User Guide

DOBOT CR5
User Guide

Issue: V 3.5.3.1

Date: 2020-05-09

Shenzhen Yuejiang Technology Co., Ltd

 DOBOT CR5 User Guide

Copyright © Shenzhen Yuejiang Technology Co., Ltd 2020. 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.

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

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 DOBOT CR5 User Guide Preface

Preface
Purpose
This Document describes the functions, technical specifications, installation guide and system
commissioning of DOBOT CR5 robot system, 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

2020/01/16 The first release

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

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 DOBOT CR5 User Guide Contents

Contents
Security Precautions ................................................................................................ 1
Security Warning Sign ...................................................................................................... 1
General Security................................................................................................................ 1
Personal Security .............................................................................................................. 5
Overview ................................................................................................................... 6
Technical Specifications ................................................................................................... 6
Robot Body Technical Parameters ....................................................................... 6
Controller Technical Parameters.......................................................................... 8
Robot Workspace .............................................................................................................. 8
End-effector Size .............................................................................................................. 9
End-effector Load Description........................................................................................ 10
Product Features ............................................................................................................. 10
Motion Function ................................................................................................ 10
Coordinate System............................................................................................. 13
Arm Orientation................................................................................................. 16
Singularity Point ................................................................................................ 17
Collision Detection ............................................................................................ 18
Key Description on Robot .............................................................................................. 19
Electrical Specifications......................................................................................... 21
Controller I/O Interface Description ............................................................................... 21
Emergency Stop I/O description ..................................................................................... 23
User Emergency Stop ........................................................................................ 23
Protective Stop................................................................................................... 24
Automatic Operation Remote Confirmation ..................................................... 24
End I/O Interface Description ......................................................................................... 25
Interface Board ............................................................................................................... 26
External Interface Board Description ................................................................ 26
Internal Module Description.............................................................................. 27
Digital Input ...................................................................................................... 28
Multiplex Digital Input/ Digital Output............................................................. 29
Analog Input ...................................................................................................... 30
Analog Output ................................................................................................... 31
Incremental Encoder ABZ Input........................................................................ 32
Installation and Commissioning ........................................................................... 33
Installation Environment ................................................................................................. 33
Installation Location ....................................................................................................... 33
Controller Installation Location......................................................................... 33
Robot Installation Location ............................................................................... 34
Connecting cables ........................................................................................................... 34
Precautions ........................................................................................................ 34
Connecting Controller and Robot by Heavy Duty Cables ................................. 35
Connecting Emergency Stop Switch ................................................................. 35
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 DOBOT CR5 User Guide Contents

Connecting WiFi Module .................................................................................. 36

Connecting to Power Supply ............................................................................. 37
Debugging Power On and Off ........................................................................................ 37
Function Description of Software ......................................................................... 41
Setting ............................................................................................................................. 44
Setting Motion Parameter .................................................................................. 44
Setting Safety..................................................................................................... 51
Remote Control ................................................................................................. 53
Homing .............................................................................................................. 57
Running Log ...................................................................................................... 58
Setting Software ................................................................................................ 59
Hand-Hold Teach ............................................................................................................ 61
Monitor ........................................................................................................................... 62
I/O Monitor........................................................................................................ 62
Robot Status ...................................................................................................... 63
Controlling End-effectors .................................................................................. 63
Programming .................................................................................................................. 68
Program Description .......................................................................................... 68
Program Example .............................................................................................. 71
Program Language ................................................................................................ 75
Arithmetic Operators ...................................................................................................... 75
Relational Operator ......................................................................................................... 75
Logical Operators............................................................................................................ 75
General Keywords .......................................................................................................... 76
General Symbol .............................................................................................................. 76
Processing Control Commands ....................................................................................... 76
Global Variable ............................................................................................................... 76
Motion Commands.......................................................................................................... 77
Motion Parameter Commands ........................................................................................ 84
Six-axis Force Sensor Commands .................................................................................. 87
Input/output Commands.................................................................................................. 89
Program Managing Commands ...................................................................................... 91
Pose Getting Command .................................................................................................. 94
TCP ................................................................................................................................. 95
UDP ................................................................................................................................ 99
Modbus ......................................................................................................................... 102
Modbus Register Description .......................................................................... 102
Command Description ..................................................................................... 103

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 DOBOT CR5 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

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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.

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 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 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.
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 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.

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.
 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

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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.
 Please ensure that the robot establishes safety measures near the operation area,
such as guardrails, to protect the operator and surrounding people.

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 DOBOT CR5 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 CR5 supports APP wireless 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 CR5 has
a repeat positioning accuracy of ± 0.03mm, a max load of 5kg, and a joint speed of 180 °/s. 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 DOBOT CR5

Weight 25kg

Max load(kg) 5kg

Reach(mm) 900mm

Rated current 7.3A

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Rated voltage DC 48V

Maximum Speed of 3m/s

End-effector

J1 ±360°

J2 ±360°

J3 ±160°
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 2

AO 0

Communication RS485
Interface

DI 16

DO/DI 16
Controller I/O
AI 2
Interface
AO 2

Incremental Encoder ABZ Input 1

Repeatability ±0.03mm

Communication TCP/IP, Modbus, EtherCAT, WiFi

IP Classification IP54

Temperature 0℃~45℃

Power Consumption 150W

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Material Aluminum alloy, ABS

Controller Technical Parameters

Table 2.2 Controller technical parameters

Product DOBOT CC161

Axis control 6 axes + external axes

Input power 1 PHASE

AC 100V~240V AC, 47HZ~63HZ

Output power 48V DC, MAX 20A

Communication EtherCAT (used for external axis), Ethernet

interface

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

Programming Script/Tree Programming/Graphical Programming

Language

Installation Method Floor mounting

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

Robot Workspace

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Figure 2.2 shows the workspace of CR5 robot.

Figure 2.2 CR5 robot workspace

End-effector Size

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Figure 2.3 End-effector Size

End-effector Load Description

The robot actuator can bear the load of the cylinder whose center of mass is located at an axial
distance of LD80mm from the center of the End -effector and a radial distance of LR60mm and no
more than 5kg. As shown in Figure 2.4.

Figure 2.4 End-effector load diagram

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.
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2.5.1.1 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 2.5.

Figure 2.5 Go/MoveJ modes

2.5.1.2 Linearly Interpolated Motion

The joints will perform a straight line trajectory from point A to point B, as shown in Figure
2.6.

Figure 2.6 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.

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Figure 2.7 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 2.8.

Figure 2.8 Jump mode (1)

 If the heights of point A and point B are the same with zLimit, the trajectory is
shown in Figure 2.9.

Figure 2.9 Jump mode (2)

2.5.1.3 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 2.10.

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Figure 2.10 Arc trajectory

2.5.1.4 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 2.11.

Figure 2.11 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.
2.5.2.1 Joint Coordinate System
The Joint coordinate system is determined by the motion joints.
Figure 2.12 shows the Joint coordinate system of a CR5 robot. All the joints are rotating joints.

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Figure 2.12 Joint coordinate of a CR5 robot

2.5.2.2 Base Coordinate System

The Base coordinate system is determined by the base.
Figure 2.13 shows the Base coordinate system of a CR5 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 2.13 Base coordinate system of CR5 robot

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2.5.2.3 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 2.14 shows the default Tool coordinate system of a CR5 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.

Figure 2.14 The default Tool coordinate system of CR5 robot

2.5.2.4 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 2.15 shows the default User coordinate system of a CR5 robot. 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.

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Figure 2.15 The default User coordinate system of CR5 robot

Arm Orientation

Table 2.3 lists the values of the R, D, N arm parameters and their right orientations.

Table 2.3 R, D, N identification

Arm parameter 1 -1

R Righty hand orientation Lefty hand orientation

D Above elbow orientation Below elbow orientation

N No-flip wrist orientation Flip wrist orientation

Besides, in this system, we use Cfg to represent the sixth-axis angle, as shown in Table 2.4.

Table 2.4 Cfg identification

Cfg The sixth-axis angle

… …

2 [90°,180°)

1 (0°,90°)

-1 [0°,-90°)

-2 [-90°,-180°)

… …

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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.

Figure 2.16 Wrist singularity point

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

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Figure 2.17 Shoulder singularity point

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

Figure 2.18 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

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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 2.19 Keys on robot

Table 2.5 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
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 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.

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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

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PIN Name Definition

4 DI4 Digital input 4

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

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PIN Name Definition

34 I/O28 Digital input 28/output 12

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

Emergency Stop I/O description

User Emergency Stop

User emergency stop I / O is an emergency stop interface provided to users, and users can

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connect external emergency stop devices. The interface description is as follows:

Table 3.2 User emergency stop I/O description

Output Interface Input Interface Factory connection Description

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

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Figure 3.2 Remote confirmation tips

End I/O Interface Description

The cable used for the end interface is our designated cable，the model is Lumberg RKMV
8-354.

Figure 3.3 End I/O interface

Table 3.5 End I/O description

Pin 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

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7 DO_1 Digital output 1

8 GND GND

Interface Board
External Interface Board Description

Figure 3.4 shows the interface board of the CC series controller. Table 3.6 lists the description.

Figure 3.4 Interface board of the controller

Table 3.6 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

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No. Description

5 Power switch of controller

For controlling the controller power on and off

6 Power interface

For accessing single-phase 1100/220V power supply

7 Heavy-duty connector interface

For connecting to robot

8 Power switch of robot

For controlling the robot power on and off

Internal Module Description

A controller contains all necessary functions for controlling the robot. Figure 3.5 shows the
internal modules.

Figure 3.5 Internal module

Table 3.7 lists the internal module description

Table 3.7 Module description

Module Function

AC contactor Control the power input of the robot

I/O interface Connect and communicate with external/internal

devices, and support safety logic processing

Energy-feedback Board Consume the feedback energy generated by the motor

when the servo drive is powered off or slows down, to

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Module Function

protect the servo drive

24V power Turn single-phase 110V/230V AC into 24V DC for

powering controller module, I/O module, and other
logic modules

AC detection Check the AC input and internal DC status of the

controller. Under abnormal AC and DC conditions, the
AC detection board can provide sufficient DC power to
ensure the equipment's emergency stop operation.

48V power Turn single-phase 110V/220V AC into 48V DC for

powering servo and motor

Controller module Controller module is used to control the logic unit of

the robot system, responsible for human-interface
interaction, trajectory planning, motion control, status
monitoring, and so on

Safety I/O interface Safety I/O interface is used to control the safety circuit
of system, such as emergency stop

Digital Input

Figure 3.6 shows the simple digital input circuit and Table 3.8 lists the technical specifications.

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Figure 3.6 Simple digital input circuit

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

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3.4.4.1 Introduction
The multiplex digital input/ digital output interface can be powered by the internal or external
power supply. Figure 3.7 shows the simple digital output circuit and Table 3.9 lists the technical
specifications.

Figure 3.7 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%

Load current of single channel 500mA

Output current 2A

Isolation method Digital isolation

Analog Input

3.4.5.1 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 3.8 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.

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Figure 3.8 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

3.4.6.1 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 3.9 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.

Figure 3.9 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

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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

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

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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 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.

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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. 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.

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

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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
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 4.2 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 4.2 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 4.3.

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Figure 4.3 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 4.4. The Overall connection diagram
is shown in Figure 4.4, the default IP is 192.168.1.6.

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Figure 4.4 Connecting WiFi module

Connecting to Power Supply

Plug power cable into controller. As shown in Figure 4.5.

Figure 4.5 Connecting to Power Supply

Debugging Power On and Off

Preparations
 Controller have been connected to robot
 Emergency stop switch has been turned on.
Procedure

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Figure 4.6 Start robot

Figure 4.7 connecting local area network

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Figure 4.8 Connecting controller and APP

The robot icon turns green, indicating that robot enables successfully. Now you
can jog robot.

Figure 4.9 Enable robot

NOTICE

The robot arm will move a certain distance during the enabling process. Please ensure
that there are no obstacles around the robot.

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Figure 4.10 Disable robot

Figure 4.11 Disconnection

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Function Description of Software

The robot supports Android/iOS tablet operation. Other types of devices are not currently
supported. This manual uses Android tablet as an example.
The interface is shown in Figure 5.1, and its detailed description is shown in Table 5.2.

Figure 5.1 Homepage

Figure 5.2 Jogging interface

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Figure 5.3 3D illustration of a robotic arm

Table 5.1 Cable color description

NO. Description

1 Manager

APP login personnel are divided into observer, operator,

programer and manager, different personnel can operate different
functions, including the most authority of the management, can
operate all functions

2 alarm log

You can click it to check alarm log

3  Manual mode: You can jog robot arm, program or set

parameters, etc

 Auto mode: You can monitor motion tracks, I/O ports,

debug program, etc

4 Connection button

When device and robot arm are connected to network, click the
button to connect the device to robot arm

5 Click this button to go back to the previous page

6 Programming module

Programming modules are mainly used for editing and running

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NO. Description

programs

7 Monitoring module

You can view the status of robot arm, set the output of I/O , set
the end parameters of robot arm and other functions

8 Monitoring module shortcuts

9 Robotic arm enable button

ON： the icon is green when robot motor is in the enabled status

OFF： the icon is red when robot motor is in the disabled status

10 Emergency stop switch

Emergency stop switch can be pressed when robot arm is in short

of time during operation, to control servo drive power off and
robot arm stop urgently but constant power

11 System settings

Click this button to expand the page to view help documentation,

lock screen, switch skins, etc.

12 Setting

Set the related parameters of robot arm, including motion

parameters, coordinate system settings, calibration, etc

13 Craft

Support Drag teach, Conveyor belt, Palletizing, and Vision, etc

14 Set speed ratio

15 Jogging robotic arm

Click the button to expand the jogging page, as shown in Figure

5.2, you can jogging the robot arm. Click the button to
switch the joint coordinate system or the Descartes coordinate
system

16 Click the button to expand the 3D illustration of a robotic arm, as

shown in Figure 5.3

NOTICE

The software supports the screen lock function. If the software has not been operated for
a long time, the screen is automatically locked. The unlock password is 000000 by
default.

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Setting
Before teaching or running robot programs, a series of settings are required, including motion
parameter setting, language selecting, user mode selecting and process setting.

Setting Motion Parameter

5.1.1.1 Setting Jog

You can set the velocity, acceleration or other parameters in different coordinate systems when
jogging a robot or running robot programs. After setting the parameters, please click Save
Set the maximum velocity and acceleration in Joint and Cartesian coordinate system when
jogging a robot. As shown in Figure 5.4.

Figure 5.4 Jogging parameters in the Joint coordinate system

5.1.1.2 Setting Playback

Set the maximum velocity, acceleration, and jerk in the Joint and Cartesian coordinate system
when running robot programs, as shown in Figure 5.5.

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Figure 5.5 Playback parameters

When doing jogging or playback, the method calculating the velocity and acceleration for each
axis (in Joint or Cartesian coordinate system) is shown as follows.
 Actual jogging velocity = the maximum jogging velocity * global velocity rate
 Actual jogging acceleration = the maximum jogging acceleration* global velocity
rate
 Actual playback velocity = the maximum playback velocity * the set velocity rate in
the velocity function
 Actual playback acceleration = the maximum playback acceleration * the set
acceleration rate in the acceleration function
 Actual playback jerk = the maximum playback jerk * the set acceleration rate in the
jerk function

NOTE
The rates (velocity rate, acceleration rate, or jerk rate) can be set in the related speed
functions. For details, please see 6.9 Motion Parameter Commands.

If the motion mode is Jump when running robot programs, you need to set StartHeight,
EndHeight, and zLimit. For details about Jump, please see2.5.1.2Linearly Interpolated Motion.
You can set 10 sets of Jump parameters. Please set and select any set of parameters for calling
Jump command during programming. As shown in Figure 5.6. Please refer to Table 6.24 for use

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Figure 5.6 Jump parameters

5.1.1.3 Setting User Coordinate System

When the position of workpiece is changed or a robot program needs to be reused in multiple
processing systems of the same type, you can create coordinate systems on the workpiece to simplify
programming. 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.

NOTICE

When creating a User coordinate system, please make sure that the reference coordinate
system is the Base coordinate system.

 Point: move TCP to any point A to create origin, and create user coordinate system
according to the default tool coordinate system As shown in Figure 5.7.

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Figure 5.7 Point

 Line: Confirm a straight line by any two points A and B. The direction from A to B is
defined as the positive direction of Y-axis, The Z-axis of Tool coordinate system of which point
A is the origin is projected into the vertical plane that confirmed by points A and point B, we
can define it as the positive direction of Z-axis. and then the positive direction X axis can be
defined based on the right-hand rule. As shown Figure 5.8.

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Figure 5.8 Line

 Area: User coordinate system is created by three-point calibration method. Move the robot
to three points A(x1, y1, z1), B(x2, y2, z2), and C(x3, y3, z3). Point A is defined as the origin
and the line from point A to Point B is defined as the positive direction of X-axis. The line that
point C is perpendicular to X-axis is defined as the position direction of Y-axis. And then the
Z-axis can be defined based on the right-handed rule, as shown in Figure 5.9.

Figure 5.9 Area

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Take the establishment of User 1 coordinate system as an example.

Prerequisites
 The robot has been powered on.
 The APP has been in the manual mode.
 The robot is enabled.
 The robot is in the Cartesian coordinate system.
Procedures

Figure 5.10 User coordinate system

5.1.1.4 Setting Tool Coordinate System

When an end effector such as welding gun, gripper is mounted on the robot, the Tool coordinate
system is required for programming and operating a robot. For example, you can use multiple
grippers to carry multiple workpieces simultaneously to improve the efficiency by setting each
gripper to a Tool coordinate system.
There are totally 10 groups of Tool coordinate systems. Tool 0 coordinate system is the
predefined Tool coordinate system which is located at the robot flange and cannot be changed.

NOTICE
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When creating a Tool coordinate system, please make sure that the reference coordinate
system is the predefined Tool coordinate system.

Tool coordinate system is created by three-point calibration method (TCP +ZX): After the end
effector is mounted, please adjust the direction of the end effector, to make TCP (Tool Center Point)
align with the same point (reference point) in three different directions, for obtaining the position
offset of the end effector, and then jog the robot to the other three points (A, B, C) for obtaining the
angle offset, as shown in Figure 5.11.

Figure 5.11 Three points calibration method (TCP+ZX)

Take the establishment of Tool 1 coordinate system as an example.

Prerequisites
 The robot has been powered on.
 The APP has been in the manual mode.
 The robot is in the Cartesian coordinate system.

Procedure

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Figure 5.12 Tool Coordinate page

NOTE
Rx, Ry, Rz are the orientation data, which are designated by rotating the tool center point
(TCP) around the X, Y, Z axes under the selected Tool coordinate system.

The three points (A, B, C) cannot lie in the same line.

This step defines the X-axis, and the Y-axis can be defined based on the right-handed
rule.

Setting Safety

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In the safety setting module, you can set safety parameters such as safety hit, power control,
joint brake, etc.
5.1.2.1 Safety Hit
If the collision detection is activated, the robot arm will stop running automatically when the
robot arm hits an obstacle.

Figure 5.13 Safety Hit

5.1.2.2 Electronic Skin

If the electronic skin function is activated, the robot will evade it when the robot hits an
obstacle.

Figure 5.14 Safety Hit

5.1.2.3 Joint Brake

After the robot is disabled, if you want to drag joints, you need to enable Joint brake function
to drag them.
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Figure 5.15 Joint brake

5.1.2.4 Power Control

This function is used to control robot power on or power off.

Figure 5.16 Power control

Remote Control

External equipment can send commands to a robot by different remote control modes, such as
remote I/O mode and remote Modbus mode. The default mode is Teaching mode when the robot is
shipped out. When you need to set the remote mode, please set it on APP with the robot motor in
the disabled state.

NOTICE

 Robot rebooting is not required when switching the remote mode.

 The emergency stop switch on the hardware is always available no matter what

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mode the robot system is in.

 Please DO NOT switch the remote mode when the robot is running in the current
remote mode. You need to exit the current mode and then switch to the other remote
mode. Namely, please stop the robot running and then switch the mode.
 If the robot motor is in the enabled status, the remote control cannot be used.
Otherwise, an alarm will be triggered. Please activate the remote control in the
disabled status.
5.1.3.1 Remote I/O
When the remote mode is I/O mode, external equipment can control a robot in this mode. The
specific I/O interface descriptions are shown in Table 5.2.

Table 5.2 Specific I/O interface description

I/O interface Description

Input (For external control)

DI 11 Clear alarm

DI 12 Continue to run

DI 13 Pause running in the I/O mode

DI 14 Stop running and exit the I/O mode

DI 15 Start to run in the I/O mode

DI 16 Emergency stop and exit the I/O mode

Output (For displaying the status)

DO 13 Ready status

DO 14 Pause status

DO 15 Alarm status

DO 16 Running status

NOTICE

All input signals are low to high.

Prerequisites
 The project to be running in the remote mode has been prepared.
 The external equipment has been connected to the robot system by the I/O interface. The
specific I/O interface description is shown in Table 5.2. The IP address of the Dobot robot
control system and the external device must be on the same network segment. The default IP
address of the Dobot robot control system is 192.168.5.1 and the port is 8080.

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 The robot has been powered on.

NOTE
The details on how to connect external equipment and use it are not described in this
topic.

Procedure

The remote control page is displayed, as shown in Figure 5.17.

Figure 5.17 Remote control page

Right now, only the emergency stop button and the real-time coordinates displaying
section are available.

The robot will move as the selected offline project. If the stop signal is triggered, the
remote I/O mode will be invalid.
5.1.3.2 Remote Modbus
When the remote mode is Modbus mode, external equipment can control a robot in this mode.
For details about Modbus registers, please see 6.16.1Modbus Register Description.

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Table 5.3 Specific Modbus register description

Register address (Take a PLC Register address (Robot Description

as an example) system)

Coil register

00001 0 Start running in the remote Modbus

mode

00002 1 Pause running in the remote

Modbus mode

00003 2 Continue to run

00004 3 Stop to run and exit the remote

Modbus mode

00005 4 Emergency stop and exit the remote

Modbus mode

00006 5 Clear alarm

Discrete input register

10001 0 Auto-exit

10002 1 Ready status

10003 2 Pause status

10004 3 Running status

10005 4 Alarm status

Prerequisites
 The project to be running in the remote mode has been prepared.
 The robot has been connected to the external equipment with the ethernet interface. You
can connect them directly or via a router, please select based on site requirements.
The IP address of the robot system must be in the same network segment of the external
equipment without conflict. The default IP address is 192.168.5.1.
 The robot has been powered on.
NOTE
The details on how to connect external equipment and use it are not described in this
topic.

Procedure

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Figure 5.18 Remote control page

Right now, only the emergency stop button and the real-time coordinates displaying
section are available.

The robot will move as the selected offline project. If the stop signal is triggered, the
remote Modbus mode will be invalid.

Homing

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.
Click Home to make robot move to the origin position after switching robot to manual mode
and enabling robot.

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Figure 5.19 Homing page

If the origin of robot has been changed, you need to reset it. Switch Back to home to Set home
position, and put the robot in the original position and click Home to set origin of the robot. This
feature only supports administrator settings.

Figure 5.20 Set home position

Running Log

You can check, export or clear running logs on this page.

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Figure 5.21 Running log

Setting Software

5.1.6.1 Setting APP lock

You can set APP lock screen time as needed. If the software is not operated within this time
period, the system will automatically lock the screen. The unlock password defaults to: 000000.

Figure 5.22 Setting lock time

5.1.6.2 Importing/exporting Files

This function is used to import or export file from controller which can improve reusability.

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Figure 5.23 Import/export file

5.1.6.3 Setting Network

You can set the IP, port and password of the server (WiFi) according to actual needs. The default
IP is 192.168.1.6 and the port is 22000.

Figure 5.24 Set network

5.1.6.4 Setting Controller IP

You can set the controller IP as required. The default controller IP is 192.168.5.1.

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Figure 5.25 Setting controller IP

Hand-Hold Teach
You can drag robot to teach by APP or function keys on the end of robot. For function key
details, please refer to 2.6 Key Description on Robot.
Click Craft>Drag teach, the dragging page is displayed, as shown in Figure 5.26.

Figure 5.26 Hand-hold teach page

Table 5.4 Button description

Button Description

Click this button to open or close drag mode

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Button Description

Click this button to save trajectory

Click this button to start or stop playback.

Select the recorded trajectory, and click Path playback to start trajectory playback

You can set Path playback loop-time on the hand-hold teach page, the default value is 1

Click this button to refresh trajectory records

Select a trajectory and click this button to delete it

NOTE
There are two kinds of trajectory names. For example, 01-01-00-20-07.csv is a trajectory which
records by APP. You can record multiple trajectories in this type. Button_drag_track.csv is a
trajectory which records by clicking function keys on the end of robot. In this type, you can only
record one trajectory.

Monitor
I/O Monitor

You can monitor the status of I/O, as shown in Figure 5.27, you can select checkbox to change
the X:0 from output into input. Click X:0 to set High(1) or Low(0) level (X indicates the number of
I/O).

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Figure 5.27 I/O Monitor

Robot Status

You can check temperature, voltage, current of robot and so on.

Figure 5.28 Robot status

Controlling End-effectors

5.3.3.1 Setting Gripper

You can enable and control gripper in this page. Select Enable to enable gripper, select Open
or Close to open or close gripper.

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Figure 5.29 Set gripper

5.3.3.2 Setting End-loading of Robot

Set LoadValue in this page, the value range is 0 kg to 5 kg, Other parameters do not need to
set.

Figure 5.30 set end-loading of robot

5.3.3.3 Setting Six-axis Force Sensor

Set six-axis force sensor to open or close. When opening six-axis force sensor, you can calibrate
it or operate homing procedure. The six-axis force sensor supported by the current machine are
Robotip brand FT 300 models
 Home
Before using six-axis force sensor, you need to Select open and click ZERO SENSOR to
operate six-axis force sensor homing procedure.

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Figure 5.31 Setting Six-axis Force Sensor

 Calibration

Figure 5.32 Calibrate X-axis

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Figure 5.33 Calibrate X-axis

Figure 5.34 Calibrate Y-axis

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Figure 5.35 Calibrate Y-axis

Figure 5.36 Calibrate Z-axis

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Figure 5.37 Calibrate Z-axis

After the calibration is completed, the programming instruction can be called in the
programming module to control the six-dimensional force sensor. For details, please refer to
6.10Six-axis Force Sensor .

Programming
Program Description

CR5 robot supports script programming, graphics programming, and Blockly programming
which use the Lua language as the programming language.

Figure 5.38 Program Description

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Figure 5.39 Programming process

 Script Programming
Script programming uses Lua as the programming language, as shown in Figure 5.40.

Figure 5.40 Script programming

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Table 5.5 Button description

Button Description

Click this button to write program

Click this button to debug program

Click this button to set teaching points.

Click this button to delete thread

Click this button to add thread

Click this button to save program

 Tree Programming
Tree programming is programmed in a way similar to building blocks, making it easier for
users to operate and get started.

Figure 5.41 Tree programming

 Blockly Program
Blockly is a graphical programming platform developed by YueJiang based on Google's open-
source platform. The operation of the robot can be programmed through puzzles which is intuitive
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and easy to understand.

Figure 5.42 Blockly programming

Program Example

This section takes script programming as an example to describe how to program. We call Go
command to make the robot move between point P1 and point P2 circularly.
Prerequisites
Robot has connected to APP.
Procedure

Figure 5.43 Create new file

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Arm is the arm orientation, Tool is tool coordinate system, User is User coordinate
system.

Figure 5.44 Save teaching points

Table 5.6 Button description

Button Description

Add a teaching point

Delete a teaching point

Cover a point

you can select a teaching point and click Cover to cover the current teaching point

Move to a point

Select a point, and long press this button to make robot move to this point

Download teaching points

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Figure 5.45 Edit program

Figure 5.46 Finish writing

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Figure 5.47 Debug

Table 5.7 Button description

Button Description

Start button, click it to run program

Pause button, click it to pause program

Run a program step by step, you can run a program step by step by
setting a breakpoint

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Program Language
CC series controller encapsulates the robot dedicated API commands for programming with
Lua language. This section describes commonly used commands for reference.

Arithmetic Operators
Table 6.1 Arithmetic operator

Command Description

+ Addition

- Subtraction

* Multiplication

/ Floating point division

// Floor division

% Remainder

^ Exponentiation

& And operator

| OR operator

~ XOR operator

<< Left shift operator

>> Right shift operator

Relational Operator
Table 6.2 Relational Operator

Command Description

== Equal

~= Not equal

<= Equal or less than

>= Equal or greater than

< Less than

> Greater than

Logical Operators

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Table 6.3 Logical operator

Command Description

or Logical OR operator

not Logical NOT operator

and Logical AND operator

General Keywords
Table 6.4 General keyword

Command Description

break Break out of a loop

local Define a local variable, which is available in the current

script

nil Null

return Return a value

enter Line feed

General Symbol
Table 6.5 General symbol

Command Description

# Get the length of the array table

Processing Control Commands

Table 6.6 Processing control command

Command Description

if…then…else…elseif…end Conditional instruction (if)

while…do…end Loop instruction (while)

for…do…end Loop instruction (for)

repeat… until() Loop instruction (repeat)

Global Variable

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The robot global variables can be defined in the global.lua file, including global functions,
global points, and global variables.
 Global function:
function exam()

print("This is an example")

end

 Define a joint coordinate point, of which R sets to 1, D sets to -1, N sets to 0, Cfg
sets to 1, the User and Tool coordinate systems are both default coordinate systems.
P = {armOrientation = {1, 1, -1, 1}, joint = {20,10,22,2.14,0.87,3.85}, tool = 0, user = 0}

 Global variable
flag = 0

Motion Commands
Table 6.7 Motion command

Command Description

Go Move from the current position to a target position in a

point-to-point mode under the Cartesian coordinate
system

MoveJ Move from the current position to a target position in a

point-to-point motion under the Joint coordinate
system

Move Move from the current position to a target position in a

straight line under the Cartesian coordinate system

Arc3 Move from the current position to a target position in

an arc interpolated mode under the Cartesian
coordinate system

Jump Robot moves from the current position to a target

position in the Move mode. The trajectory looks like a
door

Circle3 Move from the current position to a target position in a

circular interpolated mode under the Cartesian
coordinate system

RP Set the X, Y, Z axes offset under the Cartesian

coordinate system to return a new Cartesian coordinate
point

RJ Set the joint offset under the Joint coordinate system to

return a new joint coordinate point

MoveR Move from the current position to the offset position in

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Command Description

a straight line under the Cartesian coordinate system

GoR Move from the current position to the offset position in

a point-to-point mode under the Cartesian coordinate
system

MoveJR Move from the current position to the offset position in

a point-to-point motion under the Joint coordinate
system

NOTICE

Optional parameters for each motion command can be set individually

Table 6.8 Go command

Function Go(P,” User=1 Tool=2 CP=1 Speed=50 Accel=20 SYNC=1”)

Description Move from the current position to a target position in a point-to-point mode under the Cartesian
coordinate system

Parameter Required parameter: P: Indicate target point, which is user-defined or obtained from the
TeachPoint page. Only Cartesian coordinate points are supported

Optional parameter:

 User: Indicate User coordinate system. Value range: 0 - 9

 Tool: Indicate Tool coordinate system. Value range: 0-9

 CP: Whether to set continuous path function. Value range: 0- 100

 Speed: Velocity rate. Value range: 1 - 100

 Accel: Acceleration rate. Value range: 1 -100

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example The robot moves to point P1 as the default setting

Go(P1)

Table 6.9 MoveJ command

Function MoveJ(P,” CP=1 Speed=50 Accel=20 SYNC=1”)

Description Move from the current position to a target position in a point-to-point motion under the Joint

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coordinate system

Parameter Required parameter: P: Indicate the joint angle of the target point, which cannot be obtained from
the TeachPoint page. You need to define the joint coordinate point before calling this command

Optional parameter:

 CP: Whether to set continuous path function. Value range: 0 - 100

 Speed: Velocity rate. Value range: 1 - 100

 Accel: Acceleration rate. Value range: 1 - 100

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example local P = {joint={0,-0.0674194,0,0}}

MoveJ(P)

Table 6.10 Move command

Function Move(P,”User=1 Tool=2 CP=1 SpeedS=50 AccelS=20 SYNC=1”)

Description Move from the current position to a target position in a straight line under the Cartesian coordinate
system

Parameter Required parameter: P: Indicate the target point, which is user-defined or obtained from the
TeachPoint page. Only Cartesian coordinate points are supported

Optional parameter:

 User: Indicate User coordinate system. Value range: 0 - 9

 Tool: Indicate Tool coordinate system. Value range: 0 - 9

 CP: Whether to set continuous path function. Value range: 0 - 100

 SpeedS: Velocity rate. Value range: 1 - 100

 AccelS: Acceleration rate. Value range: 1 - 100

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example The robot moves to point P1 as the default setting

Move(P1)

Table 6.11 Arc3 command

Function Arc3(P1,P2, ” User=1 Tool=2 CP=1 SpeedS=50 AccelS=20 SYNC=1”)

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Description Move from the current position to a target position in an arc interpolated mode under the Cartesian
coordinate system

This command needs to combine with other motion commands, to obtain the starting point of an
arc trajectory

Parameter Required parameter:

 P1: Middle point, which is user-defined or obtained from the TeachPoint page. Only
Cartesian coordinate points are supported

 P2: End point, which is user-defined or obtained from the TeachPoint page. Only Cartesian
coordinate points are supported

Optional parameter:

 User: Indicate User coordinate system. Value range: 0 - 9

 Tool: Indicate Tool coordinate system. Value range: 0 - 9

 CP: Whether to set continuous path function. Value range: 0 - 100

 SpeedS: Velocity rate. Value range: 1 - 100

 AccelS: Acceleration rate. Value range: 1 – 100

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example While true do

Go(P1)

Arc3(P2,P3)

end

The robot cycles from point P1 to point P3 in the arc interpolated mode

Table 6.12 Jump command

Function Jump(P,” User=1 Tool=2 SpeedS=50 AccelS=20 Start=10 Zlimit=80 End=50 SYNC=1”)

Description The robot moves from the current position to a target position in the Move mode. The trajectory
looks like a door

Parameter Required parameter: P: Indicate the target point, which is user-defined or obtained from the
TeachPoint page. Only Cartesian coordinate points are supported. Also, the target point cannot
be higher than Zlimit, to avoid an alarm about JUMP parameter error

Optional parameter:

 User: Indicate User coordinate system. Value range: 0 - 9

 Tool: Indicate Tool coordinate system. Value range: 0 - 9

 SpeedS: Velocity rate. Value range: 1 - 100

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 AccelS: Acceleration rate. Value range: 1 - 100

 Arch: Arch index. Value range: 0 - 9

 Start: Lifting height

 Zlimit: Maximum lifting height

 End: Dropping height

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example Jump(P1)

The robot moves to point P1 in the Jump mode

NOTICE

The lifting height and dropping height cannot be higher than Zlimit, to avoid an alarm on
JUMP parameter error. For details about JUMP, please see 2.5.1.1 Joint Interpolated
Motion.

Table 6.13 Circle3 command

Function Circle3(P1,P2,Count, ” User=1 Tool=2 CP=1SpeedS=50 AccelS=20”)

Description Move from the current position to a target position in a circular interpolated mode under the
Cartesian coordinate system

This command needs to combine with other motion commands, to obtain the starting point of an
arc trajectory

Parameter Required parameter

 P1: Middle point, which is user-defined or obtained from the TeachPoint page. Only
Cartesian coordinate points are supported

 P2: End point, which is user-defined or obtained from the TeachPoint page. Only Cartesian
coordinate points are supported

 Count: Number of circles. Value range: 1 - 999

Optional parameter:

 User: Indicate User coordinate system. Value range: 0 - 9

 Tool: Indicate Tool coordinate system. Value range: 0 - 9

 CP: Whether to set continuous path function. Value range: 0 - 100

 SpeedS: Velocity rate. Value range: 1 - 100

 AccelS: Acceleration rate. Value range: 1 - 100

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

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execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example Go(P1)

Circle3(P2,P3,1)

Robot cycles from point P1 to point P3 in the circular interpolated mode

Table 6.14 RP command

Function RP(P1, {OffsetX, OffsetY, OffsetZ})

Description Set the X, Y, Z axes offset under the Cartesian coordinate system to return a new Cartesian
coordinate point

The robot can move to this point in all motion commands except MoveJ

Parameter  P1: Indicate the current Cartesian coordinate point, which is user-defined or obtained from
the TeachPoint page. Only Cartesian coordinate points are supported

 OffsetX，OffsetY，OffsetZ: X, Y, Z axes offset in the Cartesian coordinate system

Unit: mm

Return Cartesian coordinate point

Example P2=RP(P1, {50,10,32})

Move(P2) or Move(RP(P1, {50,10,32}))

Table 6.15 RJ command

Function RJ(P1, {Offset1, Offset2, Offset3, Offset4, Offset5, Offset6})

Description Set the joint offset in the Joint coordinate system to return a new joint coordinate point

The robot can move to this point only in MoveJ command

Parameter  P1: Indicate the current joint coordinate point, which cannot be obtained from the
TeachPoint page. You need to define the joint coordinate point before calling this command

 Offset1~Offset6: J1 - J6 axes offset.

Unit: °

Return Joint coordinate point

Example local P1 = {joint={0,-0.0674194,0,0}}

P2=RJ(P1, {60,50,32,30})

MoveJ(P2) or MoveJ(RJ(P1, {60,50,32,30}))

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Table 6.16 GoR command

Function GoR({OffsetX, OffsetY, OffsetZ},” User=1 Tool=2 CP=1 Speed=50 Accel=20 SYNC=1 ”)

Description Move from the current position to the offset position in a point-to-point mode under the Cartesian
coordinate system

Parameter Required parameter: OffsetX, OffsetY, OffsetZ: X, Y, Z axes offset in the Cartesian coordinate
system

Unit: mm

Optional parameter:

 User: Indicate User coordinate system. Value range: 0 - 9

 Tool: Indicate Tool coordinate system. Value range: 0-9

 CP: Whether to set continuous path function. Value range: 0- 100

 Speed: Velocity rate. Value range: 1 - 100

 Accel: Acceleration rate. Value range: 1 -100

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example Go(P1)

GoR({10,10,10},"Accel=100 Speed=100 CP=100")

Table 6.17 MoveJR command

Function MoveJR({Offset1, Offset2, Offset3, Offset4, Offset5, Offset6},” CP=1 Speed=50

Accel=20 SYNC=1”)

Description Move from the current position to the offset position in a point-to-point motion under the Joint
coordinate system

Parameter Required parameter: Offset1 - Offset6: J1 - J6 axes offset.

Unit: °

Optional parameter:

 CP: Whether to set continuous path function. Value range: 0 - 100

 Speed: Velocity rate. Value range: 1 - 100

 Accel: Acceleration rate. Value range: 1 - 100

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example Go(P1)

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MoveJR({20,20,10,0},"SYNC=1")

Table 6.18 MoveR command

Function MoveR({OffsetX, OffsetY, OffsetZ},” User=1 Tool=2 CP=1 SpeedS=50 AccelS=20

SYNC=1”)

Description Move from the current position to the offset position in a straight line under the Cartesian
coordinate system

Parameter Required parameter: OffsetX, OffsetY, OffsetZ: X, Y, Z axes offset in the Cartesian coordinate
system

Unit: mm

Optional parameter:

 User: Indicate User coordinate system. Value range: 0 - 9

 Tool: Indicate Tool coordinate system. Value range: 0 - 9

 CP: Whether to set continuous path function. Value range: 0 - 100

 SpeedS: Velocity rate. Value range: 1 - 100

 AccelS: Acceleration rate. Value range: 1 - 100

 SYNC: Synchronization flag. Value range: 0 or 1. If SYNC is 0, it indicates asynchronous

execution, this command has a return immediately after calling it, regardless of the
command process. If SYNC is 1, it indicates synchronous execution. After calling this
command, it will not return until it is executed completely

Example Go(P1)

MoveR({20,20,20},"AccelS=100 SpeedS=100 CP=100")

Motion Parameter Commands

Table 6.19 Motion parameter command

Command Description

Accel Set the acceleration rate. This command is valid only

when the motion mode is Go, Jump, or MoveJ

AccelS Set the acceleration rate. This command is valid only

when the motion mode is Move, Jump, Arc3, or
Circle3

Speed Set the velocity rate. This command is valid only when
the motion mode is Go, or MoveJ

SpeedS Set the velocity rate. This command is valid only when
the motion mode is Move, Jump, Arc3, or Circle3

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Command Description

Arch Set the index of sets of parameters (StartHeight,

zLimit, EndHeight) in Jump mode

CP Set the continuous path function

LimZ Set the maximum lifting height in the Jump mode

Table 6.20 Accel command

Function Accel(R)

Description Set the acceleration rate. This command is valid only when the motion mode is Go, Jump, or
MoveJ

Parameter R: Percentage. Value range: 1 - 100

Example Accel(50)

Go(P1)

The robot moves to point P1 with 50% acceleration rate

Table 6.21 AccelS command

Function AccelS(R)

Description Set the acceleration rate. This command is valid only when the motion mode is Move, Arc3, or
Circle3

Parameter R: Percentage. Value range: 1 - 100

Example AccelS(20)

Move(P1)

The robot moves to point P1 with 20% acceleration rate

Table 6.22 Speed command

Function Speed(R)

Description Set the velocity rate. This command is valid only when the motion mode is Go, Jump, or MoveJ

Parameter R: Percentage. Value range: 1 - 100

Example Speed(20)

Go(P1)

The robot moves to point P1 with 20% velocity rate

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Table 6.23 SpeedS command

Function SpeedS(R)

Description Set the acceleration rate. This command is valid only when the motion mode is Move, Arc3, or
Circle3

Parameter R: Percentage. Value range: 1 - 100

Example SpeedS(20)

Move(P1)

The robot moves to point P1 with 20% velocity rate

Table 6.24 Arch command

Function Arch(Index)

Description Set the index of sets of parameters (StartHeight, zLimit, EndHeight) in the Jump mode

The sets of parameters need to be set on the Setting > PlaybackArch of the APP.

Parameter Index: Index of the sets parameters. Value range: 0 - 9

This parameter is valid only when the right index has been selected from the Setting >
PlaybackArch of the APP

Example Arch(1)

Jump(P1)

Table 6.25 CP command

Function CP(R)

Description Set the continuous path rate. This command is valid only when the motion mode is Go, Move,
Arc3, Circle3, or MoveJ

Parameter R: Continuous path rate. Value range: 0 -100

0 indicates that the Continuous path function is disabled

Example CP(50)

Move(P1)

Move(P2)

The robot moves from point P1 to point P2 with 50% Continuous path ratio

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Figure 6.1 Continuous path

Table 6.26 LimZ command

Function LimZ(zValue)

Description Set the maximum lifting height in Jump mode

Parameter zValue: The maximum lifting height which cannot exceed the Z-axis limiting position of the
robot

Example LimZ(80)

Jump(P,” Start=10 Zlimit=LimZ End=50”)

Six-axis Force Sensor Commands

Table 6.27 Six-axis force sensor command

Command Description

SixForceHome Six-axis force sensor homing command

Spiral Six-axis force sensor spiral motion command

Rotation Six-axis force sensor rotation motion command

Linear Six-axis force sensor linear motion command

Table 6.28 Six-axis force sensor homing command

Function SixForceHome

Description Homing six-axis force sensor

Parameter None

Example SixForceHome(): execute the command to home six-axis force sensor

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Table 6.29 Six-axis force sensor spiral command

Function Spiral(P, User, Tool, Direction, SpeedC, Force, Insertion, Perturn, PeckMode, MaxValue)

Description The robot arm performs a spiral motion between the current position and the specified position to
find the hole position. The specified point needs to be closer to the hole position, which is the
starting point for hole position exploration.

Parameter  P: the specified position

 User: User coordinate system, value range: 0~9

 Tool: Tool coordinate system, Value range: 0~9

 Direction: Jack direction (0: Forward, 1: Reverse)

 SpeedC: Jack speed(mm/s)

 Force: Spiral threshold (N)

 Insertion: Jack threshold (N)

 Perturn: Spiral radius (mm)

 PeckMode: Point contact mode (ON/OFF)

 MaxValue: Maximum spiral radius (mm)

Example Spiral(P1,User=1 Tool=2 Dirction=0 SpeedC=5 Force =10 Insertion=3 Perturn=0.7

PeckMode=OFF MaxValue =5”)

Do a spiral motion between the current position and P1 to find the hole position. When the

resistance in the direction of the jack is greater than the Force threshold, the robot performs a

spiral motion to explore the hole position. When the resistance in the direction of the jack is less

than the Insertion threshold, the robot moves in the direction of the jack to perform the jack work.

Table 6.30 Six-axis force sensor rotation command

Function Rotation (P, User, Tool, Direction, SpeedC, Force, RotationSpeed, MaxTorque,
PeckMode, MaxValue)

Description The robotic arm rotates between the current position and the specified position to find the hole
position. The specified point needs to be close to the hole position, which is the starting point for
hole position exploration.

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Parameter  P: the specified position

 User: User coordinate system, value range: 0~9

 Tool: Tool coordinate system, Value range: 0~9

 Direction: Jack direction (0: Forward, 1: Reverse)

 SpeedC: Jack speed(mm/s)

 Force: Rotation threshold (N)

 RotationSpeed: Rotation speed (°/s)

 MaxTorque: Maximum torque (Nm)

 PeckMode: Point contact mode (ON/OFF)

 MaxValue: Maximum spiral radius (mm)

Example Rotation (P1, “User=1 Tool=2 Dirction=0 SpeedC =5 Force =10 RotationSpeed=5 MaxTorque=1

PeckMode=OFF MaxValue =45”)

Do a rotation motion between the current position and P1 to find the hole position. When the

resistance in the direction of the jack is greater than the Force threshold, the robot performs a

rotation motion to explore the hole position. When the resistance in the direction of the jack is

less than the Force threshold, the robot moves in the direction of the jack to perform the jack

work.

Table 6.31 Six-axis force sensor linear command

Function Linear (User, Tool, Direction, SpeedC, Force, MaxValue)

Description The robot arm makes a linear jack movement in the direction of the hole

Parameter  User: User coordinate system, value range: 0~9

 Tool: Tool coordinate system, Value range: 0~9

 Direction: Jack direction (0: Forward, 1: Reverse)

 SpeedC: Jack speed(mm/s)

 Force: Rotation threshold (N)

 MaxValue: Maximum spiral radius (mm)

Example Linear(“User=1 Tool=2 Dirction=0 SpeedC =5 Force=10 MaxValue=45”)

Do a linear jack movement at the current hole position. When the resistance in the insertion

direction is greater than the Force threshold, the insertion is considered complete.

Input/output Commands

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Table 6.32 Input/output command

Command Description

DI Get the status of the digital input port

DO Set the status of the digital output port (Queue

command)

DOExecute Set the status of the digital output port (Immediate

command)

NOTE
Dobot robot system supports two kinds of commands: Immediate command and queue
command:
 Immediate command: The robot system will process the command once received
regardless of whether there is the rest commands processing or not in the current
controller;
 Queue command: When the robot system receives a command, this command will
be pressed into the internal command queue. The robot system will execute
commands in the order in which the commands were pressed into the queue.

Table 6.33 Digital input command

Function DI(index)

Description Get the status of the digital input port

Parameter index: Digital input index. Value range: 1 - 16

Return  When an index is set in the DI function, DI(index) returns the status (ON/OFF) of this
speicified input port

 When there is no index in the DI function, DI() returns the status of all the input ports,
which are saved in a table

For example, local di=(), the saving format is {num = 24 value = {0x55, 0xAA, 0x52}},
you can obtain the status of the specified input port with di.num and di.value[n]

Example if (DI(1))==ON then

Move(P1)

end

The robot moves to point P1 when the status of the digital input port 1 is ON

Table 6.34 Digital output command (Queue command)

Function DO(index, ON | OFF)

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Description Set the status of digital output port (Queue command)

Parameter  index: Digital output index. Value range: 1- 24

 ON/OFF: Status of the digital output port. ON: High level; OFF: Low level

Example DO(1,ON)

Set the status of the digital output port 1to ON

Table 6.35 Digital output command (Immediate command)

Function DOExecute(index, ON | OFF)

Description Set the status of digital output port (Immediate command)

Parameter  index: Digital output index. Value range: 1 - 24

 ON/OFF: Status of the digital output port. ON: High level; OFF: Low level

Example DOExecute(1,OFF)

Set the status of the digital output port 1 to OFF

Program Managing Commands

Table 6.36 Program managing command

Command Description

Wait Set the delay time for robot motion commands

Sleep Set the delay time for all commands

Pause Pause the running program

ResetElapsedTime Start timing

ElapsedTime Stop timing

System Get the current time

Table 6.37 Wait command

Function Wait(time)

Description Set the delay time for robot motion commands

Parameter time: Delay time. Unit: ms

Example Go(P1)

Wait(1000)

Wait for 1000ms after the robot moves to point P1

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Table 6.38 Sleep command

Function Sleep(time)

Description Set the delay time for all commands

Parameter time: Delay time. Unit: ms

Example while true do

Speed(100)

Go(P1)

sleep(3)

Speed(100)

Accel(40)

Go(P2)

sleep(3)

end

Table 6.39 Pause command

Function Pause()

Description Pause the running program

When the program runs to this command, robot pauses running and the button on the APP

turns into . If the robot continues to run, please click

Parameter None

Example while true

do

Go(P1)

Go(P2)

Pause()

Go(P3)

Go(P4)

end

The robot moves to point P2 and then pauses running

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Table 6.40 Star timing command

Function ResetElapsedTime()

Description Start timing after all commands before this command are executed completely. Use in conjunction
with ElapsedTime() command

For example: Get the execution time that a piece of code takes

Parameter None

Return None

Example Go(P2, " Speed=100 Accel=100")

ResetElapsedTime()

for i=1,10 do

Jump(P1, " Speed=100 Accel=100 Start=0 End=0 ZLimit=185")

Jump(P2, " Speed=100 Accel=100 Start=0 End=0 ZLimit=185")

end

print (ElapsedTime())

Sleep(1000)

Table 6.41 Stop timing command

Function ElapsedTime()

Description Stop timing and return the time difference. Use in conjunction with ResetElapsedTime()
command

Parameter None

Return Time difference. Unit: ms

Example Go(P2, " Speed=100 Accel=100")

ResetElapsedTime()

for i=1,10 do

Jump(P1, " Speed=100 Accel=100 Start=0 End=0 ZLimit=185")

Jump(P2, " Speed=100 Accel=100 Start=0 End=0 ZLimit=185")

end

print (ElapsedTime())

Sleep(1000)

Table 6.42 Get current time command

Function Systime()

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Description Get the current time

Parameter None

Return Current time

Example Go(P2, " Speed=100 Accel=100")

local time1=Systime()

for i=1,10 do

Jump(P1, " Speed=100 Accel=100 Start=0 End=0 ZLimit=185")

Jump(P2, " Speed=100 Accel=100 Start=0 End=0 ZLimit=185")

end

local time2=Systime()

local time = time2 - time1

Sleep(1000)

Pose Getting Command

Table 6.43 Pose command (1)

Function GetPose()

Description Get the current pose of the robot under the Cartesian coordinate system

If you have set the User or Tool coordinate system, the current pose is under the current User or
Tool coordinate system

Parameter None

Return Cartesian coordinate of the current pose

Example local currentPose = GetPose()

--Get the current pose

local liftPose = {coordinate = {currentPose.coordinate[1], currentPose. coordinate[2],

currentPose. coordinate[3],currentPose. coordinate[4] }, tool = currentPose.tool, user =
currentPose.user}

-- Lift a certain height

Go(liftPose,"Speed=100 Accel=100")

Go(P1)

Table 6.44 Pose command (2)

Function GetAngle()

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Description Get the current pose of the robot under the Joint coordinate system

Parameter None

Return Joint coordinate of the current pose

Example local armPose

local joint = GetAngle()

--Get the current pose

local liftPose = {armOrientation = armPose , joint = {joint.joint[1], joint.joint[2], joint.joint[3],

joint.joint[4]}, tool = 0, user = 0}

TCP
Table 6.45 Create TCP command

Function err, socket = TCPCreate(isServer, IP, port)

Description Create a TCP network

Only support a single connection

Parameter isServer: Whether to create a server. 0: Create a client; 1: Create a server

IP: IP address of the server, which is in the same network segment of the client without conflict

port: Server port

When the robot is set as a server, port cannot be set to 502 and 8080. Otherwise, it will be in
conflict with the Modbus default port or the port used in the conveyor tracking application,
causing the creation to fail

Return err:

0: TCP network is created successfully

1: TCP network is created failed

Socket: Socket object

Example Please refer to Program 6.1 and Program 6.2

Table 6.46 TCP connection command

Function TCPStart(socket, timeout)

Description Connect a client to a server with the TCP protocol

Parameter socket: Socket object

timeout: Wait timeout. Unit: s. If timeout is 0, the connection is still waiting. If not, after
exceeding the timeout, the connection is exited.

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Return  0: TCP connection is successful

 1: Input parameters are incorrect

 2: Socket object is not found

 3: Timeout setting is incorrect

 4: If the robot is set as a client, it indicates that the connection is wrong. If the robot is set
as a server, it indicates that receiving data is wrong

Example Please refer to Program 6.1 and Program 6.2

Table 6.47 Receive data command

Function err, Recbuf = TCPRead(socket, timeout, type)

Description Robot as a client receives data from a server

Robot as a server receives data from a client

Parameter socket: socket object

timeout: Receiving timeout. Unit: s. If timeout is 0 or is not set, this command is a block reading.
Namely, the program will not continue to run until receiving data is complete. If not, after
exceeding the timeout, the program will continue to run regardless of whether receiving data is
complete

type: Buffer type. If type is not set, the buffer format of RecBuf is a table. If type is set to string,
the buffer format is a string

Return err:

0: Receiving data is successful

1: Receiving data is failed

Recbuf: Data buffer

Example Please refer to Program 6.1 and Program 6.2

Table 6.48 Send data command

Function TCPWrite(socket, buf, timeout)

Description The robot as a client sends data to a server

The robot as a server sends data to a client

Parameter socket: Socket object

buf: Data sent by the robot

timeout: Timeout. Unit: s. If timeout is 0 or not set, this command is a block reading. Namely,
the program will not continue to run until sending data is complete. If not, after exceeding the
timeout, the program will continue to run regardless of whether sending data is complete

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Return 0: Sending data is successful

1: Sending data is failed

Example Please refer to Program 6.1 and Program 6.2

Table 6.49 Release TCP network command

Function TCPDestroy(socket)

Description Release a TCP network

Parameter socket: Socket object

Return 0: Releasing TCP is successful

1: Releasing TCP is failed

Example Please refer to Program 6.1 and Program 6.2

NOTICE

Only a single TCP connection is supported. Please start the server before connecting a
client. Please shut down the client before disconnection, to avoid re-connection failure
since the server port is not released in time.

Program 6.1 TCP server demo

local ip="192.168.5.1" // IP address of the robot as a server

local port=6001 // Server port

local err=0

local socket=0

err, socket = TCPCreate(true, ip, port)

if err == 0 then

err = TCPStart(socket, 0)

if err == 0 then

local RecBuf

while true do

TCPWrite(socket, "tcp server test") // Server sends data to client

err, RecBuf = TCPRead(socket,0,"string") // Server receives the data from client

if err == 0 then

Go(P1) //Start to run motion commands after the server receives data

Go(P2)

print(buf)
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else

print("Read error ".. err)

break

end

end

else

print("Create failed ".. err)

end

TCPDestroy(socket)

else

print("Create failed ".. err)

end

Program 6.2 TCP client demo

local ip="192.168.5.25" // External equipment such as a camera is set as the server

local port=6001 // Server port

local err=0

local socket=0

err, socket = TCPCreate(false, ip, port)

if err == 0 then

err = TCPStart(socket, 0)

if err == 0 then

local RecBuf

while true do

TCPWrite(socket, "tcp client test") // Client sends data to server

TCPWrite(socket, {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07})

err, RecBuf = TCPRead(socket, 0) // Client receives data from server

if err == 0 then

Go(P1) // Start to run motion commands after the client receives the data

Go(P2)

print(buf)

else

print("Read error ".. err)

break

end

end

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else

print("Create failed ".. err)

end

TCPDestroy(socket)

else

print("Create failed ".. err)

end

UDP
Table 6.50 Create UDP network command

Function err, socket = UDPCreate(isServer, IP, port)

Description Create a UDP network

Only a single connection is supported

Parameter isServer: Whether to create a server. 0: Create a client; 1: Create a server

IP: IP address of the server, which is in the same network segment of the client without conflict

port: Server port

When the robot is set as a server, port cannot be set to 502 or 8080. Otherwise, it will be in
conflict with the Modbus default port or the port used in the conveyor tracking application,
causing the creation to fail

Return err:

0: The UDP network is created successfully

1: The UDP network is created failed

socket: Socket object

Example Please refer to Program 6.3 and Program 6.4

Table 6.51 Receive data command

Function err, Recbuf = UDPRead(socket, timeout, type)

Description The robot as a client receives data from a server

The robot as a server receives data from a client

Parameter socket: socket object

timeout: Receiving timeout. Unit: s. If timeout is 0 or not set, this command is a block reading.
Namely, the program will not continue to run until receiving data is complete. If not, after
exceeding the timeout, the program will continue to run regardless of whether receiving data is
complete

type: Buffer type. If type is not set, the buffer format of RecBuf is a table. If type is set to string,
the buffer format is a string

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Return err:

0: Receiving data is successful

1: Receiving data is failed

Recbuf: Data buffer

Example Please refer to Program 6.3 and Program 6.4

Table 6.52 Send data command

Function UDPWrite(socket, buf, timeout)

Description The robot as a client sends data to a server

The robot as a server sends data to a client

Parameter socket: Socket object

buf: Data sent by the robot

timeout: Timeout. Unit: s. If timeout is 0 or not set, this command is a block reading. Namely,
the program will not continue to run until sending data is complete. If not, after exceeding the
timeout, the program will continue to run regardless of whether sending data is complete

Return 0: Sending data is successful

1: Sending data is failed

Example Please refer to Program 6.3 and Program 6.4

NOTICE

Only a single UDP connection is supported. Please start the server before connecting a
client. Please shut down the client before disconnection, to avoid re-connection failure
since the server port is not released in time.

Program 6.3 UDP server demo

local ip="192.168.5.1" // IP address of the robot as a server

local port=6201 // Server port

local err=0

local socket=0

err, socket = UDPCreate(true, ip, port)

if err == 0 then

local RecBuf

while true do

UDPWrite(socket, "udp server test") // Server sends data to client

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err, RecBuf = UDPRead(socket, 0) //Server receives the data from client

if err == 0 then

Go(P1) // Start to run motion commands after the server receives the data

Go(P2)

print(buf)

else

print("Read error ".. err)

break;

end

end

else

print("Create failed ".. err)

end

Program 6.4 UDP client demo

local ip="192.168.1.25" // IP address of the external equipment

as a server

local port=6200 // server port

local err=0

local socket=0

err, socket = UDPCreate(false, ip, port)

if err == 0 then

local RecBuf

while true do

UDPWrite(socket, "udp client test") // Client sends data to server

UDPWrite(socket, {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07})

err, RecBuf = UDPRead(socket, 0) // Client receives the data from server

if err == 0 then

Go(P1) // Start to run motion commands after the client receives the data

Go(P2)

print(buf)

else

print("Read error ".. err)

break

end

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end

else

print("Create failed ".. err)

end

Modbus
Modbus Register Description

Modbus protocol is a serial communication protocol. The robot system can communicate with
external equipment by this protocol. Here, External equipment such as a PLC is set as the Modbus
master, and the robot system is set as the salve.
Modbus data is most often read and written as registers. Based on our robot memory space, we
also define four types of registers: coil, discrete input, input, and holding registers for data
interaction between the external equipment and robot system. Each register has 4096 addresses. For
details, please see as follows.
 Coil register

Table 6.53 Coil register description

Coil register address Coil register address Data type Description

(e.g.: PLC) (Robot system)

00001 0 Bit Start

00002 1 Bit Pause

00003 2 Bit Continue

00004 3 Bit Stop

00005 4 Bit Emergency stop

00006 5 Bit Clear alarm

00007-0999 6-998 Bit Reserved

01001-04096 999-4095 Bit User-defined

 Discrete input register

Table 6.54 Discrete input register description

Discrete input register Discrete input register Data type Description

address (e.g.: PLC) address(Robot system)

10001 0 Bit Automated exit

10002 1 Bit Ready state

10003 2 Bit Paused state

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Discrete input register Discrete input register Data type Description

address (e.g.: PLC) address(Robot system)

10004 3 Bit Running state

10005 4 Bit Alarm state

10006-10999 5-998 Bit Reserved

11000-14096 999-4095 Bit User-defined

 Input register

Table 6.55 Input register description

Input register address Input register address Data type Description

(e.g.: PLC) (Robot system)

30001-34096 0-4095 Byte Reserved

 Holding register

Table 6.56 Holding register description

Holding register Holding register Data type Description

address address

(e.g.: PLC) (Robot system)

40001-41000 0-999 Byte Reserved

41001-44095 1000-4095 Byte User-defined

Command Description

Table 6.57 Rea coil register command

Function GetCoils(addr, count)

Description Read the coil value from the Modbus slave

Parameter addr: Starting address of the coils to read. Value range: 0 - 4095

count: Number of the coils to read. Value range: 0 to 4096-addr

Return Return a table, each with the value 1 or 0, where the first value in the table corresponds to the coil
value at the starting address

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Example Read 5 coils starting at address 0

Coils = GetCoils(0,5)

Return:

Coils={1,0,0,0,0}

As shown in Table 6.52, it indicates that the robot is in the starting state

Table 6.58 Set coil register command

Function SetCoils(addr, count, table)

Description Set the coil register in the Modbus slave

This command is not supported when the coil register address is from 0 to 5

Parameter Addr: Starting address of the coils to set. Value range: 6 - 4095

count: Number of the coils to set. Value range: 0 to 4096-addr

table: Coil value, stored in a table

Return None

Example Set 5 coils starting at address 1024

local Coils = {0,1,1,1,0}

SetCoils(1024, #coils, coils)

Table 6.59 Read discrete input register command

Function GetInBits(addr, count)

Description Read the discrete input value from Modbus slave

Parameter addr: Starting address of the discrete inputs to read. Value range: 0-4095

count: Number of the discrete inputs to read. Value range: 0 to 4096-addr

Return Return a table, each with the value 1 or 0, where the first value in the table corresponds to the
discrete value at the starting address

Example Read 5 discrete inputs starting at address 0

inBits = GetInBits(0,5)

Return:

inBits = {0,0,0,1,0}

As shown in Table 6.53, it indicates the robot is in running state

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Table 6.60 Read input register command

Function GetinRegs(addr, count, type)

Description Read the input register value with the specified data type from the Modbus slave

Parameter addr: Starting address of the input registers. Value range: 0 - 4095

count: Number of the input registers to read. Value range: 0 ~ 4096-addr

type: Data type

 Empty: Read 16-bit unsigned integer ( two bytes, occupy one register)

 “U16”: Read 16-bit unsigned integer ( two bytes, occupy one register)

 “U32”: Read 32-bit unsigned integer (four bytes, occupy two registers)

 “F32”: Read 32-bit single-precision floating-point number (four bytes, occupy two
registers)

 “F64”: Read 64-bit double-precision floating-point number (eight bytes, occupy four
registers)

Return Return a table, the first value in the table corresponds to the input register value at the starting
address

Example Example 1: Read a 16-bit unsigned integer starting at address 2048

data = GetInRegs(2048,1)

Example 2: Read a 32-bit unsigned integer starting at address 2048

data = GetInRegs(2048, 1, “U32”)

Table 6.61 Read holding register command

Function GetHoldRegs(addr, count, type)

Description Read the holding register value from the Modbus slave according to the specified data type

Parameter addr: Starting address of the holding registers. Value range: 0 - 4095

count: Number of the holding registers to read. Value range: 0 to 4096-addr

type: Datatype

 Empty: Read 16-bit unsigned integer ( two bytes, occupy one register)

 “U16”: Read 16-bit unsigned integer ( two bytes, occupy one register)

 “U32”: Read 32-bit unsigned integer (four bytes, occupy two registers)

 “F32”: Read 32-bit single-precision floating-point number (four bytes, occupy two
registers)

 “F64”: Read 64-bit double-precision floating-point number (eight bytes, occupy four
registers)

Return Return a table, the first value in the table corresponds to the input register value at the starting
address

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Example Example 1: Read a 16-bit unsigned integer starting at address 2048

data = GetHoldRegs(2048,1)

Example 1: Read a 32-bit unsigned integer starting at address 2048

data = GetInRegs(2048, 1, “U32”)

Table 6.62 Set holding register command

Function SetHoldRegs(addr, count, table, type)

Description Set the holding register in the Modbus slave

Parameter addr: Starting address of the holding registers to set. Value range: 0 - 4095

count: Number of the holding registers to set. Value range: 0 to 4096-addr

table: Holding register value, stored in a table

type: Datatype

 Empty: Read 16-bit unsigned integer ( two bytes, occupy one register)

 “U16”: Set 16-bit unsigned integer ( two bytes, occupy one register)

 “U32”: Set 32-bit unsigned integer (four bytes, occupy two registers)

 “F32”: Set 32-bit single-precision floating-point number (four bytes, occupy two
registers)

 “F64”: Set 64-bit double-precision floating-point number (eight bytes, occupy four
registers)

Return None

Example Example1: Set a 16-bit unsigned integer starting at address 2048

local data = {6000}

SetHoldRegs(2048, #data, data, “U16”)

Example2: Set a 64-bit double-precision floating-point number starting at address 2048

local data = {95.32105}

SetHoldRegs(2048, #data, data, “F64”)

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