AUBO-G40 Controller User Manual

1 About This Manual

1.1 Version Information

Item	Content
Manual Name	AUBO-G40 Controller User Manual
Manual Version	v1.0.1*
Release Date	2026-08-27
Applicable Product	AUBO-G40 Controller

The User Manual will be regularly checked and corrected, and the updates will be incorporated in the new version. The information in this manual is subject to change without notice.

Please read this manual before installing and using the product described herein.

Please keep this manual for the convenience of reading or reference when necessary.

All pictures in this manual are for reference only and the product received serves as the standard.

1.2 Copyright and Disclaimer

This Manual is the exclusive property of AUBO (Beijing) Intelligent Technology Co., Ltd. and may not be copied, reproduced in whole or in part, or converted into any other form for use without the written permission of AUBO (Beijing) Intelligent Technology Co., Ltd.

AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any errors or omissions in this Manual, or for any accidental or consequential injuries arising from the use of this Manual and the products described therein.

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-G40 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-G40 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 about the operating environment and operating conditions, refer to the Technical Specifications table.

The AUBO-G40 controller has special safety-grade characteristics. The use of sharp end effectors or tool connectors may be hazardous.

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

• Use in hazardous environments such as flammable and explosive environments.
• Use in devices that move or carry people or other animals.
• Use in devices that involve human life, such as medical equipment.
• Use in devices that have a significant impact on social and public interests.
• Use in environments subject to vibration, such as on vehicles and ships.
• Use as a climbing tool.

1.5 Intended Readers

This manual is intended for the following professionals:

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

1.6 Operating Prerequisites

Personnel reading and using this manual shall meet the following requirements:

• Have received relevant training provided by AUBO (or a dealer authorized by AUBO).
• Possess 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, visit https://www.aubo-robotics.cn.

2 Safety

2.1 Safety Instructions

This chapter introduces the basic safety principles to be followed when operating the controller or the robot 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 the robot system, this manual cannot list all possible hazardous scenarios. Users and integrators shall carry out a risk assessment based on the actual application, end tooling, peripheral equipment, working environment, and personnel movement range, and 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 the relevant signs, be sure to read and follow the corresponding instructions.

Table 2-1 Description of Warning Signs

Sign	Level	Description
	DANGER	Indicates a situation that may cause hazards and, if not avoided, may result in death or serious injury.
	WARNING	Indicates a situation that may cause hazards and, if not avoided, may result in personal injury or serious damage to equipment.
	CAUTION	Indicates a situation that may cause hazards and, if not avoided, may result in minor personal injury or equipment damage. Depending on the specific circumstances, matters marked with this symbol may sometimes have the possibility of serious consequences.
	NOTICE	Indicates a situation that, if not avoided, may result in personal injury or equipment damage. Depending on the specific circumstances, matters marked with this symbol may sometimes have the possibility of serious consequences.

2.3 General Safety Rules

When operating the controller and its related equipment, the following basic safety guidelines must always be followed. The requirements listed in this section are general safety requirements; safety instructions for specific scenarios are described in detail in the relevant chapters of this manual.

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

2. Before using the machine for the first time and putting it into production, preliminary testing and inspection of the machine and its protection system are required.

3. Before starting the machine and system for the first time, check that the machine and system are complete, that operation is safe, and whether any damage is detected. During this inspection, observe whether the machine conforms to the effective national or regional safety production rules and regulations, and all safety functions must be tested.

4. The user must check and ensure that all safety parameters and user programs are correct and that all safety functions are working properly. Personnel qualified to operate the robot are required to check each safety function. The robot can be started only after comprehensive and careful safety testing and after the safety level is reached.

5. Professional personnel are required to install and commission the machine in accordance with the installation standards.

6. After the machine installation and construction are completed, a comprehensive risk assessment must be carried out again and the documentation must be kept.

7. Authorized personnel shall set and change safety parameters, and passwords or isolation measures shall be used to prevent unauthorized personnel from changing or setting safety parameters. After safety parameters are modified, the related safety functions need to be analyzed.

8. In case of an accident or abnormal operation of the robot, the emergency stop switch can be used to stop the robot.

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

   This function requires the robot system to be within the normal operating range and to use a controller of the AUBO series. If the user develops a controller by themselves, the robot does not have the above functions. The user shall bear the resulting hazardous consequences.

10. Connecting different machines may aggravate hazards or introduce new hazards. Always carry out 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 any damage to the machine or personal injury caused by improper operation of the machine.

Prohibited items:

Sign

Description

1. Do not start the robot system before completing safety inspection and risk assessment. Before the first startup, system integrity inspection, all safety function tests, safety parameter correctness verification, and risk assessment documentation review must be completed. 2. Do not power on the controller without connecting the protective grounding wire (PE wire). Poor grounding may cause electric shock, equipment damage, or electromagnetic interference. 3. Do not use the controller in a humid environment or an environment with conductive dust, as it may cause personal injury or death. 4. Do not artificially and frequently switch the power supply system on and off. Brakes are installed in the robot arm joint modules to hold the robot posture when power is off. Never artificially 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 10 s. 5. Do not touch hot parts while the equipment is running. Do not operate or touch the equipment while the robot is working or just stopped working. Disconnect the power supply and wait for one hour for the equipment to cool down. 6. Do not modify safety parameters or bypass safety functions without authorization.

Operating specifications:

Sign	Description
	1. Ensure that the controller and related equipment are installed firmly. Loose installation may cause equipment to fall off or operate abnormally. 2. Ensure that the working space of the robot system is sufficient, free of obstacles, sharp corners, or crushing 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; only dedicated safety-type interfaces may be used. 4. Configure installation parameters correctly, including installation angle, TCP weight and offset, safety parameters, etc. 5. Do not continue using the controller or robot system if it is damaged. Stop the machine immediately and contact AUBO or an authorized service provider. 6. A safety assessment must be carried out after each installation to confirm that all safety functions are normal.
	1. Check the insulation and protective measures before transporting the controller, and handle it carefully during transportation to avoid collisions. 2. Do not expose the controller to a strong magnetic field for a long time, as a strong magnetic field may cause equipment damage. 3. Do not modify the controller without authorization. Any unauthorized modification will void the warranty, and AUBO shall not bear any responsibility arising therefrom.

2.4 Personnel Safety

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

1. Ensure that all relevant personnel have received training from AUBO (or a dealer authorized by AUBO) and fully understand the safe and standardized operating procedures. For training inquiries: support@aubo-robotics.cn.
2. Tie up hair, do not wear loose clothing or jewelry during operation. The robot may be in a standby state when stationary and shall be regarded as continuously running; do not approach it casually.
3. In an emergency such as a person being pinched or trapped, the joint can be forced to move by pushing or pulling the robot arm forcefully. Manually moving the robot arm without electric drive is only for emergencies and may damage the robot arm joints.
4. Personnel shall not place their head, face, neck, fingers, or other body parts in areas where they may be hit, pinched, or drawn in.

2.5 Responsibilities and Regulations

The controller is a component of a complete robot system and does not constitute a complete machine by itself. Therefore, this manual does not cover the full set of design, installation, and operation solutions for a complete robot, nor does it list all the risk conditions that may affect the safety of peripheral equipment of the entire integrated system. The installation safety performance of the complete robot equipment depends on the design and construction of the whole-machine integration solution. The equipment integrator shall carry out a full-process risk assessment of the design and installation of the entire integrated system in accordance with applicable local laws and regulations, safety specifications, and industry standards.

None of the safety information contained in this manual shall be regarded as a guarantee by AUBO (Beijing) Intelligent Technology Co., Ltd. Even if operators strictly follow all the safety instructions in this manual, there is still a potential risk 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 content of this manual is accurate and reliable, but we shall not be liable for any omissions or errors in the document.

2.5.1 Responsibilities of the Integrator

The integrator shall bear the following key responsibilities:

• Carry out a comprehensive risk assessment of the complete robot system.
• Ensure that the design, installation, and commissioning of the entire system meet the safety requirements.
• Provide necessary training to users and relevant operators.
• Formulate complete system operating specifications and emergency plans.
• Establish and maintain appropriate safety protection measures.
• Use appropriate methods in the final installation to eliminate hazards or reduce all hazards to an acceptable level.
• Inform the end user of the residual risks.
• Mark the 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 carry out the risk assessment process:

Standard No.	Name	Description
ISO 12100:2010	Safety of machinery — General principles for design — Risk assessment and risk reduction	Basic framework for risk assessment
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	Guidelines for task-based risk assessment
ANSI B11.0-2010	Safety of machinery — General requirements and risk assessment	American machine safety standard

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

2.6 Hazard Identification

The risk assessment shall consider potential hazards during normal use, commissioning, maintenance, cleaning, abnormal recovery, and reasonably foreseeable misuse. Without peripheral safety protection devices, the use of a collaborative robot arm may involve the following potential hazards:

• Risk of puncture or cuts caused by the use of sharp end effectors or tool connectors.
• Risk of exposure when handling toxic, corrosive, or other hazardous substances.
• Risk of the operator's fingers or limbs being pinched by the robot arm joints or base.
• Risk of collision with personnel during robot arm movement.
• Risk of falling objects caused by improper fixation of end tooling.
• Hazards caused by the impact between the robot payload and a solid surface. The integrator must measure such hazards and their related risk levels through risk assessment, and determine and implement corresponding measures to reduce the risk to an acceptable level. Note that specific robot equipment may also have other significant hazards.

Combined with the inherent safety design of AUBO robots and the safety specifications and risk assessment formulated by the integrator and end user, the risks related to collaborative operation of the robot arm can be reduced to a reasonably feasible range. This document aims to convey the residual risks existing before robot installation to the integrator and the end user. If the integrator determines, after a risk assessment, that the corresponding application scenario has hazards that may cause 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 machine is prohibited before the necessary risk reduction measures are completed.

If the robot adopts a non-collaborative operation deployment solution (such as carrying hazardous work tools), the risk assessment result may require the integrator to add safety equipment (such as a safety start device) during the program development stage to ensure the safety of personnel and equipment operation.

2.7 Emergency Handling

2.7.1 Emergency Stop Device

Pressing the emergency stop button stops all motion of the robot. The emergency stop device shall not be used as a risk reduction measure, but may be used as a secondary protective device. If multiple emergency stop buttons need to be connected, they must be included in the risk assessment of the robot application. The emergency stop button complies with the requirements of IEC 60947-5-5.

The controller is equipped with a port for an external emergency stop button, which the integrator or user may use according to the actual situation.

Sign	Description
	Tools or equipment connected to the end that may 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 major property damage.

2.7.2 Recovery from Emergency Stop State

All push-button emergency stop devices have a "latching" function. This "latch" must be released to end the emergency stop state of the device.

Rotating the emergency stop button can release the "latch".

Sign	Description
	Recovering from an emergency stop state is a simple but very important step. This step can only be performed after ensuring that the hazards of the robot system are completely eliminated.

3 Handling and Precautions

When packing for transportation, the product shall be packed in accordance with the packing standards, and the required marks shall be printed on the outside of the packing box.

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

The controller shall be lifted by its handle. When handling, appropriate measures shall be taken to position the moving parts so that they do not produce unexpected movement during handling and transportation, causing hazards.

When moving the AUBO-G40 controller from the packing material to the installation position, hold the equipment firmly and avoid collisions.

After fixing, power on the equipment and observe whether it is normal.

Keep the original packaging after transportation. Store the packing material in a dry place for future repacking and moving of the equipment.

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

4 Maintenance, Repair and Disposal

4.1 Maintenance and Repair

When carrying out various maintenance and repair operations, all safety specifications in this manual must be strictly followed.

Equipment maintenance, calibration, and repair operations must be carried out in accordance with the latest version of the service manual, which can be obtained from the official technical support website www.aubo-robotics.cn. All dealers authorized by AUBO (Beijing) Intelligent Technology Co., Ltd. can log in to this website.

Equipment repair can only be carried out 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 must be strictly followed.

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

Maintenance and repair work is used to ensure stable operation of the equipment, or to restore normal working conditions after an equipment failure, covering two types of operations: fault diagnosis and physical repair.

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

Sign	Description
	1. Remove the main input cable from the rear of the controller to ensure that it is completely powered off. Take necessary precautions to prevent others from reconnecting the system energy during maintenance. After powering off, re-check 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. After the controller is turned off, its power supply system may retain high voltage for several hours. 5. Prevent water or dust from 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. Immediately reactivate all disabled safety measures after the work is completed. 3. Record all repair operations in writing and keep them in the technical documentation related to the entire robot system. 4. The controller has no parts that can be repaired by the end user. If maintenance or repair service is required, contact your dealer or AUBO (Beijing) Intelligent Technology Co., Ltd.

4.2 Disposal

The AUBO-G40 controller must be disposed of in accordance with applicable national laws, regulations, and national standards.

5 Quality Assurance

5.1 Product Warranty

The CB-G40 controller has a limited warranty period of three years.

If new equipment and its components exhibit defects caused by poor manufacturing or materials within three years of being put into use, AUBO (Beijing) Intelligent Technology Co., Ltd. shall provide necessary spare parts to replace or repair the relevant parts.

Ownership of the equipment or components that are replaced or returned to AUBO (Beijing) Intelligent Technology Co., Ltd. belongs to AUBO (Beijing) Intelligent Technology Co., Ltd.

If the product is no longer within the warranty period, AUBO (Beijing) Intelligent Technology Co., Ltd. reserves the right to charge the customer for replacement or repair.

Outside the warranty period, if the equipment exhibits defects, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not bear any damage or loss caused thereby, such as production loss or damage to other production equipment.

5.2 Disclaimer

If the equipment defect is caused by improper handling or failure to follow the relevant information described in the User Manual, the "Product Warranty" shall become invalid.

Failures caused by the following circumstances are not covered by this warranty:

• Products purchased through channels not recognized by AUBO.
• Failure to install, wire, or connect to other control equipment in accordance with industrial standards or the requirements of the User Manual.
• Use beyond the specification conditions or standards stated for the product.
• Use of this product for purposes other than those specified.
• Use under environmental conditions beyond the product's specifications.
• Use in a grinding environment or special use environment without product protection.
• Product damage caused by improper transportation.
• Failures, damage, or indirect damage caused by accidents or human factors.
• Failures, damage, or indirect damage caused by modification.
• Installation of non-genuine parts and accessories.
• Damage caused by a third party other than AUBO (Beijing) Intelligent Technology Co., Ltd. or its designated integrators modifying, debugging, or repairing original parts.
• Failures, damage, or indirect damage caused by natural disasters or other force majeure.
• In addition to the above, failures not caused by AUBO (Beijing) Intelligent Technology Co., Ltd.

The following circumstances are not covered by the warranty:

• The product traceability number cannot be identified.
• The production date or warranty start date cannot be identified.
• Changes to software or internal data.
• The failure cannot be reproduced or cannot be identified by AUBO (Beijing) Intelligent Technology Co., Ltd.
• Use of this product in radioactive equipment, biological test equipment, or uses judged by AUBO (Beijing) Intelligent Technology Co., Ltd. to be hazardous.
• Appearance parts and wearing parts. In accordance with the product quality assurance agreement, AUBO (Beijing) Intelligent Technology Co., Ltd. only provides warranty commitments for the defects and flaws in the 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. does not assume any liability for any form of indirect damage or consequences arising from the related products.

6 Controller Description

6.1 Introduction

The CB-G40 is AUBO's standard controller of the G series, a flagship new-generation model designed for fixed workstations, production line integration, and medium-to-high load industrial applications. Equipped with dual communication protocols—EtherCAT and CAN—it offers full compatibility with all currently available AUBO products. It supports a dual-voltage power supply platform (48V/96V), enabling efficient driving of standard and heavy-load robotic arms. Matched with a unified Android teach pendant system, it allows free switching between wired and wireless teach modes.

Figure 6-1 Appearance of the AUBO-G40 Controller

6.2 Important Safety Instructions

Sign	Description
	1. Ensure that the controller, teach pendant, and cables do not come into contact with liquids. A damp controller may cause personal injury or death. 2. The controller and teach pendant must not be placed in a dusty environment, or in a place where the humidity exceeds the requirements of the equipment IP protection rating; if conductive dust is present on site, extra attention must be paid to protection. 3. There are hazardous voltages inside the cabinet. Non-professionals must not open the cabinet while it is energized. 4. Do not directly touch the screws and other metal parts inside the controller with your hands, and never remove wiring while energized.
	1. A safety assessment must be carried out after each robot installation, and the instructions in the Safety chapter must be strictly followed. 2. The controller should be placed horizontally on the ground. A clearance of 50 mm should 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 the cables do not trip personnel. 4. If non-AUBO original components (cables, etc.) are added to the robot, the user must ensure that such components do not interfere with or damage the equipment safety functions. 5. The robot system software only supports upgrading and using the default software. Installing other software systems such as ROS is prohibited. Pre-use inspection: 1. Check whether the controller power cable is properly connected. 2. Check whether the controller and the robot are properly connected. 3. Check whether the controller support is stable, and whether the whole machine remains level without shaking or offset.

6.3 Introduction to the Controller Panels

6.3.1 Controller Front Panel

Figure 6-2 Schematic Diagram of the Controller Front Panel

Table 6-1 Function Description of the Controller Front Panel

No.	Name	Function
1	Power On/Off Button (Power Status Indicator Light)	Power On: When the device is powered off, press and hold the power key for 2 seconds then release. Power Off: When the device is running normally, press and hold the power key for 2 seconds then release. Forced Shutdown: Under any operating state of the device, press and hold the power key for 10 seconds; the device will cut off power and shut down immediately. Power Status Indicator Light: Off when powered off; flashing slowly at 1Hz during boot-up; flashing rapidly at 4Hz when the teach pendant is ready for startup; steady on after the whole unit finishes booting.
2	Power Status (POWER Indicator Light)	Indicates the connection status of AC/DC power supply. The light stays steadily on when power is connected, and turns off once power supply is disconnected.
3	Emergency Stop Status Indicator Light	Remains off when no emergency stop signal is present; flashes rapidly at 4Hz upon activation of any emergency stop signal from the controller, teach pendant, handhold device, emergency stop IO, etc.
4	Operation Status Indicator Light	Remains off when the robot is ready with no motion commands to execute; flashes slowly at 1Hz when the program is paused; stays steadily lit when the robot is executing motions (including program operation and manual jog teaching).
5	Fault Alarm Indicator Light	Remains off when the system operates normally without faults; stays steadily lit for warning abnormalities; flashes rapidly at 4Hz when a critical fault triggers machine shutdown.
6	Emergency Stop Button	Press the button to trigger an emergency stop of the robot. Rotate the button in the direction marked on it to restore normal operating status.

6.3.2 Controller Rear Panel

Figure 6-3 Schematic Diagram of the Controller Rear Panel

Table 6-2 Function Description of the Controller Rear Panel

No.	Name	Function
1	Teach Pendant Cable Port	Interface for wired teach pendant cable and control handheld device.
2	ROBOT Port	Cable interface for robot manipulator, used to connect the robot body cable.
3	Power Switch	Main power switch of the controller.
4	Power Cord Port	Power supply interface of the controller unit.

6.4 Wiring Instructions

6.4.1 Robot Cable Connection

First, insert the aviation plug of the robot body cable into the ROBOT port of the controller, then fasten the buckles on both sides. The detailed operation is shown in Figure 6-4.

Figure 6-4 Connection of the Robot Body Cable to the Controller

6.4.2 Control Handle Connection

Connect the control handle cable to the control handle port of the controller as shown in Figure 6-5. The wiring method for the wired teach pendant is identical to that of the control handle.

Figure 6-5 Connection of the Control Handle or Teach Pendant to the Controller

6.4.3 Power Connection

The rated input voltage of the controller is 100V–240V AC. When the power is cut off, first remove the red dust cap on the controller port, then plug the power cable into the POWER port of the controller. Pay attention to the insertion direction; the connector will lock automatically once fully seated. The detailed operation is shown in Figure 6-6.

Figure 6-6 Schematic Diagram of the Controller Power Wiring

6.5 Powering On

• Place the controller in an appropriate position.

• Complete cable connections for the controller following the instructions in the preceding chapters.

• Verify all cables of the controller are securely connected (including teach pendant, power supply, robot arm cables, terminal blocks, etc.).

• Plug in the power cord and flip on the power switch; the POWER indicator on the front panel of the controller will light up.

• Press and hold the power button on the wired teach pendant to wait for system boot-up.

• After the teach pendant finishes startup, its power status indicator illuminates. You may now power on and operate the robot arm normally.

6.6 Powering Off

Normal Power-Off Methods

Method 1: Press and hold the controller power button for 2 seconds, toggle off the power switch, then disconnect the power cord.

Method 2: Click the [Shutdown] button on the teach software interface, toggle off the power switch, then disconnect the power cord.

Method 3: Press and hold the power button on the control handle, toggle off the power switch, then disconnect the power cord.

Forced Power-Off

Method 1: Press and hold the controller power button for 10 seconds.

Method 2: Press and hold the power button on the teach pendant for 10 seconds.

Method 3: Press and hold the power button on the control handle for 10 seconds.

Method 4: Unplug the power cord directly or turn off the power switch immediately.

Sign	Description
	1. Do not shut down the system by unplugging the power cord directly from the socket; this may corrupt the robot's file system and cause malfunctions.

7 Electrical Interfaces

7.1 Overview

The CB-G40 controller is equipped with a full range of electrical interfaces to meet the requirements of diverse automation application scenarios. Integrated with video output, communication, as well as digital/analog signal interfaces, the controller enables extensive system integration and device interconnection. Refer to Table 7-1 for a summary of terminal interfaces.

Table 7-1 Terminal Interface Summary

Interface Type	Category	Interface Name	Terminal No.	Qty.	Spec.
Digital I/O	Fixed-Function I/O	External Safety Stop Input	SI0, SI1	2	24VDC
		Interlock Emergency Stop Input	EI0, EI1	2	24VDC
		Remote Power-On	RMT ON	1	24VDC
		Remote Power-Off	RMT OFF	1	24VDC
	Configurable I/O (Safety)	Digital Input	CI00~CI07, CI10~CI17	16	24VDC
		Digital Output	CO00~CO07, CO10~CO17	16	24VDC
	General-Purpose I/O (User)	Digital Input	DI00~DI07, DI10~DI17	16	24VDC
		Digital Output	DO00~DO07, DO10~DO17	16	24VDC
Analog I/O	General-Purpose I/O (User)	Analog Voltage Input	AI0, AI1	2	0~+10V
		Analog Voltage Output	AO0, AO1	2	0~+10V, 0~20mA
Communication Interface	-	RS485	485_A, 485_B	2	-
Encoder Interface	-	Incremental Encoder	ENC A+, ENC A-, ENC B+, ENC B-, ENC Z+, ENC Z-	6	Differential Signal

7.2 Electrical Warnings and Precautions

When designing, installing, and deploying applications of the robot and G40 controller, you must strictly abide by the following warnings and precautions. These warnings and precautions shall also be observed during all maintenance work.

Sign	Description
	1. Please ensure that all equipment that shall not be exposed to water is kept dry. If water enters the product, cut off the power supply and contact your supplier. 2. Only use the original cable of the robot. Do not use the robot in applications where the cable needs to be bent. If longer cable or flexible cable is required, contact your supplier. 3. All GND connectors mentioned in this document are only applicable to power supply and signal transmission. For protective earthing (PE), use the screw connector marked with the earthing mark in the controller. The grounded connector shall have a current rating of at least the highest current in the system. 4. Be careful when installing the robot I/O interface cable.
	1. Never connect safety signals to a non-safety PLC with an inappropriate safety level. Failure to observe this warning may result in serious injury or even death due to the failure of a safety stop function. 2. During the wiring of the controller electrical interfaces, the controller must be powered off.
	1. Interference signals above the level specified in the IEC standard will cause abnormal behavior of the robot. High or excessive exposure to this signal level will cause permanent damage to the robot. EMC problems usually occur during welding and are usually indicated by error messages in the log. AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any loss caused by EMC problems. 2. The length of I/O cable used to connect the controller to other machinery and equipment shall not exceed 30 m, unless extended testing demonstrates feasibility.

7.3 Communication Interface

7.3.1 RS485 Interface

The CB-G40 controller is equipped with a standard RS485 interface for connecting Modbus devices. The pin definitions are shown in Figure 7-1.

Figure 7-1 Description RS485 Interface Pins

7.3.2 USB Interface

The CB-G40 series controller provides two standard interfaces of USB2.0 and USB3.0, which can be used for equipment connection, software upgrade and program file export.

7.3.3 LAN Interface

The CB-G40 series controller is equipped with industrial-grade wired Ethernet interface as standard, providing efficient and stable network communication capabilities for robot system, and supporting remote access and control.

7.4 I/O Control Mode

7.4.1 Signal Level Control

The CB-G40 series control box provides NPN and PNP level control modes, which are preset and marked at the factory, as shown in Figure 7-2.

Figure 7-2 I/O Level Factory Configuration Example

Sign	Description
	The level control mode of the controller is professionally configured at the factory. Users must not modify it without authorization to ensure the stability and safety of the system.

7.4.2 COM Port

The CB-G40 controllers adopt modular COM port architecture and provide refined signal management solutions, as shown in Figure 7-3. The COM port can be divided into two types: input and output types according to signal direction and function attributes. Detailed functions and instructions are as shown in Table 7-2.

Figure 7-3 COM Ports

(a) Configurable COM port; (b) General I/O COM port; (c) Fixed function I/O COM port

Table 7-2 Functions and Instructions of COM Ports

COM Port		Function	Qty.	Instructions
Input COM	COM SI	External safety stop input common port	2	Used in conjunction with external safety stop input
	COM EI	Linkage emergency stop input common port	2	Used in conjunction with linkage emergency stop input
	COM RMT	Remote power-on/off input common port	2	Used in conjunction with remote power-on/off input
	COM CI	Configurable I/O input common port	8	Used in conjunction with configurable I/O input
	COM DI	General I/O input common port	8	Used in conjunction with common I/O input
Output COM	COM CO	Configurable I/O output common port	8	Used in conjunction with configurable I/O output
	COM DO	General I/O output common port	8	Used in conjunction with general I/O output

Sign	Description
	1. The I/O valid level mode is pre-configured at the factory, and the user shall carefully check the I/O type mark inside the controller. 2. Whether NPN or PNP signal level control is used, the valid level of the input and output shall follow the factory preset configuration. 3. Under both NPN and PNP signal level control, the COM port shall be consistent with I/O wiring principles.

7.5 I/O Power Supply

7.5.1 Internal Power Supply

The controller panel I/O defaults to internal power supply mode, as shown in Figure 7-4.

Figure 7-4 Internal Power Supply

7.5.2 External Power Supply

If the user needs to use an external power supply, please refer to the methods shown in Figure 7-5.

Figure 7-5 External Power Supply

7.6 Fixed Function I/O

7.6.1 Fixed Safety Stop Input

The CB-G40 series controller provides two fixed safety stop inputs:

• External safety stop input (SI0, SI1): For safety-type protection devices.

• Linkage emergency stop input (EI0, EI1): Only for emergency stop devices, realizing multi-machine linkage emergency stop.

Table 7-3 Comparison of Functions of External Safety Stop Input and Linkage Emergency Stop Input

	External safety stop input	Linkage emergency stop input
Robot motion stop	Yes	Yes
Program execution	Pause	Stop
Robot power supply	ON	OFF
Reset	Automatic or manual	Manual
Operating frequency	Not more than once per operating cycle	Infrequently used
Re-initialization required	No	Release brake only
Stop category	2	1

Table 7-4 Safety Electrical Parameters of External Safety Stop Input and Linkage Emergency Stop Input

Safety input function	Extreme case
	Detection time	Power-off time	Response time
External safety stop input	100ms	1200ms	1300ms
Linkage emergency stop input	100ms	-	1200ms

7.6.3 Remote Startup/Shutdown

When the system is in manual mode, the robot system can be powered on or off by using the remote power-on/off control I/O interface.

Table 7-5 Remote Power-on/off Control I/O Interface

Input	Function definition
RTM ON	Remote power-on signal input interface
RTM OFF	Remote power-off signal input interface

7.7 Controller Configurable I/O

The CB-G40 series controller provides 16 configurable DI interfaces and 16 configurable DO interfaces. It adopts a dual-circuit safety channel design, which can ensure that the system maintains safety functions in case of a single fault.

The configurable I/O can only be used as safety I/O after it is configured in teach pendant software. If it is not configured, the default is general digital I/O. Safety I/O always has the highest priority. When the same I/O port is configured with both safety I/O and general I/O functions, the system will give priority to the safety I/O function. For detailed functions and instructions on the safety I/O, please refer to the AuboStudio User Manual.

When configurable I/O is used as safety I/O, strict safety guidelines must be followed. Before use, all safety devices and related equipment must be installed in accordance with professional safety instructions and undergo a comprehensive risk assessment.

Table 7-6 Configurable I/O Function Definition

Input/output	Function definition
CI00~CI07	Set the specific functions on the software interface
CI10~CI17
CO00~CO07
CO10~CO17

7.8 Controller General I/O

7.8.1 Function Definition

The CB-G40 series controller provides 16(+16) DI interfaces, 16(+16) DO interfaces, 2 analog voltage input interfaces and 2 analog voltage output interfaces.

The specific functions of the general I/O need to be configured in the teach pendant software. For detailed function description and configuration methods, please refer to the AuboStudio User Manual.

Table 7-7 General I/O Function Definition

Input/output	Function definition
DI00~DI07	Set the specific functions on the software interface
DI10~DI17
DO00~DO07
DO10~DO17
CI00~CI07
CI10~CI17
CO00~CO07
CO10~CO17
AI0, AI1
AO0, AO1

7.8.2 General Digital I/O Interface

CB-G40 series control box provides flexible I/O signal level control scheme.

Table 7-8 Electrical Parameters of General Digital Input and Output Interfaces

Input/Output	Parameter	Specification
DI	Input signal form	NPN/PNP
	Input mode	Sink/Source
	Electrical specifications	5mA/DC24V
DO	Output signal form	NPN/PNP
	Electrical specifications	300mA/DC24V

Example

• DI interface button switch

Figure 7-6 DI Interface Button Switch

• DO interface load

Figure 7-7 DO Interface Load

7.8.3 General Analog I/O Interface

The analog I/O interface is located in the leftmost row of terminal interfaces on the controller side panel. It has 2 analog voltage inputs and 2 analog voltage outputs, which are represented by AI and AO respectively, as shown in Figure 7-8.

Figure 7-8 Analog I/O Interface

Table 7-9 Electrical Parameters of General Analog Input and Output Interfaces

Type	Voltage
Input	0 ~ +10V
Output	0 ~ +10V
Accuracy	±1%

Table 7-10 Electrical Parameters of General Analog Input Interface

Parameter	Minimum	Maximum	Unit
Input voltage	0	+10	V
Input resistance	100K		Ω
AI sampling resolution	12		BITS
AI sampling accuracy	10		BITS

Example

• Wiring methods for analog voltage input

Figure 7-9 Analog Voltage Input Sensor Wiring Diagram

• Wiring method for analog voltage output

Figure 7-10 Analog Voltage Output Driver Wiring Diagram

7.9 Terminal Block RS485 Interface

The RS485 interface in the terminal block is as shown in Figure 7-11 and can be used for Modbus RTU communication.

Figure 7-11 Terminal Block RS485 Interface

7.10 Incremental Encoder Interface

The incremental encoder interface is as shown in Figure 7-12, and some peripherals can be connected.

Figure 7-12 Incremental Encoder Interface

8 Usage of the Control Handheld

8.1 Introduction

The control handheld enables quick operations for the robot system. You may enable or disable the control handheld function via the AUBO STUDIO teach pendant software; this function is enabled by default upon factory delivery. Magnets are fitted on the rear side of the control handheld for magnetic mounting. Its structure is shown in Figure 8-1.

Figure 8-1 Schematic Diagram of Control Handheld

Table 8-1 Key Function Description of Control Handheld

No.	Name	Function
1	Emergency Stop Button	Press down to activate emergency stop for the robot. Rotate the button following the marked direction to restore normal status.
2	Power Indicator Light	Shows the power-on/power-off state of the controller: Steady off: Controller powered off Slow flash (1 Hz): Controller booting up Fast flash (4 Hz): Waiting for teach pendant startup Steady on: Teach pendant started, available for APP scan & connection; robot arm unpowered standby Breathing flash: Robot arm powered on standby Fast flash (4 Hz, lasts 3s): Searching for robot (teach pendant control mode) Slow flash (1 Hz): Shutting down
3	Key Indicator Light	Button not pressed: steady off Any button pressed: steady on
4	Power On/Off Button	1. Power On: Press and hold for 2s then release. A "beep" tone sounds to start controller bootup. After approx. 20s, a second "beep" plays, the handheld power indicator flashes, and bootup completes. 2. Power Off: Press and hold for 2s then release. Power indicator goes out, and a double "beep-beep" tone confirms shutdown. 3. Forced Shutdown: Press and hold for 10s under any operating state for forced shutdown; power indicator turns off with double "beep-beep" confirmation tone.
5, 9, 10	Custom Buttons	Users may customize and configure the functions of these buttons in the AUBO STUDIO teach software.
6	3-Position Enable Switch	This 3-position enable switch has three travel stages: 1. Released – OFF (initial state) 2. Half-pressed – ON 3. Fully pressed – OFF 4. Default Mode: It acts as a drag teach button by default. Drag teaching is available under the ON state; OFF state triggers safe stop (power remains on). 5. Manual Mode: Switchable to Manual Mode via the software interface. In Manual Mode, the robot arm supports normal manual control under the ON state; OFF state activates robot safe stop.
7	Robot Power On/Off Button	Controls power supply and enable status of the robot arm: 1. Robot Arm Power On: When the arm is powered off, short-press the button; the buzzer emits one "beep" and the arm starts powering up. After around 20 seconds, a second "beep" sounds, the power indicator changes from flashing to steady on, and power-up completes. 2. Robot Arm Enable (Brake Release Operation): When the arm is powered on but not enabled, short-press the button. The arm vibrates, and each of the six joints clicks sequentially to release the braking system; normal operation of the arm is available afterward. 3. Robot Arm Power Off: When the arm is powered and enabled, press and hold the button for 2 seconds then release. The arm deactivates and powers down; the power indicator switches from steady on to flashing, and a double "beep-beep" tone confirms power-off completion.
8	Program Start/Stop Button	This button controls the start, stop, pause and resume of robot arm programs. It enables quick operation without the teach pendant, meeting demands for on-site operation, unit deployment, maintenance and debugging. 1. Program Start: Press and hold the start/stop button on the control handheld for 2 seconds then release to start the default program. A single "beep" from the buzzer indicates program execution. If no default program is set, the robot arm will not move and the buzzer gives no alert tone. 2. Program Pause/Resume: While the program is running, short-press the button to pause or resume the program; a single "beep" signals pause/resume status. 3. Program Termination: Press and hold for 2 seconds then release to fully stop the program (it cannot be resumed afterward and must be restarted manually). A double "beep-beep" tone confirms program abort.
11	Handheld Lock Button	Handheld lock button: Enables and locks the handheld to prevent accidental operation of the handheld during program execution. 1. Lock: When the handheld is unlocked, press and hold the button for 2 seconds then release. A single "beep" sounds, the handheld lock indicator light stays steadily on, and all buttons except the emergency stop are disabled. 2. Unlock: When the handheld is locked, press and hold the button for 2 seconds then release. A double "beep-beep" sounds, the handheld lock indicator light turns off, and all handheld buttons return to normal operation.
12	Handheld Lock Status Indicator Light	Shows the lock status of the handheld: 1. Steady On: Handheld locked; operations of other buttons are invalid. 2. Steady Off: Handheld unlocked; all other buttons function normally.

8.2 Custom Functions

Users may configure functions for custom buttons within the teach software. Available configurable functions are listed in the table below. Refer to the AUBO STUDIO Software Manual for detailed operation steps.

Table 8-2 Custom Button Function List

Button	Function Definition
Custom Button	Return to Home Position, triggered by long press
	Drag Teach, triggered by long press
	Record Feature Point, triggered by short press
	Trajectory Playback, triggered by short press

8.3 G-STICK Handheld Kit

The G-series handheld is supplied with a tablet back clip kit as shown in the figure. This accessory enables assembly connection between the handheld and tablet to optimize operation experience.

Figure 8-2 G-STICK Handheld Kit

9 Teach Pendant

9.1 Introduction

The CB-G series controller is equipped with ARCS, the latest independently developed robot operating system by AUBO, fully supporting both wired and wireless teaching modes. Users can operate the robot arm and controller via the dedicated AuboStudio software, create and run robot programs, and retrieve robot log information to meet the demands of various application scenarios. Refer to the AuboStudio User Manual for detailed operation instructions.

9.2 Wired Teach Pendant

The wired teach pendant connects directly to the controller via cables. Users can run AuboStudio software on this dedicated device for robot control and program development. There are two models of the G-Pendant teach pendant: AUBO-G-LV Teach Pendant and AUBO-G-HT Teach Pendant. The only difference between them lies in the placement position of the emergency stop button; all other functions are identical. This manual takes the AUBO-G-HT teach pendant as the demonstration example.

Figure 9-1 Schematic Diagram of AUBO-G-HT Wired Teach Pendant

Table 9-1 Teach Pendant Function Description

No.	Name	Function
1	Emergency Stop Button	Press the button to trigger robot emergency stop. Rotate the button in the marked direction to restore normal status.
2	Power On/Off Button	1. Power On/Off: Press and hold for 2 seconds then release to complete power-on or power-off. 2. Forced Shutdown: Press and hold for 10 seconds under any state to force power off. Green indicator light embedded in the power on/off button: The indicator light stays steadily on during startup and after power-on, and stays steadily off when the controller is powered off.
3	Undefined	No function defined. Other functions may be added in the future.
4	Key Indicator Light	Steady off when no button pressed; steady on when any button is pressed.
5	Robot Power Enable Button	Controls power supply and enable status of the robot arm: 1. Robot arm power up: Short press and release to power on the robot. 2. Robot arm enable (brake release): When powered on but not enabled, short press to release the robot brakes. 3. Robot arm power down: Press and hold for 2 seconds then release to disable and power down the robot.
6	Program Start/Stop Button	Press and hold for 2 seconds in standby to start the program; press and hold for 2 seconds during running to terminate the program. Short press during operation to pause; short press while paused to resume.
7, 8, 9	Custom Function Buttons	Users may customize and configure button functions within the AUBO STUDIO teach software.
10	Teach Pendant Lock Button	Locks and unlocks the teach pendant to prevent accidental key presses during program execution. Lock: In the unlocked state, press and hold for 2 seconds. The teach pendant enters the locked state. In the locked state, all buttons except the emergency stop are disabled. Unlock: In the locked state, press and hold for 2 seconds. The teach pendant exits the locked state.
Rear Side	3-Position Enable Switch	This 3-stage enable button has three travel positions: 1. Released: OFF (initial state) 2. Half-pressed: ON 3. Fully pressed: OFF Default Mode: It functions as a drag teach button by default. Drag teaching is enabled under the ON state; the OFF state triggers safe stop (power supply remains connected). Manual Mode: Switch to Manual Mode via the software interface. In Manual Mode, the robot arm supports normal manual operation when ON; the OFF state activates robot safe stop.

• Custom Function Buttons

  Users can configure the functions of custom buttons in the teach software. The configurable functions are listed in the table below. Refer to the AUBO STUDIO Software Manual for detailed operation procedures.

  Table 9-2 Custom Button Function List

  Button	Function Definition
  Custom Button	Return to Home Position, triggered by long press
  	Drag Teach, triggered by long press
  	Record Feature Point, triggered by short press
  	Trajectory Playback, triggered by short press

9.3 Wireless Teaching

The CB-G series controller is equipped with built-in Wi-Fi. Users can install the Android client of AuboStudio on a tablet, then connect to and control the robot via Wi-Fi.

10 Appendix

10.1 Technical Specifications

Controller Model	CB-G40
Controller Dimensions (LWH)	504mm x 270.2mm x 370.5mm
Controller Weight	17.5kg
IP Rating	IP 20
Power Supply	100~240VAC, 50–60Hz (Wide Voltage Range)
I/O Ports	Digital Input	16 (General) 16 (Configurable) / 8 (Safety)
	Digital Output	16 (General) 16 (Configurable) / 8 (Safety)
	RS485	2
I/O Power Supply	DC 24V 3A max
Operating Temperature	0-50℃
Transport & Storage Temperature	-40℃～60℃
Humidity	95% Relative Humidity (Non-condensing)
Cooling Method	Air Cooling
Cable Length	AC Power Cable	5m
	Robot Arm Cable	5m
	Teach Pendant Cable	4m

10.2 Revision Records

Version / Time	Description
v1.0.0* / 20260605	v1.0.0* (Trial) released.
v1.0.1*/20260827	1. Released v1.0.1* trial version. 2. Unified manual structure, safety instructions, chapter names, and warning signs.