AUBO AUBO-i10 Manuel utilisateur

USER MANUAL

AUBO-i10 & CB4

Please read this manual carefully before using the product.

User Manual

AUBO-i10 & CB4

Translate Version 4.5

Published by AUBO (Beijing) Robotics Technology Co, Ltd.

This manual is applicable to AUBORPE V 4.5. For details, please refer to the version information

section of this manual. Please check the actual product version information carefully before use to

ensure consistency.

The user manual will be checked and revised periodically, and the updated content will appear on the latest

version.

The information in this manual is subject to change without notice and should not be regarded as a

commitment by AUBO (Beijing) Robotics Technology Co., Ltd.

AUBO (Beijing) Robotics Technology Co., Ltd. assumes no responsibility for any errors or omissions in this

document. AUBO (Beijing) Robotics Technology Co., Ltd. assumes no responsibility for incidental or

consequential damages arising from use of this manual and products described herein.

Please read this manual before install or use.

Please keep this manual to read and as reference any time.

The pictures in this manual are for reference only, please refer to the actual product received.

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©2015-2019 AUBO.All rights reserved. i 
CATALOG 
CATALOG................................................................................................................................I
PREFACE.............................................................................................................................VII 
COMPONENTS OF AUBO-I10 ROBOT........................................................................VIII 
MORE INFORMATION...................................................................................................VIII 
1. SAFETY .............................................................................................................................9
 Introduction...................................................................................................................9
 Warning Symbols in this Manual..................................................................................9
 Safety Precautions.......................................................................................................10 
 General..............................................................................................................10 
 Terms and Conditions .......................................................................................10 
 Operator safety..................................................................................................14 
 Responsibility and standard ........................................................................................15 
 Hazard Identification ..................................................................................................17 
 Intended use ................................................................................................................18 
 Emergency situations ..................................................................................................19 
 Emergency stop device .....................................................................................19 
 Recovering from the emergency condition.......................................................20 
 Emergency move for joint ................................................................................20 
 Excessive force protection ................................................................................20 
2. TRANSPORTATION AND PRECAUTIONS ..............................................................21 
3. MAINTENANCE, REPAIR AND DISPOSAL.............................................................23 
 Maintenance and repair...............................................................................................23 
 Disposal.......................................................................................................................24 
4. WARRANTIES................................................................................................................25 
 Product Warranty ........................................................................................................25 
 Disclaimer...................................................................................................................25 
5. ROBOT HARDWARE COMPOSITION .....................................................................27 
6. ROBOT INSTALLATION .............................................................................................29 
 Brief installation steps.................................................................................................29 
 Important safety instructions.......................................................................................29 
 Workspace of the Robot..............................................................................................30 
 Mechanical dimensions of manipulator............................................................30 
 Effective working range....................................................................................31 

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©2015-2019 AUBO.All rights reserved. ii 
 Hardware Installation..................................................................................................32 
 The Manipulator Base.......................................................................................32 
 Manipulator Installation....................................................................................33 
 End-effector Installation .............................................................................................35 
 Mechanical structure size of end-effector flange..............................................35 
 Cable connection.........................................................................................................36 
7. THE I SERIES STANDARD CONTROL BOX ...........................................................41 
 Introduction.................................................................................................................41 
 Electrical warnings and cautions ................................................................................42 
 Control box panel introduction ...................................................................................42 
 Control box front panel.....................................................................................43 
 Control box side panel ......................................................................................44 
 Control box back panel .....................................................................................47 
 Selection of working mode .........................................................................................48 
 Manual mode ....................................................................................................49 
 Linkage mode....................................................................................................49 
8. INTERNAL ELECTRICAL INTERFACE ..................................................................53 
 Introduction.................................................................................................................53 
 Electrical warnings and cautions ................................................................................53 
 Control box communication interface ........................................................................54 
 Control box I/O power supply ....................................................................................55 
 Internal power supply .......................................................................................55 
 External power supply ......................................................................................55 
 Safety I/O....................................................................................................................56 
 Introduction.......................................................................................................56 
 Safety Tips ........................................................................................................56 
 Safety I / O function definition .........................................................................56 
 Default Safety Configuration............................................................................57 
 External Emergency Stop Input ........................................................................58 
 Safeguard stop Input .........................................................................................59 
 Reduce Mode Input...........................................................................................61 
 Safeguard stop Resert Input..............................................................................62 
 Enabling Device Input ......................................................................................63 
 Operational Mode Input..................................................................................64 
 Hand Guiding Enable Input ............................................................................64 
 System Stop Input...........................................................................................65 
 Robot Emergency Stop Output .......................................................................66 
 Robot Moving Output.....................................................................................67 
 Robot Not Stopping Output ............................................................................68 
 Reduced Mode Output ....................................................................................69 
 Not Reduced Mode Output .............................................................................70 

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©2015-2019 AUBO.All rights reserved. iii 
8.5.18 System Error Output .......................................................................................71 
 Internal I/O..................................................................................................................72 
 General I/O..................................................................................................................73 
 General purpose digital I/O interface................................................................73 
Example ................................................................................................................................74 
 Analog I/O interface..........................................................................................76 
Example ................................................................................................................................77 
 Clear alarm signal interface ..............................................................................78 
 Remote switch control I/O interface...........................................................................78 
 Remote power on ..............................................................................................79 
 Remote power off .............................................................................................79 
 Linkage Control I/O Interface.....................................................................................79 
 Robot Tool I/O Interface...........................................................................................81 
9. GETTING STARTED.....................................................................................................84 
 Basic function introduction.........................................................................................84 
 Installing the robot system ..........................................................................................85 
 Power on the manipulator ...........................................................................................85 
 Preparation ........................................................................................................85 
 Power on System...............................................................................................86 
 Power off the manipulator ..........................................................................................87 
 Start system quick.......................................................................................................87 
10. TEACH PENDANT.....................................................................................................88 
 Instruction .................................................................................................................88 
 Teach Pendant Operation Interface...........................................................................88 
 User login........................................................................................................88 
 Initial Interface................................................................................................89 
 Robot Movement Control ...............................................................................90 
Robot Teaching User Interface..............................................................................................90 
1 Currently logged in user.....................................................................................................91 
2 Logout button.....................................................................................................................91 
3 Software shut down button ................................................................................................91 
4 Menu ..................................................................................................................................91 
5 Robot 3D display window..................................................................................................92 
6 Simulation/real control switch button................................................................................93 
7 Step Mode Control.............................................................................................................93 
8 Position control ..................................................................................................................93 
9 Coordinate system..............................................................................................................94 
9 User-defined coordinate system.........................................................................................95 
10 Robot real-time status parameter display.........................................................................95 
11 Target selection ................................................................................................................95 
12 Orientation Control ..........................................................................................................96 

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13 Joint axis control..............................................................................................................97 
14 Zero Pose, Init Pose .........................................................................................................97 
15 Motion speed control .......................................................................................................98 
16 Date and time display.......................................................................................................98 
17 Speed control ...................................................................................................................98 
 Robot I/O settings and status display........................................................................98 
 Controller I/O Tab...........................................................................................99 
 User I/O Tab..................................................................................................100 
 Tool I/O Tab ..................................................................................................100 
 Robot Setting Tab....................................................................................................102 
 InitPose .........................................................................................................102 
 Tool Calibration ............................................................................................103 
Tool Kinematics Calibraton ................................................................................................104 
Tool Dynamics Calibration .................................................................................................106 
Tool Calibrate......................................................................................................................107 
 Coordinate Calibration..................................................................................108 
 Robot Safety Settings..............................................................................................112 
 System Setting tab...................................................................................................113 
 Language Tab................................................................................................113 
 Date& Time tab.............................................................................................114 
 Network Tab..................................................................................................115 
 Password Tab ................................................................................................115 
 Lock Screen ..................................................................................................116 
 Update Tab ....................................................................................................117 
Factory Reset ......................................................................................................................117 
Update Software/Firmware.................................................................................................118 
File Export ..........................................................................................................................118 
 Extensions...............................................................................................................119 
 System Info Tab ......................................................................................................122 
11. ONLINE PROGRAMMING ....................................................................................124 
 Instruction ...............................................................................................................124 
 Function Module Description .................................................................................126 
 Text Box Editor .............................................................................................126 
 Project Tab ..............................................................................................................126 
 New Project...................................................................................................126 
 Load Project ..................................................................................................128 
 Save Project...................................................................................................129 
 Default Project ..............................................................................................130 
 Automove tab ................................................................................................131 
 Procedure ......................................................................................................132 
 Procedure (process).................................................................................................133 
 Calling Subproject Commands（Procedure）.............................................133 

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 Move Condition....................................................................................................135 
 Type of Move ................................................................................................136 
Move Joint ..........................................................................................................................136 
Move Line...........................................................................................................................137 
Move Track.........................................................................................................................138 
 Waypoint .......................................................................................................140 
 Basic Command & Condition Tabs.........................................................................141 
 Loop ..............................................................................................................142 
 Break .............................................................................................................142 
 Continue........................................................................................................142 
 If…else..........................................................................................................143 
 Switch...Case...Default..................................................................................144 
 Set..................................................................................................................145 
 Wait ...............................................................................................................146 
 Line Comment...............................................................................................146 
 Block Comment ............................................................................................147 
 Goto.............................................................................................................147 
 Message.......................................................................................................148 
 Empty..........................................................................................................149 
 Advanced Command & Condition Tabs .................................................................149 
 Thread ...........................................................................................................149 
 Script .............................................................................................................149 
 Offline Record...............................................................................................150 
 Record Track ...........................................................................................................151 
 Variable Tab.............................................................................................................153 
 Timer .....................................................................................................................154 
 Inserch Timer ..............................................................................................154 
 Timer Status Display...................................................................................155 
 Simulation model ..................................................................................................155 
 Scripts file configuration.......................................................................................156 
APPENDIX...............................................................................................................................I
A GLOSSARY..........................................................................................................................I
B CERTIFICATION...............................................................................................................II 
C STOPPING TIME & STOPPING DISTANCE.............................................................. IV 
D GUIDELINE........................................................................................................................V
E TECHNICAL SPECIFICATION .................................................................................... VI 
F PAYLOAD .........................................................................................................................VII 
G ALARM INFORMATION & DESCRIPTION OF GENERAL PROBLEM...........VIII 
 