AUBO-CB-C Controller User Manual

1 About this Manual

1.1 Version Information

Item	Content
Manual Name	AUBO-CB-C Controller User Manual
Manual Version	v1.0.1*
Release Date	2026-08-27
Applicable Product	AUBO-CB-C Controller

This User Manual will be regularly reviewed and revised, and updated in the form of a new version. The content or information in this manual is subject to change without prior notice.

Please read this manual before installing or using the product.

Please keep this manual in a safe place for easy reading and reference.

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

1.2 Copyright and Disclaimer

This manual is the exclusive property of AUBO (Beijing) Intelligent Technology Co., Ltd. Without the written permission of AUBO (Beijing) Intelligent Technology Co., Ltd., this manual may not be copied, reproduced in whole or in part, or transformed into any other form of use.

AUBO (Beijing) Intelligent Technology Co., Ltd. is not responsible for any errors or omissions that may occur in this manual, or for any incidental or consequential damages arising from the use of this manual and the products described herein.

Copyright © 2015-2026 AUBO. All rights reserved.

1.3 Purpose of This Manual

This manual is intended to guide the installation, commissioning, pre-operation inspection, maintenance, repair, handling, storage, and disposal of the AUBO-CB-C controller.

This manual does not replace the system integrator's risk assessment, on-site safety design, work instructions, or the laws, regulations, and safety standards applicable in the country or region of use.

1.4 Intended Use of the Controller

The AUBO-CB-C controller may be used with general industrial equipment and general commercial equipment, and is only permitted to be used under the specified environmental conditions. For specific information on the operating environment and operating conditions, please refer to the technical specifications table.

The AUBO-CB-C controller has special safety-rated features; the use of sharp end-effectors or tool connectors may pose hazards.

Prohibited uses include, but are not limited to, the following:

• Use in flammable, explosive, or other hazardous environments.
• Use in devices for moving or carrying people or other animals.
• Use in medical equipment and other devices involving human life.
• Use in devices that have a significant impact on society and the public interest.
• Use in vehicle-mounted, marine, or other vibration-prone environments.
• Use as a climbing tool.

1.5 Intended Readers

This manual is intended for the following professionals:

• Installation personnel
• Commissioning and operation personnel
• Maintenance and repair personnel
• Safety management personnel

1.6 Operating Prerequisites

Personnel who read and use this manual shall meet the following requirements:

• Have received relevant training provided by AUBO (or an AUBO-authorized distributor).
• Have the basic knowledge required for the installation and maintenance of mechanical, electrical, and automation equipment.
• Be familiar with on-site safety management requirements and have basic awareness of risk identification and safe operation.
• Have read and understood the safety instructions in this manual and related documents.

1.7 Related Documents

When using this manual, it is recommended to also read the following documents:

• AuboStudio User Manual

1.8 More Information

For more information on products, services, training, or technical support, please visit https://www.aubo-robotics.cn.

2 Safety

2.1 Safety Instructions

This chapter describes the basic safety principles that shall be followed when operating the controller or robotic system. Integrators, users, and operators must read this chapter carefully and strictly follow the instructions marked with safety warning signs.

Due to the complexity and potential hazards of robotic systems, this manual cannot list all possible hazardous scenarios. Users and integrators shall conduct risk assessments based on the actual application, end-effectors, peripheral equipment, work environment, and personnel activity range, and shall take appropriate risk reduction measures.

2.2 Safety Warning Signs

This manual uses the following safety warning signs to describe important safety information. When you see these signs, be sure to read and follow the corresponding instructions.

Table 2-1 Description of Warning Signs

Sign	Level	Description
	DANGER	Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.
	WARNING	Indicates a potentially hazardous situation which, if not avoided, could result in personal injury or serious equipment damage.
	CAUTION	Indicates a potentially hazardous situation which, if not avoided, could result in minor personal injury or equipment damage. Items marked with this symbol may, depending on the specific situation, have the potential for significant consequences.
	NOTICE	Indicates a situation which, if not avoided, could result in personal injury or equipment damage. Items marked with this symbol may, depending on the specific situation, have the potential for significant consequences.

2.3 General Safety Rules

When operating the controller and its related equipment, always follow the following basic safety rules. This section lists general safety requirements. Safety instructions for specific scenarios are described in the relevant chapters of this manual.

1. Always install the machine and all electrical equipment in accordance with the requirements and specifications in this manual.

2. Before first use and before putting the machine into production, perform preliminary testing and inspection of the machine and its protective system.

3. Before the first startup of the machine and system, check that the machine and system are complete, safe to operate, and free from any detected damage. During this inspection, verify compliance with the valid safety production rules and regulations of the country or region, and test all safety functions.

4. Users must check and ensure that all safety parameters and user programs are correct and that all safety functions work properly. Each safety function shall be checked by personnel qualified to operate the robot. The robot may only be started after comprehensive and careful safety testing has been completed and the required safety level has been reached.

5. The machine shall be installed and commissioned by qualified personnel in accordance with the installation standards.

6. After the machine is installed and constructed, a comprehensive risk assessment shall be performed again and records shall be retained.

7. Safety parameters shall be set and changed only by authorized personnel. Passwords or isolation measures shall be used to prevent unauthorized personnel from changing or setting safety parameters. After safety parameters are changed, the relevant safety functions shall be analyzed.

8. In the event of an accident or abnormal operation, the emergency stop switch may be used to stop robot motion.

9. The robot arm has a collision detection function. When the robot is powered on and running, if an external force exceeds the normal force range set by the user safety parameters, the robot automatically stops to prevent machine damage or operator injury caused by collision.

   This function requires that the robotic system operate within the normal operating range and use an AUBO series controller. If the user develops a controller independently, the robot will not have the above function. The user shall be responsible for the resulting hazardous consequences.

10. Connecting different machines may increase hazards or create new hazards. Always perform a comprehensive risk assessment of the entire installation. When different safety and emergency stop performance levels are required, always select the highest performance level.

11. AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for damage to the machine or personal injury caused by improper operation of the machine.

Prohibited Items:

Sign

Description

1. Never start the robotic system before completing safety inspection and risk assessment. Before first startup, system integrity inspection, all safety function tests, safety parameter correctness verification, and risk assessment document review must be completed. 2. Never power on the controller without connecting the Protective Earth (PE) conductor. Poor grounding may cause electric shock, equipment damage, or electromagnetic interference. 3. Never use the controller in humid environments or environments with conductive dust, as this may cause casualties. 4. Never manually and frequently switch the power supply system on and off. The joint modules of the robot arm are equipped with brakes, which maintain the robot posture when power is disconnected. Do not manually and frequently switch the power supply system on and off. It is recommended that the interval between each power-on and power-off be greater than 10s. 5. Never touch heated parts while the equipment is running. Do not operate or touch the equipment while the robot is working or just after it has stopped. Disconnect the power and wait for one hour before the equipment can cool down. 6. Never modify safety parameters or bypass safety functions without authorization.

Operating Rules:

Sign	Description
	1. Ensure that the controller and related equipment are securely installed. Improper installation may cause the equipment to fall off or operate abnormally. 2. Ensure that the robotic system has sufficient workspace, free of obstacles, sharp corners, or pinch points. The operator's head and face shall be outside the reachable range of the robot arm. 3. Do not connect safety devices to general I/O interfaces. Dedicated safety interfaces shall be used only. 4. Correctly configure installation parameters, including installation angle, TCP weight and offset, safety parameters, etc. 5. If the controller or robotic system is damaged, do not continue using it. Stop the machine immediately and contact AUBO or an authorized service provider. 6. A safety assessment must be performed after each installation to confirm that all safety functions are normal.
	1. Before transporting the controller, check the insulation and protective measures. Handle it carefully during transportation to avoid bumps and impacts. 2. Do not expose the controller to strong magnetic fields for a long time, as strong magnetic fields may damage the equipment. 3. Do not modify the controller without authorization. Any unauthorized modification will void the warranty, and AUBO shall not assume any responsibility arising therefrom.

2.4 Personnel Safety

When operating the robotic system, personnel safety shall be given priority. Users and integrators shall take at least the following measures:

1. Ensure that all relevant personnel have received official training from AUBO (or an AUBO-authorized distributor) and fully understand safe and standardized operating procedures. For training consultation: support@aubo-robotics.cn.
2. Operators shall tie up long hair, not wear loose clothing, and not wear jewelry. When the robot is stationary, it may be waiting for a start signal and shall be regarded as continuously operating. Do not approach it casually.
3. In emergencies where a person is trapped or confined, the robot arm may be forced to move by pushing or pulling it hard. Manually moving the robot arm without electric drive is limited to emergencies and may damage the robot arm joints.
4. Personnel shall not place the head, face, neck, fingers, or other body parts in areas where they may be struck, pinched, or caught.

2.5 Responsibilities and Regulations

The controller is a component of a complete robotic system and does not constitute a complete machine by itself. Therefore, this manual does not cover the complete design, installation, and operation scheme for the complete robot machine, nor does it list all risk conditions that may affect the safety of peripheral equipment in the integrated system. The installation safety performance of the complete robotic equipment depends on the design and construction method of the complete integration scheme. The equipment integrator shall comply with applicable local laws, regulations, safety specifications, and industry standards, and conduct risk assessments throughout the design and installation process of the complete integrated system.

All safety-related information contained in this manual shall not be regarded as a guarantee by AUBO (Beijing) Intelligent Technology Co., Ltd. Even if operators strictly follow all safety instructions in this manual, there are still potential risks of personal injury or equipment damage.

AUBO (Beijing) Intelligent Technology Co., Ltd. continuously optimizes product performance and reliability and reserves the right to iterate and upgrade products without further notice. We have made every effort to ensure that the contents of this manual are accurate and reliable, but assume no responsibility for omissions or errors in the document.

2.5.1 Integrator Responsibilities

The integrator assumes the following key responsibilities:

• Conduct a comprehensive risk assessment of the complete robotic system.
• Ensure that the design, installation, and commissioning of the entire system meet safety requirements.
• Provide necessary training for users and relevant operators.
• Develop complete system operating specifications and emergency response plans.
• Establish and maintain appropriate safety protection measures.
• Use appropriate methods during final installation to eliminate hazards or reduce all hazards to an acceptable level as much as possible.
• Inform the end user of residual risks.
• Mark integrator information on the robot.
• Archive all relevant technical documents and risk assessment reports.

2.5.2 Reference Standards

Integrators may refer to the following international standards to conduct the risk assessment process:

Standard No.	Name	Description
ISO 12100:2010	Safety of machinery — General principles for design — Risk assessment and risk reduction	Basic risk assessment framework
ISO 10218-2:2025	Robots and robotic devices — Safety requirements — Part 2: Industrial robot systems and robot applications	Safety requirements for industrial robot integration
RIA TR R15.306-2014	Technical report for industrial robots and robot systems — Safety requirements, task-based risk assessment methodology	Task-based risk assessment guide
ANSI B11.0-2010	Safety of machinery — General requirements and risk assessment	U.S. machinery safety standard

For applicable standards and regulatory guidance, please visit the AUBO official website www.aubo-robotics.cn or consult local regulatory authorities.

2.6 Hazard Identification

Risk assessment shall consider potential hazards during normal use, commissioning, maintenance, cleaning, abnormal recovery, and foreseeable misuse. When the collaborative robot arm is used without peripheral safety protective devices, the following potential hazards may be involved:

• Risk of puncture or cut injuries caused by sharp end-effectors or tool connectors.
• Risk of exposure when handling toxic, corrosive, or other harmful substances.
• Risk of operators' fingers or limbs being pinched by robot joints or the base.
• Risk of collision with personnel during robot arm movement.
• Risk of objects falling due to improper fixation of end tools.
• Danger caused by impact between the robot payload and a solid surface.

The integrator must assess such hazards and their associated risk levels through risk assessment, and determine and implement corresponding measures to reduce risks to an acceptable level. Note that specific robot equipment may also involve other significant hazards.

By combining the inherent safety design measures of the AUBO robot with the safety specifications and risk assessments developed by the integrator and end user, the risks associated with collaborative operation of the robot arm can be reduced to a reasonably practicable range. This document is intended to communicate the residual risks that exist before robot installation to the integrator and end user. If the integrator's risk assessment determines that hazards in the corresponding application scenario pose unacceptable risks to operators, the integrator must take appropriate risk reduction measures to eliminate or minimize these hazards until the risk level reaches an acceptable standard. Use of the robot is prohibited before necessary risk reduction measures are completed.

If the robot is deployed for non-collaborative operation (for example, when equipped with hazardous tools), the risk assessment may require the integrator to provide additional safety devices, such as safety start devices, during program development to ensure personnel and equipment safety.

2.7 Emergency Handling

2.7.1 Emergency Stop Device

Press the Emergency Stop button to stop all motions of the robot. Emergency stop shall not be used as a risk reduction measure, but as a secondary protective device. Connection of multiple emergency stop buttons, if required, must be included in the risk assessment of the robot application. The emergency stop button should comply with IEC 60947-5-5.

The controller is equipped with an external port for the emergency stop button, which can be used by the integrator or user as appropriate.

Sign	Description
	Tools or devices connected to the end-effector that pose a potential threat must be integrated into the emergency stop circuit of the system. Failure to comply with this warning may result in death, serious personal injury, or substantial property damage.

2.7.2 Recovery From an Emergency

All button-type emergency stop devices have a "lock" function. This "lock" must be opened to end the emergency stop state.

Rotate the emergency stop button to open the "lock".

Sign	Description
	Recovery from the emergency stop state is a simple yet crucial step, which can only be performed after ensuring that all hazards of the robotic system have been completely eliminated.

3 Handling and Precautions

Before packaging and transportation, the equipment shall be packaged according to the packaging standard, and the required markings shall be applied to the outside of the package.

During transportation, ensure that the equipment is stable and fixed in an appropriate position.

The controller should be lifted by the handle. During handling, appropriate measures shall be taken to secure moving parts so that they do not move unexpectedly during handling and transportation and cause hazards.

When moving the AUBO-CB-C controller from the packaging material to the installation position, hold the equipment securely and avoid collisions.

After the equipment is secured, power it on and check whether it operates normally.

Keep the original packaging after transportation. Store the packaging material in a dry place for future repackaging and handling of the equipment.

Sign	Description
	1. Ensure that your back or other body parts are not excessively strained when lifting the equipment. 2. All regional and national guidelines must be followed. AUBO (Beijing) Intelligent Technology Co., Ltd. is not liable for any damage incurred during the transportation of the equipment. 3. Ensure strict adherence to the installation instructions in the manual when installing the equipment.

4 Maintenance, Repair and Disposal

4.1 Maintenance and Repair

All maintenance and repair operations shall strictly comply with all safety requirements in this manual.

Equipment maintenance, calibration, and repair operations shall be performed according to the latest service manual. This manual can be obtained from the official technical support website www.aubo-robotics.cn, which can be accessed by all authorized distributors of AUBO (Beijing) Intelligent Technology Co., Ltd.

Equipment repair may only be performed by authorized system integrators or AUBO factory personnel. If parts need to be returned to AUBO (Beijing) Intelligent Technology Co., Ltd., the relevant procedures in the service manual shall be strictly followed.

During operation, the safety level requirements corresponding to maintenance and repair shall be met, and current local safety production regulations shall be followed. After the operation is completed, all safety functions shall be tested one by one to confirm that they operate normally.

Maintenance and repair work is intended to ensure stable operation of the equipment or restore normal operating conditions after equipment failure, and includes fault diagnosis and physical repair.

When operating the controller or robotic system, strictly follow the following safety procedures and warning requirements:

Sign	Description
	1. Remove the main input cable from the back of the controller to ensure that it is completely powered off. Necessary precautions shall be taken to prevent others from reconnecting system energy during maintenance. After power is disconnected, recheck the system to ensure that it is powered off. 2. Check the grounding connection before restarting the system. 3. Observe ESD (Electrostatic Discharge) regulations when disassembling the robot arm or controller. 4. Avoid disassembling the power supply system of the controller. High voltage may remain in the power supply system for several hours after the controller is turned off. 5. Avoid water or dust entering the robot arm or controller.
	1. Replace faulty parts with new parts with the same part number or corresponding parts approved by AUBO (Beijing) Intelligent Technology Co., Ltd. 2. Reactivate all disabled safety measures immediately after this work is completed. 3. Record all repair operations in writing and keep them in the technical documentation related to the entire robotic system. 4. The controller has no parts that can be repaired by end users themselves. If maintenance or repair service is required, please contact your distributor or AUBO (Beijing) Intelligent Technology Co., Ltd.

4.2 Disposal

The AUBO-CB-C controller must be disposed of in accordance with applicable national laws, regulations, and standards.

5 Quality Assurance

5.1 Product Warranty

The AUBO-CB-C controller comes with a limited warranty period of 18 months.

If new equipment and its components exhibit defects due to manufacturing or material issues within 18 months of being put into use, AUBO (Beijing) Intelligent Technology Co., Ltd. shall provide necessary spare parts for replacement or repair of related components.

AUBO (Beijing) Intelligent Technology Co., Ltd. shall have the ownership of the equipment or components which have been replaced or returned to AUBO (Beijing) Intelligent Technology Co., Ltd.

If the product is no longer under warranty, AUBO (Beijing) Intelligent Technology Co., Ltd. shall reserve the right to charge the customer for replacement or repair costs.

If any defects appear in the equipment outside the warranty period, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any damages or losses arising therefrom, such as production losses or damage to other production equipment.

5.2 Disclaimer

If the equipment defect is caused by improper handling or failure to follow the instructions in the User Manual, the product warranty shall be void.

The following failures are not covered by this warranty:

• Products purchased through non-AUBO approved channels.
• Installation, wiring, or connection to other control devices that does not comply with industrial standards or the requirements of the User Manual.
• Use beyond the product specifications or standards.
• Use for purposes other than those specified.
• Service conditions that exceed the nominal specifications of the product.
• Use in a grinding environment or under special service conditions without proper protection.
• Damage to the product caused by improper transportation.
• Failures, damages, or consequential damages caused by accidents or human factors.
• Failures, damages, or consequential damages caused by modifications.
• Installation of non-genuine parts or accessories.
• Damage caused by modifications, debugging, or maintenance of original parts by third parties other than AUBO (Beijing) Intelligent Technology Co., Ltd. or the designated integrator.
• Failures, damages, or consequential damages caused by natural disasters or other force majeure events.
• Failures caused by reasons other than those mentioned above and not related to the responsibility of AUBO (Beijing) Intelligent Technology Co., Ltd.

The following situations are not covered by the warranty:

• Failure to identify product traceability number.
• Failure to identify production date or warranty start date.
• Changes to software or internal data.
• Faults that cannot be reproduced or cannot be identified by AUBO (Beijing) Intelligent Technology Co., Ltd.
• Use of the product in radioactive equipment, biological testing equipment, or other applications deemed hazardous by AUBO (Beijing) Intelligent Technology Co., Ltd.
• Exterior parts and vulnerable parts. According to the product warranty agreement, AUBO (Beijing) Intelligent Technology Co., Ltd. only provides warranty for flaws and defects in products and parts sold to dealers.

AUBO (Beijing) Intelligent Technology Co., Ltd. does not assume any other express or implied warranties or liabilities, including but not limited to any implied warranties of merchantability or fitness for a particular purpose. In addition, AUBO (Beijing) Intelligent Technology Co., Ltd. is not liable for any form of consequential damages or consequences arising from the relevant products.

5.3 List of Vulnerable Parts

No.	List of vulnerable parts
1	Nameplate
2	Controller aviation connector cover
3	Controller cover
4	Controller foot
5	Controller fan dust cover

6 Controller Description

6.1 Introduction

The AUBO-CB-C controller is the control center of the robot. It contains the control mainboard, safety interface board, switching power supply, safety protection components, etc. The controller can be powered by 220V AC. Its internal switching power supply converts 220V AC into 24V and 48V DC to power the loads inside the controller and the robot. External connected components include the power cable, wireless handheld tablet, handheld device, robot arm cable, and robot arm. Before use, it is necessary to check whether the connections between the robot, teach pendant, and controller are secure.

The controller is designed with both hardware and software protection to ensure maximum safety during use. The controller uses circuit breakers internally to provide reliable short-circuit protection and overload protection, ensuring the safety of personnel and equipment.

Figure 6-1 Controller Appearance

6.2 Important Safety Instructions

Sign	Description
	1. Ensure that the controller, teach pendant, and cables do not come into contact with liquids. A wet controller may cause casualties. 2. The controller and teach pendant must not be placed in dusty environments or locations where humidity exceeds the IP protection rating requirements of the equipment. If conductive dust exists on site, special attention shall be paid to protection. 3. There is dangerous voltage inside the box. Non-professionals must not open the cabinet while it is powered on. 4. Do not directly touch the screws or other metal parts inside the controller with your hands, and do not remove wiring while power is on.
	1. A safety assessment must be performed after each robot installation, and the instructions in the Safety chapter shall be strictly followed. 2. The controller shall be placed horizontally on the floor. A clearance of 50mm shall be reserved on each side of the controller to ensure ventilation and heat dissipation. 3. The teach pendant can be hung on the controller. Ensure that cables do not trip personnel. 4. If non-AUBO original supporting components (such as cables) are installed on the robot, the user shall ensure that such components do not interfere with or impair the safety functions of the equipment. 5. The software in the robotic system only supports upgrade and use of the default software. Installation of other software systems, such as ROS, is prohibited. Checks Before Use: 1. Check whether the controller power cable is properly connected. 2. Check whether the controller is properly connected to the robot. 3. Check whether the controller support is stable and whether the complete machine is placed horizontally without shaking or offset.

6.3 Controller Panel

6.3.1 Controller Front Panel

The structure of the controller front panel is shown in the figure below:

Figure 6-2 Controller Front Panel

Table 6-1 Function Description of Controller Front Panel

No.	Name	Function
1	AC220V POWER INTERFACE & SWITCH	Power button, where "I" represents on, and "O" represents off.
2	ROBOT INTERFACE	Robot body cable interface, used for connecting the robot body cable.
3	TEACH EN/DIS BUTTON & INDICATOR LIGHT	When the wired teach pendant is not in use, pressing this button will turn on the circular indicator light above it. Otherwise, an emergency stop error may occur upon power-on.
4	ON/OFF STATE BUTTON & TRI-COLOR INDICATOR LIGHT (RED, GREEN, YELLOW)	Power button: After the equipment is powered on and the tri-color indicator light lights up in yellow, press and hold the button for 2 s to start up the equipment. When the equipment is started up, press and hold the button for 2 s to force it to shut down. Tri-color indicator light: An illuminating red light indicates an alarm or warning, an illuminating green light indicates running status, and an illuminating yellow light indicates standby status.
5	I/O	Safety I/O interface and user I/O interface
6	HANDLE HANDHELD DEVICE INTERFACE	Insert the jumper cap when the handheld device is not in use.
7	USB INTERFACE (IPC)	Used for connecting USB devices
8	HDMI & DP (IPC)	High-definition multimedia interface, used to connect a monitor
9	LAN1/LAN2/LAN3 (IPC)	Ethernet port
10	WIFI ANTENNA (IPC)	Wireless connection for wireless handheld tablet

6.4 Cable Connection

• Connect robot cable to controller: First, unscrew the dust cap of the ROBOT interface on the controller, and then plug the robot cable connector into the ROBOT interface, as shown in Figure 6-3.
• Use the wireless handheld tablet to network the teach pendant to the controller as shown in Figure 6-3.
• Connect power cable to controller: Plug the power cable connector into the POWER interface, as shown in Figure 6-3.

Figure 6-3 Controller Cable Connection

6.5 Power On

• Place the controller in an appropriate position;
• Conduct controller cable connection as described above;
• Check whether all cables of the controller are properly connected (teach pendant, terminal block, robot arm cable, etc.);
• Connect the power cable and set the power button to "1" position. Then the POWER indicator light will stay red;
• Press and hold the ON/OFF STATE button for 2 s and release it. Then the indicator light will flash green. After successful startup, the indicator light will stay green, allowing normal control of the robot arm power-on and operation. During the power-on of the robot arm, the indicator light will flash blue quickly, and after successful power-on, the ON/OFF STATE button indicator light will stay blue.

6.6 Power Off

• Press and hold the ON/OFF STATE button for 2 s to disconnect the signal, and the controller will execute the shutdown (shutdown is prohibited during robot operation);
• Wait for the blue indicator light of the ON/OFF STATE button to go out;
• Set the controller power button to "0" position. Then the red POWER indicator light will go out.

Sign	Description
	1. Shutting down the system by simply unplugging the power cable from the socket may damage the robot file system, leading to robot function failure. 2. The power button on the control handle can be used to power on or off the controller.

7 Electrical Interface

7.1 Electrical Warnings and Cautions

When designing and installing the robot and AUBO-CB-C controller applications, be sure to follow the following warnings and cautions. These warnings and cautions also apply to maintenance work.

Sign

Description

1. Never connect safety signals to a non-safety PLC that does not meet the required safety level. Failure to follow this warning may result in serious injury or even death due to the failure of a safeguard stop function. 2. The controller must be powered off during wiring of the electrical interface. 3. Make sure that all non-waterproof equipment remains dry. If water enters the product, please disconnect the power supply and contact your supplier. 4. Use original cables supplied with the robot only. Do not use the robot for applications where the cables will be bent. Contact your supplier if longer or flexible cables are needed. 5. All GND connections mentioned in this document are only for power supply and signal transmission. For Protective Earth (PE), use the screw connections marked with the earth symbols inside the controller. The grounding conductor shall have at least the current rating of the highest current in the system. 6. When wiring the robot controller I/O, make sure the power is off. 7. Interference signals higher than the level specified in the IEC standard will cause the abnormal behavior of the robot. Extremely high signal levels or excessive exposure can cause permanent damage to the robot. EMC problems typically occur in welding process and are usually indicated by error messages in the log. AUBO (Beijing) Intelligent Technology Co., Ltd. is not liable for any losses caused by EMC problems. 8. I/O cables used to connect the controller to another machinery and factory equipment may not be longer than 30 m, unless extended tests are performed.

7.2 I/O Power Supply

For example, in the case of NPN, if an external power supply is required, please follow the wiring method below:

Figure 7-1 External Power Supply

Sign	Description
	The internal power supply is only for low-power devices.

7.3 Safety I/O of Controller

7.3.1 Introduction

Safety devices and equipment must be installed according to the safety instructions and can only be used after a comprehensive risk assessment is conducted. Safety I/O is located on the terminal block inside the controller.

Sign	Description
	Every safety I/O is of NPN type by default during delivery.

7.3.2 Safety Instructions

Sign	Description
	1. Never connect safety signals to a non-safety PLC that does not meet the required safety level. 2. Be sure to separate safety interface signals from regular I/O signals. 3. Before using the robot, be sure to check the safety features, which must be tested regularly.

7.3.3 Safety I/O Function Definition

Table 7-1 Safety I/O Function Definition

I/O type	I/O name		Function definition
Fixed I/O	EI1	EI0	External Emergency Stop
Configurable I/O	CI00~CI05	CI10~CI15	Emergency Stop Reduced Mode Safeguard Stop Safeguard Reset 3-Position Switch Operational Mode HandGuide Auto Mode Safeguard Stop Auto Mode Safeguard Reset
	CO00~CO05	CO10~CO15	System Emergency Stop System Not Emergency Stop Robot Moving Robot Not Moving Reduced Mode Not Reduced Mode Robot Not Stopping Safe Home

• CI00~CI05, CI10~CI15, CO00~CO05, CO10~CO15 can only be used as safety I/O after being configured in the software. If not configured, it will be used as general digital I/O of the controller. For specific usage, please refer to the software manual.

Fixed safeguard stop input:

• Linkage emergency stop input: used for emergency stop devices only, enabling synchronized emergency stops across multiple machines.

The difference between external emergency stop input and safeguard stop input is as follows:

Table 7-2 Linkage Emergency Stop Input Status

	Linkage Emergency Stop
Robot Stop Moving	Yes
Program Execution	Stop
Robot Power Supply	Off
Reset	Manual
Operating Frequency	Infrequent
Need for Reinitialization	Yes
Shutdown Category	1

Table 7-3 Safety Related Electrical Inputs

Safety input function	Limit case
	Detection time	Power-off time	Response time
Linkage Emergency Stop	100ms	1200ms	1300ms

7.3.4 NPN Type I/O

When the controller I/O interfaces use NPN transistors, "logic high" means the output is in the "on" state, with voltage close to ground voltage (such as 0V), and "logic low" means the output is in the "off" state, without output voltage. COM_CI common input terminals and COM_CO common output terminals are wired as follows.

Figure 7-2 NPN Type I/O

• When COM-CI is connected to 24V and Cixx is connected to 0V, the input is valid;
• When COM00 is connected to 0 V, CO00 outputs 24V, which is valid;
• When COM01 is connected to 0 V, CO10 outputs 24V, which is valid;
• When COM02 is connected to 0V, CO01 outputs 24V, which is valid;
• When COM03 is connected to 0V, CO11 outputs 24V, which is valid;
• When COM-CO is connected to 0V, CO02-CO05, and CO12-CO15 output 24V, which is valid.

The NPN type connection method for the I/O module of the controller is shown in the figure below.

Figure 7-3 NPN Type I/O Connection

Sign	Description
	1. COM00, COM10, COM01, and COM11 are independent COM terminals, corresponding to output points CO00, CO10, CO01H, and CO11 respectively. 2. The source type (PNP) and sink type (NPN) I/O may be connected freely according to requirements, independent of other COM terminals.

7.3.5 PNP Type I/O

When the controller I/O interfaces use PNP transistors, "logic high" means the output is in the "on" state, with voltage close to supply voltage (such as 24V), and "logic low" means the output is in the "off" state, without output voltage. COM_CI common input terminals and COM_CO common output terminals are wired as follows.

Figure 7-4 PNP Type I/O

• When COM-CI is connected to 0V and CIxx is connected to 24V, the input is valid;
• When COM00 is connected to 24V, CO00 outputs 0V, which is valid;
• When COM01 is connected to 24V, CO10 outputs 0V, which is valid;
• When COM02 is connected to 24V, CO01 outputs 0V, which is valid;
• When COM03 is connected to 24V, CO11 outputs 0V, which is valid;
• When COM-CO is connected to 24 V, CO02-CO05, and CO12-CO15 output 0 V, which is valid.

The PNP type connection method for the I/O module of the controller is shown in the figure below.

Figure 7-5 PNP Type I/O Connection

Sign	Description
	1. COM00, COM10, COM01, and COM11 are independent COM terminals, corresponding to output points CO00, CO10, CO01H, and CO11 respectively. 2. The source type (PNP) and sink type (NPN) I/O may be connected freely according to requirements, independent of other COM terminals.

7.3.6 Default Safety Configuration

The robot is delivered with default safety configuration, as shown in the figure below. Therefore, the robot can be used safely without additional safety devices. NPN is taken as an example here (PNP is the default safety configuration, and the level signals are opposite).

Figure 7-6 Default Safety Configuration

7.3.7 Configurable I/O

After the corresponding functions are configured in the software, the defined functions can be realized through the I/O connections on the controller. The input signal is connected to the CI terminal on the controller, and the output signal is connected to the CO terminal on the controller. The other end needs to be connected according to the NPN/PNP definition selected for the controller. For example:

After the software is configured for a safeguard stop (e.g., CI00/CI10), safeguard stop devices can be connected through this interface.

After the software is configured for robot moving (e.g., CO01), valid level signals can be sent through this interface when the robot's host computer is running.

7.3.8 Shared Emergency Stop Input

Users can configure and connect related interfaces to receive external stop signal input and control the robot to enter a Category 1 stop state. This input can be used in multi-machine collaboration by setting a common emergency stop line and sharing emergency stop with other machines. The operator can use the emergency stop button of one machine to bring all machines on the line into an emergency stop state.

Users may refer to the following example. The controller software of controller A and controller B is both configured as system not in emergency stop (for example, CO00). The two machines can implement shared emergency stop according to Figure 7-8 and Figure 7-9 below by using either NPN or PNP wiring, so that when any machine sends an emergency stop condition, all machines will enter emergency stop. The following is an example of NPN wiring.

Figure 7-7 NPN Wiring for System Stop Input

7.4 General I/O of Controller

The internal terminal panel of the controller is provided with 16 general digital input interfaces and 12 general digital output interfaces.

Sign	Description
	All connected external devices shall have a common ground with the controller.

7.4.1 General digital I/O Interfaces

There are 16 general digital input terminals in the controller (hereinafter referred to as "CI terminals"), which operate in NPN/PNP mode. For details, please refer to the previous sections.

The CI terminals can be used to read signals from switch buttons, sensors, PLCs, or other AUBO robots.

There are 12 general digital output terminals inside the controller (hereinafter referred to as "CO terminals"), which operate in NPN/PNP mode. For details, please refer to the previous sections.

The CO terminals can be directly connected to payloads or communicate with PLCs or other robots.

Users can control the above digital I/O using the teach pendant software.

Table 7-4 General Digital I/O Interfaces

Input	Corresponding Output
CI00	CO00
CI01	CO01
CI02	CO02
CI03	CO03
CI04	CO13
CI05	CO14
CI10	CO04
CI11	CO05
CI12	CO10
CI13	CO11
CI14	CO12
CI15	CO15
RMT_ON	-
RMT_OFF	-
EI0	-
EI1	-

Table 7-5 Electrical Parameter Specification for General Digital Input and Output Interfaces

CI/CO	Parameter	Specification
CI	Input signal form	NPN/PNP
	Input method	Input signal current
	Electrical specifications	5mA/DC24V
CO	Output form	NPN/PNP
	Electrical specifications	300mA/DC24V

It should be noted that in the I/O, CO00/CO10~CO01/CO11 must correspond to COM00/COM10~COM01/COM11; otherwise, the I/O output will be invalid. The active level mode here can be customized as NPN/PNP.

Table 7-6 Special I/O

I/O Name	Active level mode	COM00~COM11 electrical connection	Electrical connection for external payload
CO00/CO10 CO01/CO11	NPN	COM00~COM11 connected to 0V respectively	One end of the payload is connected to CO00, and the other end connected to 24V. Similar connection for other user I/O.
CO00/CO10 CO01/CO11	PNP	COM00~COM11 connected to 24V respectively	One end of the payload is connected to CO00, and the other end connected to 0V. Similar connection for other user I/O.

7.4.2 RS485 Interface

The RS485 interface is located on the controller interface board, where there are two RS485 input interfaces, labeled as 485, as shown in the figure below, including A1B1 representing the IPC RS485 interface, and A2B2 representing the extended RS485 interface. This interface may be used for communication of RS485 data streams through the host computer and connection with external devices. This interface supports baud rates from 2400 bps to 115200 bps, which can be modified through the host computer. The setting takes effect immediately (default 115200 bps).

Figure 7-8 RS485 Interface

7.5 I/O Interfaces for Remote On/Off Control

The I/O interfaces for remote on/off control are located on the controller interface board.

The I/O interfaces for remote on/off control can be used to turn on or off the robotic system.

Table 7-7 I/O Interfaces for Remote On/Off Control

Input	Function description
RMT-ON	Remote startup signal input interface
RMT-OFF	Remote shutdown signal input interface

Sign	Description
	COM_CI and COM_CO are in NPN mode by default. Please pay attention to the specific input/output level.

8 Use of Control Handle

8.1 Introduction

The control handle allows quick operation of the robotic system. In the AUBO STUDIO teach pendant software, the function to disable/enable the control handle can be configured, and it is enabled by default at delivery. A magnet is placed on the back of the control handle for easy attachment. Its structure is shown in Figure 8-1. The functions of each button/indicator are described in Table 8-1.

Figure 8-1 Control Handle

Table 8-1 Control Handle Button Function Description

No.	Name	Function
1	Emergency stop button	Press it to implement emergency stop of the robot. To restore normal mode, rotate this button in the direction indicated by the arrow on the button.
2	Power indicator	Indicates the controller power-on/off status: Off: The controller is not powered on Flashing: The controller is powered on, and the robot arm is not powered on Steady on: The controller is powered on, and the robot arm is powered on
3	Lock indicator	Indicates the handle lock status: Steady on: The handle is locked, and other button operations are invalid Off: The handle is not locked, and other buttons are valid
4	Power button	Controls power-on and power-off of the controller
5	Enable button	Controls power-on, power-off, and enabling of the robot arm
5	Start/stop button	Controls start/stop of the robot arm program and pause/start during operation. It is used for quick operation when detached from the teach pendant software during operation, and for debugging and inspection during deployment or maintenance.
6	Custom button	Users can customize the function of this button in the AUBO STUDIO teach pendant software
7	Handle lock button	Used to lock and unlock the control handle

8.2 Operation of Control Handle

1. Emergency Stop

• Activate emergency stop: In case of an emergency, pressing the Emergency Stop button can immediately stop all movements of the robot to protect the safety of the operator. At this time, the robot is in emergency stop mode.
• Deactivate emergency stop: After troubleshooting, rotating the Emergency Stop button as arrowed on the button can exit the emergency stop mode, and the robot can return to normal mode.

2. Power On/Off

• Power on controller: Long press the ON/OFF button for 2s and then release it. The controller will enter the "boot process". Wait for about 20s, and the power indicator light will start flashing, indicating that the controller boot process is completed.
• Power off controller: Long press the ON/OFF button for 2s and then release it. The power indicator light will go out, indicating that the controller power-off is completed.

3. Robot Arm Control

• Power on robot arm: When robot arm is powered off, short press the Enable button to power on the robot arm. Wait for about 20s, and the power indicator light will change from flashing to constantly on, indicating that the robot arm power-on is completed.
• Enable robot arm: When robot arm is powered on but not enabled, short press the Enable button . The robot arm joints will make click sounds, and the brake system will be released, indicating that the robot enters an operational status.
• Power off robot arm: When robot arm is powered on, long press the Enable button for 2s and then release it. The robot arm will be enabled and powered off, and the power indicator light will change from constantly on to flashing, indicating that the power-off is completed.

4. Program Control

• Start program: When no program is running (just after power on or after the running program is stopped), long press the Start/Stop button for 2s and then release it to start the program; if no default program is set, the robot arm will not perform actions.
• Pause/resume program: When a program is running, short press the Start/Stop button to pause/resume the program.
• Stop program: When a program is running, long press the Start/Stop button for 2s and then release it to stop the program (the program cannot be resumed after stop and can only be restarted).

5. Handle Lock/Unlock

• Lock handle: When handle is unlocked, long press the handle locking button for 2s and then release it. The handle locking indicator light will be constantly on, the control handle will be locked, and the buttons cannot be used except for Emergency Stop button.
• Unlock handle: When handle is locked, long press the handle locking button for 2s and then release it. The handle locking indicator light will go out, the control handle will be unlocked, and the buttons can be used again.

6. Custom Function

• Set custom function: Users can set the function of Custom button in the teach pendant software.

Table 8-2 Custom Button Function

Button	Function definition
Custom button	Return to Home
	HandGuide
	Record feature points
	Track playback

9 Appendix

9.1 Specifications

Controller model	AUBO-CB-C
Controller dimensions (Length*Width*Height)	350mm x 300mm x 100mm
Controller weight	7.8kg
IP rating	IP 30
Power supply input	220VAC, 50-60Hz
I/O port	Digital input	16 (configurable)
	Digital output	12 (configurable)
	RS485	2 (UT-890A recommended)
I/O power supply	DC 24V 2A max
Operating temperature	0-50°C
Transportation and storage temperature	-20°C ~ 60°C
Humidity	90% RH (non-condensing)
Cooling method	Air cooling
Cable length	AC power cable	5m
	Robot arm cable	5m

9.2 Revision Records

Version/Date	Description
v1.1/2025-07-16	Released trial version v1.1.
v1.0.1*/20260827	1. Released v1.0.1* trial version. 2. Unified manual structure, safety instructions, chapter names, and warning signs.