Dobot CR Series User manual

Dobot CR Series Robot

APP User Guide

Issue: V3.7

Date: 2020-11-13

Shenzhen Yuejiang Technology Co., Ltd

Dobot CR Series Robot APP User Guide

Precautions

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

Dobot CR Series Robot APP User Guide

iii

Preface

Purpose

This Document describes how to use Dobot CR series robots with APP, 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

2020/11/17

The first releases

Symbol Conventions

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

Symbol

Description

DANGER

Indicates a hazard with a high level of risk which, if

not avoided, could result in death or serious injury

WARNING

Indicates a hazard with a medium level or low level of

risk which, if not avoided, could result in minor or

moderate injury, robot damage

NOTICE

Indicates a potentially hazardous situation which, if

not 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

Dobot CR Series Robot APP User Guide

Contents

Precautions.....................................................................................................................i

Preface..........................................................................................................................iii

Function Description of Software........................................................................... 3

Fast Connection.................................................................................................................. 5

Setting................................................................................................................................. 5

Set Jog................................................................................................................... 5

Set Playback.......................................................................................................... 6

Coor User.............................................................................................................. 7

Coor Tool.............................................................................................................10

Safe Set................................................................................................................13

Remote Control................................................................................................... 16

Robot Pose...........................................................................................................20

Installation...........................................................................................................21

Manufactory Set.................................................................................................. 22

Software Set........................................................................................................ 22

Process.............................................................................................................................. 25

Drag Teach...........................................................................................................25

Monitor..............................................................................................................................26

I/O Monitor..........................................................................................................26

Robot Status........................................................................................................ 28

Terminal...............................................................................................................28

Programming.....................................................................................................................31

Project Description..............................................................................................31

Program Description........................................................................................... 31

Program Example................................................................................................34

Program Language.................................................................................................40

Arithmetic Operators........................................................................................................ 40

Relational Operator...........................................................................................................40

Logical Operators..............................................................................................................40

General Keywords............................................................................................................ 41

General Symbol................................................................................................................ 41

Processing Control Commands.........................................................................................41

Global Variable................................................................................................................. 41

Motion Commands........................................................................................................... 42

Motion Parameter Commands.......................................................................................... 49

Six-axis Force Sensor Commands....................................................................................52

Input/output Commands................................................................................................... 54

Program Managing Commands........................................................................................ 56

Pose Getting Command.................................................................................................... 59

TCP................................................................................................................................... 60

UDP...................................................................................................................................64

Modbus..............................................................................................................................67

Dobot CR Series Robot APP User Guide

Modbus Register Description..............................................................................67

Command Description........................................................................................ 68

Dobot CR Series Robot APP User Guide

Function Description of Software

The robot supports Android/iOS tablet operation and PC operation. This manual uses Android

tablet as an example.

The interface is shown in Figure 1.1, and its detailed description is shown in Table 1.2.

Figure 1.1 Homepage

Table 1.1 Cable color description

NO.

Description

Click this button to go back to the previous page

Connection button

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

button to connect the device to robot arm

Alarm log

You can click it to check alarm log

Manager

APP login personnel are divided into observer, operator,

programmer and manager, different personnel can operate

different functions, including the most authority of the

management, can operate all functions

Observer: check the system status, I/O status, robot pose,

and alarms

Operator: Operate a robot based on the existing scripts

without programming

Programmer: Program, Teach

Dobot CR Series Robot APP User Guide

NO.

Description

Manager: Set parameters

Monitoring module shortcuts

Set speed ratio

Robotic arm enable button

The icon is green when robot motor is in the enabled status

Tshe icon is red when robot motor is in the disabled status

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

System settings

Click this button to expand the page to view help

documentation, lock screen, switch skins, etc.

Jogging robotic arm

You can jogging the robot arm. Click the button to

switch the joint coordinate system or the Cartersin coordinate

system

Programming module

Programming modules are mainly used for editing and running

programs

Process

Support drag teaching, conveyor tracking

Setting

Set the related parameters of robot arm, including motion

parameters, coordinate system settings, calibration, etc.

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

The 3D illustration of a robotic arm

NOTICE

The software supports the screen lock function. If the software has not been operated

Dobot CR Series Robot APP User Guide

for a long time, the screen is automatically locked. The unlock password is 000000 by

default.

Fast Connection

Prerequisites

The controller has been connected to the WiFi module.

The APP supports WiFi function.

Procedure

You can modify the WiFi password on the Setting > Software Set > WiFi Set page

with manager authority.

Setting

Before teaching or running robot programs, a series of settings are required, including motion

parameter setting, user mode selecting and process setting.

Set Jog

You can set the velocity, acceleration or other parameters in different coordinate systems with

programmer authority or manager authority 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 1.2.

Figure 1.2 Jogging parameters in the Joint coordinate system

Dobot CR Series Robot APP User Guide

Set Playback

Set the maximum velocity, acceleration, and jerk in the Joint and Cartesian coordinate system

when running robot programs, as shown in Figure 1.3.

Figure 1.3 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 2.9 Motion Parameter Commands.

If the motion mode is Jump when running robot programs, you need to set StartHeight,

EndHeight, and zLimit.

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 1.4. Please refer to Table 2.24 for use

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