.4 Nm 1 Nm

4 mm 4 Nm 4.5 Nm -

5 mm 7.5 Nm 9 Nm -

6 mm 15 Nm 18 Nm -

8 mm - 37 Nm -

The tightening torques will vary depending on the type of base metal or bolt. When not
specified, please contact Dobot technical engineer.
In addition, overhauls are required every 20,000 hours of operation time or every 4 years. If
you are not clear about the maintenance processes, please contact Dobot technical engineer.

Issue V1.3 (2021-07-07) User Guide Copyright © Yuejiang Technology Co., Ltd
46