Dobot CR-A Series

The hardware package's components are designed to offer the user a plug-and-play experience. To assemble the hardware components, please follow the instructions in this chapter.

The following image shows the contents of the Dobot CR-A series robot box:

UFactory xArm Components

For assembling the Dobot robotic arm, connect the components as per the following diagram:

Wiring Instructions for dobot CRA Series

Now follow the following steps:

• Clear an area for installation around the Dobot robotic arm based on the robot's dimensions.

• Connect the Dobot robotic arm's control box to the PC using the ethernet cable. Configure the PC's IPv4 setting to be on the same network as the Dobot control box.

• Download the latest version of Dobot Studio from the official website.

• Using the Dobot Studio, connect to the arm and enable the robot.

The Dobot Studio can be used the same Windows laptop used to run the AMAS VR app. To use the software, please follow the steps in the Robot manual.

• Once the arm is enabled, move it to a posture suitable for installing the gripper and disable the robot.

Please ensure the robot is mounted in the correct orientation as specified in the diagram below.

Dobot Orientation

• If you are using a ROBOTIQ 2F-85 gripper with the Dobot, you will also receive a box with the following content:

Gripper Connection

• Using the supplied fasteners, mount the Gripper mounting flange to the robotic arm and the gripper to the flange. Once mounted, connect the gripper with the gripper connection cable:

Gripper Cable Connection

• Once the gripper is connected, enable the robot and initialize the gripper using the ROBOTIQ 2F-85 plugin.

Please make sure that the tool IO version is V6.3.1.1 or later (Older versions might trigger Overcurrent alarms and disable the robot)

• Make sure that the collision detection is enabled and the robot is within the following joint limits:\

  Joint Name	Lower Limit (Degrees)	Upper Limit (Degrees)
  Joint 1	-170	170
  Joint 2	-100	45
  Joint 3	-160	0
  Joint 4	-145	145
  Joint 5	-170	170
  Joint 6	-170	170

• Before proceeding, make sure the software shows no errors or alarms except for the emergency kill switch (if pressed).

• Switch the robot control mode to TCP/IP and close the software.

• Disconnect the ethernet from the computer and follow the instructions and block diagram for the connections:

Connection diagram

• Connect the power supply for the Router, Cortex, and Camera/Sensor(s).

• Connect the Cortex to the router using WiFi.

• Connect the Sensor(s) to the Cortex using the splitter cable. Connect each sensor, matching the number indicated on the cable.

• Configure the router settings to give network access to the Cortex IP addresses. The IP address is found on the Cortex case.

• Ensure that the emergency stop is released for the robot.

• Once all connections are made, switch on the robot control box and wait for the Dobot control box to start.

• Start Cortex, and check the ethernet indicator LEDs on both Cortex ports show activity.

• If all components start correctly, the robot brakes will release, and if the gripper is connected, it will initialise.

Software Setup

Please follow the steps in the Cortex Firmware Configuration to set up the Dobot CR-A series robots to use with AMAS.