AUBO I Series Manuel utilisateur

USER MANUAL

AUBO-i3 & CB4

Please read this manual carefully before using the product.

User Manual

AUBO-i3 & 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-I3 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.........................................................................................................35 
7. THE I SERIES STANDARD CONTROL BOX ...........................................................39 
 Introduction.................................................................................................................39 
 Electrical warnings and cautions ................................................................................40 
 Control box panel introduction ...................................................................................40 
 Control box front panel.....................................................................................41 
 Control box side panel ......................................................................................42 
 Control box back panel .....................................................................................45 
 Selection of working mode .........................................................................................46 
 Manual mode ....................................................................................................47 
 Linkage mode....................................................................................................47 
8. INTERNAL ELECTRICAL INTERFACE ..................................................................51 
 Introduction.................................................................................................................51 
 Electrical warnings and cautions ................................................................................51 
 Control box communication interface ........................................................................52 
 Control box I/O power supply ....................................................................................53 
 Internal power supply .......................................................................................53 
 External power supply ......................................................................................53 
 Safety I/O....................................................................................................................54 
 Introduction.......................................................................................................54 
 Safety Tips ........................................................................................................54 
 Safety I / O function definition .........................................................................54 
 Default Safety Configuration............................................................................55 
 External Emergency Stop Input ........................................................................56 
 Safeguard stop Input .........................................................................................57 
 Reduce Mode Input...........................................................................................59 
 Safeguard stop Resert Input..............................................................................60 
 Enabling Device Input ......................................................................................61 
 Operational Mode Input..................................................................................62 
 Hand Guiding Enable Input ............................................................................62 
 System Stop Input...........................................................................................63 
 Robot Emergency Stop Output .......................................................................64 
 Robot Moving Output.....................................................................................65 
 Robot Not Stopping Output ............................................................................66 
 Reduced Mode Output ....................................................................................67 
 Not Reduced Mode Output .............................................................................68 

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©2015-2019 AUBO.All rights reserved. iii 
8.5.18 System Error Output .......................................................................................69 
 Internal I/O..................................................................................................................70 
 General I/O..................................................................................................................71 
 General purpose digital I/O interface................................................................71 
Example ................................................................................................................................72 
 Analog I/O interface..........................................................................................74 
Example ................................................................................................................................75 
 Clear alarm signal interface ..............................................................................76 
 Remote switch control I/O interface...........................................................................76 
 Remote power on ..............................................................................................77 
 Remote power off .............................................................................................77 
 Linkage Control I/O Interface.....................................................................................77 
 Robot Tool I/O Interface...........................................................................................79 
9. GETTING STARTED.....................................................................................................82 
 Basic function introduction.........................................................................................82 
 Installing the robot system ..........................................................................................83 
 Power on the manipulator ...........................................................................................83 
 Preparation ........................................................................................................83 
 Power on System...............................................................................................84 
 Power off the manipulator ..........................................................................................85 
 Start system quick.......................................................................................................85 
10. TEACH PENDANT.....................................................................................................86 
 Instruction .................................................................................................................86 
 Teach Pendant Operation Interface...........................................................................86 
 User login........................................................................................................86 
 Initial Interface................................................................................................87 
 Robot Movement Control ...............................................................................88 
Robot Teaching User Interface..............................................................................................88 
1 Currently logged in user.....................................................................................................89 
2 Logout button.....................................................................................................................89 
3 Software shut down button ................................................................................................89 
4 Menu ..................................................................................................................................89 
5 Robot 3D display window..................................................................................................90 
6 Simulation/real control switch button................................................................................91 
7 Step Mode Control.............................................................................................................91 
8 Position control ..................................................................................................................91 
9 Coordinate system..............................................................................................................93 
9 User-defined coordinate system.........................................................................................93 
10 Robot real-time status parameter display.........................................................................94 
11 Target selection ................................................................................................................94 
12 Orientation Control ..........................................................................................................94 

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13 Joint axis control..............................................................................................................95 
14 Zero Pose, Init Pose .........................................................................................................96 
15 Motion speed control .......................................................................................................96 
16 Date and time display.......................................................................................................96 
17 Speed control ...................................................................................................................97 
 Robot I/O settings and status display........................................................................97 
 Controller I/O Tab...........................................................................................97 
 User I/O Tab....................................................................................................98 
 Tool I/O Tab ....................................................................................................98 
 Robot Setting Tab....................................................................................................100 
 InitPose .........................................................................................................100 
 Tool Calibration ............................................................................................101 
Tool Kinematics Calibraton ................................................................................................102 
Tool Dynamics Calibration .................................................................................................104 
Tool Calibrate......................................................................................................................105 
 Coordinate Calibration..................................................................................106 
 Robot Safety Settings..............................................................................................110 
 System Setting tab...................................................................................................111 
 Language Tab................................................................................................111 
 Date& Time tab.............................................................................................112 
 Network Tab..................................................................................................113 
 Password Tab ................................................................................................113 
 Lock Screen ..................................................................................................114 
 Update Tab ....................................................................................................115 
Factory Reset ......................................................................................................................115 
Update Software/Firmware.................................................................................................116 
File Export ..........................................................................................................................116 
 Extensions...............................................................................................................117 
 System Info Tab ......................................................................................................120 
11. ONLINE PROGRAMMING ....................................................................................122 
 Instruction ...............................................................................................................122 
 Function Module Description .................................................................................124 
 Text Box Editor .............................................................................................124 
 Project Tab ..............................................................................................................124 
 New Project...................................................................................................124 
 Load Project ..................................................................................................126 
 Save Project...................................................................................................127 
 Default Project ..............................................................................................128 
 Automove tab ................................................................................................129 
 Procedure ......................................................................................................130 
 Procedure (process).................................................................................................131 
 Calling Subproject Commands（Procedure）.............................................131 

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 Move Condition....................................................................................................133 
 Type of Move ................................................................................................134 
Move Joint ..........................................................................................................................134 
Move Line...........................................................................................................................135 
Move Track.........................................................................................................................136 
 Waypoint .......................................................................................................138 
 Basic Command & Condition Tabs.........................................................................139 
 Loop ..............................................................................................................140 
 Break .............................................................................................................140 
 Continue........................................................................................................140 
 If…else..........................................................................................................141 
 Switch...Case...Default..................................................................................142 
 Set..................................................................................................................143 
 Wait ...............................................................................................................144 
 Line Comment...............................................................................................144 
 Block Comment ............................................................................................145 
 Goto.............................................................................................................145 
 Message.......................................................................................................146 
 Empty..........................................................................................................147 
 Advanced Command & Condition Tabs .................................................................147 
 Thread ...........................................................................................................147 
 Script .............................................................................................................147 
 Offline Record...............................................................................................148 
 Record Track ...........................................................................................................149 
 Variable Tab.............................................................................................................151 
 Timer .....................................................................................................................152 
 Inserch Timer ..............................................................................................152 
 Timer Status Display...................................................................................153 
 Simulation model ..................................................................................................153 
 Scripts file configuration.......................................................................................154 
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 
 