DOBOT COBOT CR16
Collaborative industrial robotic arm
The Dobot CR16 belongs to the larger size class of industrial cobots, with its compact size and 16kg load capacity allowing for a wide range of production automation with the robotic arm. It is available with a wide range of end tools and applications, making it an extremely useful tool for all areas of industry. It is also an excellent tool for vocational training, higher education, warehousing, production simulation and many other applications.
Flexible deployment, fast implementation
Improve workflow flexibility and production efficiency with an easy-to-deploy CR collaborative robot that can be set up in just 20 minutes and up and running in up to 1 hour.
Easy to access, easy to learn
Dobot's software and arithmetic technology make the CR series of collaborative robots smart and easy to operate and manage. Thanks to software and manual training, it can accurately mimic human movements. No programming skills are required.
Advanced security system and more
The advantage of collaborative robots is that they are equipped with pressure sensors in their enclosures, so that if the pressure exceeds a threshold, the robot stops its current work and the system does not continue until the pressure is released. With this addition, the efficiency and safety of human-robot work is taken to new levels.
Expandable, compatible
The CR collaborative robot series is also recommended for its universal communication interfaces, in addition to its wide range of end tools. Featuring multiple I/O and communication interfaces, the CR cobot series is widely expandable and compatible with a wide range of end-of-arm tools. As a result, CR cobots can meet a wide range of needs and can be used in a variety of application situations.
Parameters
Product name | DOBOT CR16 |
weight | 20kg |
Maximum payload | 16kg |
Maximum range | 1223mm |
Rated voltage | DC48V |
Maximum end tool speed | 3m/s |
Space for movement of joints | J1 | ±360° |
J2 | ±360° |
J3 | ±160° |
J4 | ±360° |
J5 | ±360° |
J6 | ±360° |
Maximum joint speed | J1/J2 | 120°/s |
| J3/ J4/J5/J6 | 180°/s |
I/O interface of terminal equipment | DI/DO/AI | 2 |
Ao | 0 |
Communication interface | Communication | RS485 |
Control I/O | Di | 16 |
DO/DI | 16 |
AI/AO | 2 |
ABZ Incremental Encoder | 1 |
Repeat accuracy | ±0.03mm |
communication | TCP/IP, Modbus, EtherCAT,WIFI |
IP standard | IP54 |
Operating temperature | 0~45° |
performance | 350W |
materials | Aluminum alloy, ABS plastic |
End-Tools
The end tools are the devices that can be mounted on the ends of the robot arms. The DOBOT CR collaborative robot series is compatible with a wide range of end tools, so it will be able to meet even the most specific needs of your business.
- Packing and palletising
- Handling
- Polishing
- Screwing
- Gluing, batching and welding
- Assembly
- Machining
- CNC
- Quality control
- Injection moulding
Contents of Package
The robot arm consists of two units. A robot arm and a control unit for programming it. The controller unit is a computer that communicates with the robotic arm to control it. The controller has the IO ports to which the various accessories can be connected, including the emergency stop switch. To establish communication with your computer or smart device, the controller has a USB port to connect the WIFI module, and an Ethernet port if you want to control and program your robot arm via a wired connection.
* Pressing the emergency stop switch will stop the robot immediately. In addition to the two units, the package includes the power cables for the units and the IO cable for the connection.
6 axes, 4 movement modes
The robot arm can move from point A to point B by connecting two coordinate points in 4 modes:
Joint Interpolated Motion: the motion can be implemented using GO and MoveJ, which allows the robot arm to reposition from point A to point B by interpolating the joint angle of the robot arm without taking into account the position of the end tool.
Linearly Interpolated Motion: The motion is achieved by Move, which allows the robot to link the coordinates of point A and point B, looking at the position of the sky, which guides the end tool in a straight line. In the case of linear motion, a distinction can be made between the use of the jump mode, in which the end tool either moves the two coordinate points to their end positions, or applies a rounding off to perform a continuous motion, taking the coordinates of the point into account.
ARC -Circular Interpolated Motion: The robot connects points A and B along an arc by means of an auxiliary point C, thus performing an arc motion taking into account the position of the end tool.
Circle - Circular Interpolated Motion: The robot connects points A and B by means of a helper point C and performs a motion in a circular shape, taking into account the position of the end tool.
Programming can be done in several ways. Examples include:
Reproduction of end-tool motion: a related programming method is Teach & Playback programming, a way of programming robot arms that does not require programming knowledge to set the parameters of a task. The programmer can freely move the robot arm by pressing and holding a safety lock release button, and then release the button to stabilize the arm in the given position. In the programming interface, these coordinates can be viewed and stored as a coordinate point that the robot arm must touch during the execution of a task. By saving the points, you can then move the robot arm without any programming skills.
Block-based programming (Drag and Drop): also known as graphical programming, which makes it easier to learn programming by visualising functions, variables and modes of operation. The principle of operation is based on the linking of blocks, i.e. the blocks representing each function can be programmed in sequence to program the robot arm.
Python Script: Because of its easy-to-understand syntax and its huge library, it is used not only for automation but also for building artificial intelligence. Thus, robotics has also chosen Python to maximise the capabilities of robots.
DobotStudio, the development environment for the robot arm, comes with the libraries needed to control the robot arm by default, so all you have to do is review the documentation and create your own Python program to run your robot arm.
Coordinate systems
The coordinate system of the robotic arm system is divided into four coordinate systems:
Base coordinate system: the base coordinate system defines the coordinates, position and motion of the end tool, based on the base coordinate system, which is defined by the Cartesian coordinate system.
Joint coordinate system: The joint coordinate system is defined by the possible movements of each joint
End-tool coordinate system: Coordinate system defining the offset distance and rotation angle, whose origin and orientations vary depending on the position of the workpiece on the robot table
User Coordinate System: A movable coordinate system used to represent equipment such as fixtures, workbenches. The orientation of the origin and axes can be determined based on site requirements, to measure point data within the work area and to conveniently arrange tasks.
Singularity points
When the robot is moving in the Cartesian coordinate system, the resulting velocity of the two axes cannot be in either direction if the directions are in line, which results in the robot's degrees of freedom being degraded. The robot has three singularity points.
Safe investment, outstanding reliability
The robust and stable build quality of the CR series of collaborative robotic arms promises a lifetime of up to 32,000 hours, combined with low running costs, making the CR series not only a safe investment, but also a return on investment.
