AUBO-CB-S Controller User Manual

1 About This Manual

1.1 Version Information

Item	Description
Manual name	AUBO-CB-S Controller User Manual
Manual version	v0.0.5
Release date	2026-09-22
Applicable products	AUBO-CB-S controller

This user manual is reviewed and revised periodically. Updates will be released with new versions. The content or information in this manual is subject to change without prior notice.

Before installing or using the product, read this manual thoroughly and keep it properly for future reference.

All images in this manual are for illustrative reference only. The actual product shall prevail.

1.2 Copyright and Disclaimer

This manual is proprietary to AUBO (Beijing) Intelligent Technology Co., Ltd. Without the written permission of AUBO (Beijing) Intelligent Technology Co., Ltd., it may not be photocopied, reproduced in whole or in part, or converted into any other format.

AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any errors or omissions that may appear in this manual, or for incidental or consequential injury or damage 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 provides guidance for the installation, commissioning, pre-operation inspection, maintenance, repair, handling, storage, and disposal of the AUBO-CB-S controller.

This manual does not replace the system integrator's risk assessment, on-site safety design, operating instructions, or applicable laws, regulations, and safety standards of the country or region where the robot system is used.

1.4 Intended Use of the Controller

The AUBO-CB-S controller can be used for general industrial equipment and general commercial equipment and is only allowed to be used under the specified environmental conditions. For specific information about the operating environment and operating conditions, please refer to the technical specifications table.

The AUBO-CB-S controller has special safety rating 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 flammable and explosive hazardous environments.
• Use in devices for moving or transporting people or other animals.
• Use in medical equipment and other devices involving human life.
• Use in devices with significant social and public impact.
• Use in environments subject to vibration such as vehicles and ships.
• Use as climbing tools.

1.5 Target Audience

This manual is intended for the following qualified personnel:

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

1.6 Operation Prerequisites

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

• Have received relevant training provided by AUBO (or an AUBO-authorized distributor).
• Possess 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 risk identification and safe operation awareness.
• 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 about products, services, training, or technical support, please 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 robot system. Integrators, users, and operators must read this chapter carefully and strictly observe the instructions marked with safety warning signs.

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

2.2 Safety Warning Signs

This manual uses the following safety warning signs to indicate 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 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. Matters marked with this symbol may, depending on the specific circumstances, sometimes have the potential for serious consequences.
	NOTICE	Indicates a situation which, if not avoided, could result in personal injury or equipment damage. Matters marked with this symbol may, depending on the specific circumstances, sometimes have the potential for serious consequences.

2.3 General Safety Specifications

The following basic safety guidelines must always be observed when operating the controller and its related equipment. This section lists general safety requirements; safety instructions for specific scenarios are detailed in the relevant chapters of this manual.

1. Be sure to 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, it must be checked whether the machine and system are complete, whether operation is safe, and whether any damage is detected. During this inspection, compliance with the national or regional safety production regulations in force must be observed, 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 work properly. Personnel qualified to operate the robot are required to check each safety function. The robot may only be started after comprehensive and careful safety testing has been passed and the safety level has been reached.

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

6. After the machine is installed and constructed, a comprehensive risk assessment must be carried out again and documented.

7. Safety parameters shall be set and changed by authorized personnel, 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 the event of an accident or abnormal operation, the emergency stop switch can be used to stop the robot's motion.

9. The robot arm has a collision detection function. During operation after the robot is powered on, if the external force exceeds the normal force range set by the user's safety parameters, the robot stops automatically to prevent equipment damage or collision injuries to operators.

   This function requires that the robot system operate within the normal operating range and use an AUBO series controller. If the user develops their own controller, the robot will not have the above function. The user shall bear the hazardous consequences arising therefrom.

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

11. AUBO (Beijing) Intelligent Technology Co., Ltd. assumes no liability for damage to the machine or personal injury caused by improper operation of the machine.

Prohibited items:

Sign

Description

1. It is strictly prohibited to start the robot system before safety checks and risk assessment are completed. Before first startup, the system integrity check, testing of all safety functions, verification of safety parameter correctness, and review of risk assessment documents must be completed. 2. It is strictly prohibited to power on the controller without connecting the protective grounding wire (PE wire). Improper grounding may result in electric shock, equipment damage, or electromagnetic interference. 3. It is strictly prohibited to use the controller in humid environments or environments with conductive dust, which may result in injury or death. 4. It is strictly prohibited to frequently turn the power supply system on and off manually. The robot arm joint modules are equipped with brakes to maintain the robot pose during power-off. Do not frequently turn the power supply system on and off manually. It is recommended that the interval between power cycles be greater than 10s. 5. When the equipment is running, it is strictly prohibited to touch heated parts. Do not operate or touch the equipment while it is working or immediately after it has stopped. Turn off the power supply and wait for one hour for the equipment to cool down. 6. It is strictly prohibited to modify safety parameters or bypass safety functions without authorization.

Operating specifications:

Sign	Description
	1. Ensure that the controller and related equipment are securely installed. Improper installation may cause equipment to fall or abnormal operation. 2. Ensure that the robot system has sufficient workspace, without obstacles, sharp corners, or pinch points. Operators' 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 interfaces may be used. 4. Correctly configure installation parameters, 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 it 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 operate properly.
	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 strong magnetic fields for a long time, as strong magnetic fields may cause equipment damage. 3. Do not modify the controller without authorization. Any unauthorized modification will void the warranty, and AUBO assumes no liability 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 official (or an AUBO-authorized distributor) and fully understand the safe and standard operating procedures. Training consultation: support@aubo-robotics.cn.
2. During operation, tie up long hair, do not wear loose clothing, and do not wear jewelry. When the robot is stationary, it may be in a standby state and shall be regarded as continuously operating; do not approach it at will.
3. In emergency situations such as a person being caught or trapped, the joint can be forced to move by pushing or pulling the robot arm forcefully. Manually moving the robot arm without power drive is limited to 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 caught.

2.5 Responsibilities and Specifications

The controller is a component of a complete robot system and does not itself constitute a complete machine. Therefore, this manual does not cover the complete set of design, installation, and operation solutions for the complete robot, nor does it list all types of 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 method of the complete integration solution. The equipment integrator must carry out risk assessment throughout the design and installation of the entire integrated system in accordance with locally applicable laws and regulations, safety specifications, and industry standards.

None of the safety-related information contained in this manual shall be regarded as a guarantee by AUBO (Beijing) Intelligent Technology Co., Ltd. Even if operators strictly follow all safety guidelines 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 assume no liability for omissions or errors in the document.

2.5.1 Integrator Responsibilities

The integrator bears the following key responsibilities:

• Conduct a comprehensive risk assessment of the complete robot 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 procedures and emergency plans.
• Establish and maintain appropriate safety protection measures.
• Eliminate hazards or minimize all hazards to an acceptable level using appropriate methods during final installation.
• Inform the end user of the residual risks.
• Mark the integrator's 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 implement 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	Guide to task-based risk assessment
ANSI B11.0-2010	Safety of machinery — General requirements and risk assessment	American machinery safety standard

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

2.6 Hazard Identification

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

• Risk of puncture or cut caused by the use of sharp end effectors or tool connectors.
• Risk of exposure when handling toxic, corrosive, or other hazardous substances.
• Risk of operators' fingers or limbs being pinched by the robot arm joints or base.
• Risk of collision with personnel during the movement of the robot arm.
• Risk of objects falling due to improper fixing of the end tool.
• Hazards caused by impact between the robot payload and solid surfaces. The integrator must measure such hazards and their associated risk levels through risk assessment, and determine and implement corresponding measures to reduce the risk to an acceptable level. Please note that other significant hazards may also exist for specific robot equipment.

Combined with the inherent safety design of AUBO robots as well as the safety specifications and risk assessments developed by integrators and end users, the risks associated with collaborative operation of the robot arm can be reduced to a reasonably practicable level. This document is intended to communicate the residual risks existing before robot installation to integrators and end users. If, after risk assessment, the integrator determines that the corresponding application scenario has hazards that may cause unacceptable risk to operators, the integrator must take appropriate risk reduction measures to eliminate or minimize these hazards until the risk level reaches an acceptable standard. The robot shall not be put into use before the necessary risk reduction measures are completed.

If the robot adopts a non-collaborative deployment solution (such as carrying a hazardous tool), the risk assessment results may require the integrator to additionally install safety equipment (such as safety enabling devices) during program development to ensure the safety of personnel and equipment operation.

2.7 Emergency Handling

When recovering from an emergency state, all push-button emergency stop devices have a "lock" function. This "lock" must be released to end the emergency stop state of the equipment.

Sign	Description
	Recovering from the emergency stop state is a simple but very important step, which can only be performed after ensuring that the hazards of the machine system have been completely eliminated.

3 Handling and Precautions

During packaging and transportation, packaging shall be carried out in accordance with packaging standards, and the required marks shall be applied to the outside of the packaging box.

During transportation, the equipment must be kept stable and secured in an appropriate position.

The controller shall be lifted using the handle. During handling, the moving parts shall be positioned with appropriate measures so that they do not move unexpectedly during handling and transportation and cause hazards.

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

After fixing, power on the equipment and observe whether it operates normally.

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

Sign	Description
	1. Ensure that your back or other body parts are not overly strained when lifting the equipment. 2. All regional and national guidelines shall be observed. AUBO (Beijing) Intelligent Technology Co., Ltd. is not responsible for damage incurred during equipment transportation. 3. Ensure that the installation instructions in the manual are strictly observed when installing the equipment.

4 Maintenance, Repair, and Disposal

4.1 Maintenance and Repair

All maintenance and repair work must strictly comply with all safety specifications in this manual.

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

Equipment repair work may only be carried out by an authorized system integrator or AUBO factory personnel. If parts need to be returned to AUBO (Beijing) Intelligent Technology Co., Ltd., the procedures in the service manual must be strictly followed.

During the work, the safety level requirements corresponding to maintenance and repair must be met and the safety production regulations in force in the local area must be observed. After the work is completed, all safety functions must be tested one by one to confirm that they operate properly.

Maintenance and repair work is used to ensure the stable operation of the equipment or to restore it to normal operating conditions after a fault, and covers both fault diagnosis and physical repair.

When operating the controller or robot system, strictly follow the safety procedures and warnings below:

Sign	Description
	1. Remove the main input cable from the back of the controller to ensure that it is completely de-energized. Necessary precautions shall be taken to prevent others from reconnecting the system energy during repair. After power-off, the system shall still be rechecked to ensure that it is de-energized. 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 can still 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 of 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 documents 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, please contact your dealer or AUBO (Beijing) Intelligent Technology Co., Ltd.

4.2 Disposal

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

5 Quality Assurance

5.1 Product Warranty

The AUBO-CB-S controller enjoys a limited warranty period of 12 months.

If the new equipment and its components have defects caused by poor manufacturing or materials within 12 months after being put into use, AUBO (Beijing) Intelligent Technology Co., Ltd. shall provide the necessary spare parts for replacement or repair the relevant parts.

The 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 shows defects, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any damage or loss arising therefrom, such as loss of production or damage to other production equipment.

5.2 Disclaimer

If equipment defects are caused by improper handling or failure to follow the relevant information described in the user manual, the "Product Warranty" shall become void.

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

• Products purchased through channels not approved by AUBO.
• Failure to comply with industrial standards or to install, wire, or connect other control equipment as required by the user manual.
• Use beyond the specifications or standards stated for the product.
• Use of this product for purposes other than those specified.
• Use environment conditions beyond the product's rating.
• 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 or accessories.
• Damage caused by modification, commissioning, or repair of original parts by third parties other than AUBO (Beijing) Intelligent Technology Co., Ltd. or its designated integrators.
• Failures, damage, or indirect damage caused by natural disasters or other force majeure.
• Failures other than the above circumstances that are not caused by the responsibility of 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 fault cannot be reproduced or identified by AUBO (Beijing) Intelligent Technology Co., Ltd.
• Use of this product in radioactive equipment, biological test equipment, or applications judged by AUBO (Beijing) Intelligent Technology Co., Ltd. to be hazardous.
• Appearance parts and wear parts.

According to the product warranty agreement, AUBO (Beijing) Intelligent Technology Co., Ltd. only makes warranty commitments for defects and deficiencies in products and parts sold to dealers.

Any other express or implied warranties or liabilities, including but not limited to any implied warranties of merchantability or fitness for a particular purpose, shall not be borne by AUBO (Beijing) Intelligent Technology Co., Ltd. In addition, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any form of indirect damage or consequences arising from the relevant products.

6 Controller Description

6.1 Introduction

The AUBO-CB-S controller is compact and easy to integrate. It contains a core board and a main control board, as shown in Figure 6-1. The controller is powered by an external DC 48V power supply, which supplies power to the controller circuit boards, the robot body, etc. Before use, be sure to check whether the connection between the controller and the switching power supply and the connection between the controller and the robot body are reliable, to avoid loosening or falling off during use.

The controller has hardware protection and software protection functions, which can maximize user safety. The controller is internally designed with a voltage monitoring input circuit and a power failure detection input circuit (an external power failure detection module is required). At the same time, optocouplers are used to isolate the high and low voltages, and an emergency stop switch can be externally connected to the controller, so that users can cut off the robot power supply in the shortest time to protect the safety of personnel and equipment.

Figure 6-1 Schematic diagram of the 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 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 IP rating of the equipment; if conductive dust exists on site, pay special attention to protection. 3. There is a hazardous voltage inside the enclosure. Non-professionals shall not open the cabinet while it is energized. 4. Do not directly touch the screws and other metal components inside the controller with your hands, and never remove wiring while it is energized.
	1. A safety assessment must be carried out after each robot installation, and the instructions in the safety chapter must be strictly observed. 2. The controller shall be placed horizontally on the ground. A clearance of 50mm shall be kept 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 (such as cables) are added to the robot, the user must ensure that such components do not interfere with or damage the safety functions of the equipment. 5. The software in the robot system only supports the upgrade and use of the default software. Installing other software such as the ROS system is prohibited. Checks before use: 1. Check whether the controller power cable is properly connected. 2. Check whether the controller and the robot are properly connected. 3. Check that the controller is firmly supported and that the whole machine is placed horizontally without shaking or offset.

6.3 Panel Introduction

6.3.1 Controller Front Panel

The structure of the controller front panel is shown in Figure 6-2, and the detailed interface function description is given in Table 6-1.

Figure 6-2 Schematic diagram of the controller front panel

Table 6-1 Function description of the controller front panel interfaces

No.	Name	Function
1	Integrated interface	Safety I/O interfaces, user I/O interfaces, RS485 interface, etc.
2	STICK	Control handle interface.
3	USB	Used for connecting input devices and storage devices.
4	ETHERNET	Ethernet interface, which can be used for remote access and control.
5	HDMI	High-Definition Multimedia Interface, reserved function.
6	POWER	Power on/off button, used to power the controller on and off, with a blue indicator light indicating the controller power status. Off: the controller is powered off. Steady on: the controller is powered on.
7	Connection indicator light	Yellow is the connection indicator light, indicating the connection status of the teaching software: Blinking: the teaching software is not connected to the controller; Steady on: the teaching software is connected to the controller.
8	Power indicator light	Green is the power indicator light, indicating the controller power status: Off: the controller is powered off; Blinking: the controller is powered on and the robot body is not powered; Steady on: the controller is powered on and the robot body is powered.

6.3.2 Controller Side Panels

The structure of the left side panel of the controller is shown in Figure 6-3, and the structure of the right side panel is shown in Figure 6-4. The detailed interface function description is given in Table 6-2:

Figure 6-3 Schematic diagram of the left side panel of the controller

Figure 6-4 Schematic diagram of the right side panel of the controller

Table 6-2 Function description of the controller side panel interfaces

No.	Interface	Function
1	DC power input	DC 48V DC power input, used to supply power to the controller.
2	Robot power output	Robot power input, used to supply power to the robot body.
3	CAN FD	Robot communication input, used for communication between the controller and the robot body.
4	PE	Controller protective grounding screw hole, used to protect the safety of equipment and personnel.
5	2.4G/5G antenna	SMA_J interface, used to transmit wireless signals.

6.4 Wiring Instructions

6.4.1 Robot Cable Connection

First insert the CAN connector of the robot body cable into the CAN FD interface of the controller, then insert the power input connector of the robot body cable into the robot power output interface of the controller and tighten the screws on both sides. The specific operation is shown in Figure 6-5.

Figure 6-5 Robot body cable connected to the controller

6.4.2 Control Handle Connection

Connect the control handle cable to the control handle interface of the controller as shown in Figure 6-6.

Figure 6-6 Control handle connected to the controller

6.4.3 PE Grounding Connection

Insert the PE grounding wire into the PE grounding hole of the controller as shown in Figure 6-7, and tighten the PE grounding wire with an M2.5x5mm brass screw.

Figure 6-7 Connecting the grounding screw

6.4.4 DC Power Connection

The rated input voltage of the controller is DC 48V. The DC power cable must be connected to the DC power input interface of the controller while the power is off, and the screws on both sides must be tightened. The specific operation is shown in Figure 6-8.

Figure 6-8 DC power connected to the controller

6.5 Installation Instructions

The controller supports two installation methods: standard mounting and vertical mounting. In standard mounting the controller rests on its bottom face; in vertical mounting it stands on its rear face. During installation, a clearance of at least 50mm must be reserved on the mounting side to ensure that the controller has sufficient heat dissipation space.

6.5.1 Standard Mounting (Brackets at the Bottom)

Install the standard mounting brackets to the bottoms of both sides of the controller, then place the controller on a flat and stable mounting surface and fix it with 4 M3*8mm screws, as shown in Figure 6-9. Its mechanical dimensions are shown in Figure 6-10.

Figure 6-9 Standard mounting

Figure 6-10 Standard mounting dimensions, unit: mm

6.5.2 Vertical Mounting (Brackets at the Rear)

Install the vertical mounting brackets to the rear of both sides of the controller, then place the controller on a flat and stable mounting surface and fix it with 4 M3*8mm screws, as shown in Figure 6-11. Its mechanical dimensions are shown in Figure 6-12.

Figure 6-11 Vertical mounting

Figure 6-12 Vertical mounting dimensions, unit: mm

7 Electrical Interfaces

7.1 Introduction

Electrical interfaces are integrated on the front panel of the controller, including safety I/O, general I/O, remote power on/off, external power supply interface, RS485, etc. The definition of the electrical integrated interface is shown in Figure 7-1.

Figure 7-1 Definition of the electrical integrated interface

Safety I/O consist of two parts: safety input SI and safety output SO. Safety I/O are designed with dual-circuit safety channels, which ensures that safety functions are not lost when a single circuit fails. Any safety device must be installed in accordance with the safety instructions and may only be used after a comprehensive risk assessment. Safety I/O are located on the X1 and X2 terminal blocks of the integrated interface on the controller front panel.

General I/O consist of two parts: digital I/O and analog I/O. Digital I/O can input or output logic levels, and analog I/O can input or output analog signals. Users can refer to the general I/O interface examples to customize general I/O functions to meet the usage requirements of different scenarios. General I/O are located on the X3 and X4 terminal blocks of the integrated interface on the controller front panel.

Remote power on/off means remotely powering the controller on or off through an external power supply. The external power supply interface provides a DC 24V power output to supply power to low-power electrical equipment. RS485 is the interface through which the controller establishes communication with external devices.

7.2 Electrical Warnings and Cautions

The following warnings and cautions must be observed when designing and installing robot applications and the AUBO-CB-S controller. These warnings and cautions must also be observed when performing maintenance work.

Sign

Description

Never connect safety signals to non-safety PLCs with an inappropriate safety level. Failure to comply with this warning may result in serious injury or even death due to the failure of a safety stop function. The controller must be de-energized when wiring the controller electrical interfaces. All safety signals have dual-circuit safety channels (redundant design). Keeping the two channels independent ensures that safety functions are not lost in the event of a single fault. Ensure that all equipment that must be kept away from water is kept dry. If water enters the product, cut off the power supply and contact your supplier. Use only the original cables of this robot. Do not use the robot in applications where those cables need to be bent. If longer cables or flexible cables are required, contact your supplier. All GND connectors mentioned in this document are only suitable for power supply and signal transmission. For protective grounding (PE), use the screw connector marked with the grounding symbol in the controller. The diameter of the grounding cable must be at least 2.5mm². The controller must be de-energized when installing interface cables to the controller's I/O. Interference signals higher than the levels specified in the IEC standards will cause abnormal behavior of the robot. Extremely high signal levels or excessive exposure 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. is not responsible for any loss caused by EMC problems. The length of the I/O cables used to connect the controller to other machinery and plant equipment shall not exceed 30 meters, unless extension testing shows that it is feasible.

7.3 External Power Supply Interface

The controller has a built-in DC 24V DC power supply with a maximum output current of 2A, which only supports power supply for low-power devices (if high-power devices are used, please use an additional power supply for external power). The external power supply wiring is shown in Figure 7-2.

Figure 7-2 Schematic diagram of DC power supply

7.4 Safety I/O Interfaces

7.4.1 Safety Tips

Sign	Description
	1. Do not connect safety signals to non-safety PLCs with an inappropriate safety level. 2. Be sure to separate safety interface signals from ordinary I/O interface signals. 3. Before using the robot, be sure to check the safety functions; the safety functions must be tested periodically.

7.4.2 Safety I/O Function Definition

Sign	Description
	1. Users can customize safety functions through the teaching software; for details, please refer to the software user manual. 2. Safety functions must not be used repeatedly. Any accident caused by repeated use of safety functions shall be borne by the user. 3. Before using safety functions, be sure to check them; safety functions must be tested periodically.

Table 7-1 Safety I/O function definition

Input/Output	I/O Name		Function Definition
Input/SI	SI00	SI10	See the software user manual for details
	SI01	SI11
	SI02	SI12
	SI03	SI13
Output/SO	SO00	SO10
	SO01	SO11
	SO02	SO12
	SO03	SO13

7.4.3 External Emergency Stop Input

In addition to the emergency stop button on the control handle, the controller also supports the use of one or more additional emergency stop buttons. Users can connect the emergency stop button by referring to the example in Figure 7-3. Before using this function, users need to configure the function of the corresponding safety input SI interface as "Emergency Stop" in the teaching software.

Figure 7-3 Schematic diagram of external emergency stop input connection.

7.4.4 System Emergency Stop Output

Through this interface, users can output an emergency stop signal to the outside when the robot enters the emergency stop state. Users can connect an external alarm lamp to the system emergency stop output interface by referring to the example in Figure 7-4. In this configuration, when the robot enters the emergency stop state, the system emergency stop signal is output to the outside, and the external alarm lamp lights up. Before using this function, users need to configure the function of the corresponding SO interface as "High During Internal Emergency Stop/System Emergency Stop" in the teaching software.

Figure 7-4 Schematic diagram of system emergency stop output connection

Sign	Description
	This function has a wide range of uses; whenever it is used, users need to carry out a complete risk assessment.

7.4.5 Robot Motion Output

Through this interface, users can output a robot motion signal to the outside when the robot is moving normally. Users can connect an external indicator lamp to the robot motion output interface by referring to the example below, as shown in the following figure. Before using this function, users need to configure the function of the corresponding SO interface as "Robot Moving" in the teaching software.

Figure 7-5 Schematic diagram of robot motion output connection

Sign	Description
	This function has a wide range of uses; whenever it is used, users need to carry out a complete risk assessment.

7.4.6 Remote Power On/Off Control

The remote power on/off control I/O interface is shown in Figure 7-6. The remote power on/off interface can be used to power the controller on or off.

Figure 7-6 Schematic diagram of the remote power on/off interface

The remote power on/off function of the controller requires the user to provide an external DC 24V power supply separately. Connect the positive and negative poles of the DC 24V power supply to the RM+ and RM- interfaces respectively. The wiring diagram for remote power on/off is shown in Figure 7-7.

Figure 7-7 Wiring diagram of remote power on/off control

When the controller is powered off, the remote switch being closed for more than 100ms powers the controller on; when the controller is powered on, the remote switch being closed for more than 100ms powers the controller off.

7.4.7 RS485 Interface

The RS485 interface is shown in Figure 7-8 and can be used for Modbus RTU communication.

Figure 7-8 Schematic diagram of the RS485 interface

### 7.5 General I/O Interfaces The controller front panel has 8 general digital input interfaces, 8 general digital output interfaces, 2 analog voltage input interfaces, and 2 analog voltage output interfaces, with an electrical error of ±1%.

Sign	Description
	When connecting external devices, all external devices must share a common ground with the controller I/O interfaces.

7.5.1 Digital I/O Interfaces

The controller has 8 general digital input terminals for users (hereinafter referred to as "DI terminals"). They all work in NPN mode, that is, when the DI terminal is connected to ground, the action is triggered; when the DI terminal is disconnected from ground, the action is not triggered.

The DI terminal can read the action signals of switch buttons, sensors, PLCs, or other AUBO robots.

The controller has 8 general digital output terminals for users (hereinafter referred to as "DO terminals"). They all work in NPN form. The working process of the DO terminal is shown in the figure below: when logic "1" is given, the DO terminal is connected to GND; when logic "0" is given, the DO terminal is disconnected from GND.

Figure 7-9 Schematic diagram of the NPN working mode of the DO terminal

The DO terminal can be directly connected to a load, or communicate with a PLC or other robots.

Users can control the above digital IOs through the teaching software.

Table 7-2 General digital I/O interfaces

Input	DI0	DI1	DI2	DI3	DI4	DI5	DI6	DI7
Output	DO0	DO1	DO2	DO3	DO4	DO5	DO6	DO7

Table 7-3 Electrical parameter specifications of general digital input/output interfaces

DI/DO	Parameter	Specification
DI	Input signal form	NPN sinking input
	Input mode	Input voltage and current
	Electrical specification	5mA / DC 24V
DO	Output signal form	NPN sinking output
	Output mode	Output voltage and current
	Electrical specification	300mA / DC 24V

Table 7-4 Electrical parameters of user-available general digital input terminals

Parameter	Minimum	Maximum
Input voltage of a single DI terminal	0V	24V

Examples

Some commonly used wiring examples are listed below.

• Connecting a button switch to a DI terminal As shown in the figure below, the DI terminal can be connected to ground (GND) through a normally open button. When the button is pressed, the DI terminal is connected to GND and the action is triggered. When the button is not pressed, the DI terminal is disconnected from GND and the action is not triggered. This is the simplest wiring example.

Figure 7-10 Schematic diagram of connecting a button switch to a DI terminal

• Connecting a two-terminal sensor to a DI terminal As shown in the figure below, a sensor is connected between the DI terminal and GND. If the voltage difference between the OUT terminal and the GND terminal is very small when the sensor is working, the action can also be triggered; when the sensor is not working, the circuit is disconnected and the action is not triggered.

Figure 7-11 Schematic diagram of connecting a two-terminal sensor to a DI terminal

• Connecting a load to a DO terminal The wiring method for connecting an external load to the DO interface is shown in the figure below.

Figure 7-12 Schematic diagram of connecting a load to a DO terminal

7.5.2 Analog I/O Interfaces

The controller front panel has 2 analog voltage input interfaces, denoted as VI terminals, and 2 analog voltage output interfaces, denoted as VO, as shown in the figure below.

Figure 7-13 Schematic diagram of analog I/O interfaces

Table 7-5 Definition of general analog input/output interfaces

Input	VI1	Analog voltage input	VI2	Analog voltage input
Output	VO1	Analog voltage output	VO2	Analog voltage output

Table 7-6 Electrical parameter specifications of general analog input/output interfaces

Type	Voltage
Input	0~10V
Output	0~10V

Table 7-7 Electrical parameters of the VI terminals

Parameter	Minimum	Maximum	Unit
Input voltage	0	+10	V
Input resistance	100K		Ω

Table 7-8 Electrical parameters of the VO terminals

Parameter	Minimum	Maximum	Unit
Output voltage of a single VO terminal	0	+10	V

Examples

• Wiring method for analog voltage input For analog voltage input, refer to the example of external sensor wiring shown in Figure 7-14.

Figure 7-14 Connecting a sensor to analog voltage input

• Wiring method for analog voltage output For analog voltage output, refer to the wiring method shown in Figure 7-15.

Figure 7-15 Connecting a drive device to analog voltage output

8 Using the Control Handle

8.1 Introduction

The control handle enables quick operation of the robot system. The control handle function can be configured to be disabled/enabled in the teaching software, and it is enabled by default at the factory. Magnets are provided on the back of the control handle for easy attachment. Its structure is shown in Figure 8-1 below. The function description of each button/indicator light is given in Table 8-1.

Figure 8-1 Schematic diagram of the control handle

Table 8-1 Function description of the control handle buttons

No.	Name	Function
1	Emergency stop button	Pressing it enables the emergency stop of the robot. To return to normal mode, rotate the button in the direction indicated by the arrow on the button
2	Power indicator light	Indicates the controller power on/off status: Off: the controller is not powered on Blinking: the controller is powered on and the robot arm is not powered Steady on: the controller is powered on and the robot arm is powered
3	Lock indicator light	Indicates the handle lock status: Steady on: the handle is locked and other buttons are invalid except the emergency stop button Off: the handle is not locked and other buttons are valid
4	Power on button	Powers the controller on or off
5	Enable button	Controls power-on, power-off, and enabling of the robot arm
6	Start/stop button	Controls program start/stop of the robot arm, and pause/resume during operation; used for quick operations without the teaching software during work, and for commissioning checks during deployment or maintenance
7	Custom button	The function of this button can be customized in the teaching software
8	Handle lock button	Used to lock and unlock the control handle, except for the emergency stop button

Sign	Description
	Pressing the [Emergency Stop Button] triggers a Category 1 stop. For a description of stop types, please refer to Appendix.

8.2 Operation of the Control Handle

8.2.1 Emergency Stop

• Emergency stop In an emergency, pressing the [Emergency Stop Button] will immediately stop all movements of the robot to protect the personal safety of operators; at this time, the robot is in emergency stop mode.

• Releasing the emergency stop After the fault is eliminated, rotate the [Emergency Stop Button] in the direction indicated by the arrow on it to release the emergency stop state, and the robot returns to normal mode.

8.2.2 Power On/Off

• Powering on the controller Long press the [Power On Button] for 2s and then release it. The buzzer beeps once, and the controller enters the "power-on process". Wait about 20s until the buzzer beeps once again, and the [Power Indicator Light] starts blinking; the controller has finished powering on.

• Powering off the controller Long press the [Power On Button] for 2s and then release it. The [Power Indicator Light] goes off and the buzzer beeps twice to indicate that power-off is complete.

• Forced power off of the controller In any state, long press the [Power On Button] for 10s to perform a forced power off. The [Power Indicator Light] goes off and the buzzer beeps twice to indicate that power-off is complete. (Note: forced power off can only be used to shut down the system in abnormal states.)

8.2.3 Control of the Robot Arm

This function is only effective when the system is in linked mode.

• Powering on the robot arm When the robot arm is powered off, short press the [Enable Button]. The buzzer beeps once and the robot arm starts powering on. Wait about 20s until the buzzer beeps once again; at this time, the [Power Indicator Light] changes from blinking to steady on, and the robot arm has finished powering on.

• Enabling the robot arm When the robot arm is powered on but not enabled, short press the [Enable Button]. The robot arm vibrates, the six joints emit clicking sounds in sequence and release the brake system, and the robot enters an operable state.

• Powering off the robot arm When the robot arm is powered on, long press the [Enable Button] for 2s and then release it. The robot arm is disabled and powered off, the [Power Indicator Light] changes from steady on to blinking, and the buzzer beeps twice to indicate that power-off is complete.

8.2.4 Program Control

• Running a program When no program is running (just after power-on or after the running program has 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 any action.

• Pausing/resuming a program When a program is running, short press the [Start/Stop Button] to pause/resume the program.

• Stopping a program When a program is running, long press the [Start/Stop Button] for 2s and then release it to stop the program (it cannot be resumed after stopping; the program can only be restarted).

8.2.5 Handle Lock/Unlock

• Locking the handle When the handle is not locked, long press the [Handle Lock Button] for 2s and then release it. The buzzer beeps once, the [Lock Indicator Light] of the handle stays on, the control handle enters the locked state, and all buttons except the emergency stop button are unavailable.

• Unlocking the handle When the handle is locked, long press the [Handle Lock Button] for 2s and then release it. The buzzer beeps twice, the [Lock Indicator Light] of the handle goes off, the control handle is unlocked, and other buttons become available again.

8.2.6 Custom Functions

• Setting custom functions Users can configure the function of the [Custom Button] in the teaching software. The configurable functions are shown in Table 8-2; for specific operations, please refer to the user manual of the teaching software.

Table 8-2 Custom button function table

Button	Function Definition	Operation
Custom button	Return to origin	Long press
	Drag teaching	Long press
	Record feature point	Short press
	Trajectory playback	Short press

9 Appendix

9.1 Terminology

Category 0 stop: Uncontrolled stop, in which the power is cut off immediately, the brakes of each joint are engaged without deceleration control, and the robot may deviate from the programmed path. It is only applicable to extreme situations such as exceeding safety-rated limits or failures in the safety-rated part of the control system. For the definition of stop categories and the requirement to immediately cut off power, please refer to IEC 60204-1:2016 (9.2.2 Stop categories); for the design requirements of the emergency stop function, please refer to EN ISO 13850:2015.

Category 1 stop: Controlled stop with power removed after stopping, in which the robot stops along the programmed path and the power is cut off after the stop is completed, balancing safety and path stability. For the definition of stop categories and the requirement to cut off power after stopping, please refer to IEC 60204-1:2016 (9.2.2 Stop categories); for the design requirements of the emergency stop function, please refer to EN ISO 13850:2015.

Category 2 stop: Controlled stop with power maintained, in which the robot keeps powered after stopping, the safety-rated control system maintains the stop position, and operation can be resumed quickly. For the definition of stop categories and the requirement to continuously maintain power, please refer to IEC 60204-1:2016 (9.2.2 Stop categories). Category 2 stop shall not be used as an emergency stop, so EN ISO 13850:2015 does not apply.

9.2 Technical Specifications

Model	AUBO-CB-S
Dimensions (L*W*H)	175mm x 132mm x 44mm
Weight	0.85kg
IP rating	IP 20
Power input	DC-48V
I/O ports	Digital input	General IO x 8, Safety IO x 4
	Digital output	General IO x 8, Safety IO x 4
	Analog input	2
	Analog output	2
	RS485	1 (UT-890A device recommended)
	Remote power on/off	1
I/O power supply (internal)	DC 24V	2A
Communication interfaces	Gigabit Ethernet port (RJ45)	1
	USB2.0	2
Other interfaces	Control handle	1
	SMA-J interface	1 (2.4G/5G antenna)
Power on/off button	With indicator light	Blue
Indicator lights	Power indicator light	Green
	Wireless indicator light	Yellow
Operating temperature	0~50ºC
Transportation and storage temperature	-20℃~60℃
Humidity	90% relative humidity (non-condensing)
Cooling method	Passive cooling
Cable length	DC power cable		1m
Mounting method	Standard/vertical mounting

Model	AUBO SMARTSTICK
Dimensions (L*W*H)	132mm x 58mm x 45mm (including the thickness of the emergency stop button)
Weight	0.15kg
IP rating	IP 54
Button functions	Emergency stop button	1
	Power on button	1
	Enable button	1
	Start/stop button	1
	Custom button	1
	Handle lock button	1
Indicator lights	Power indicator light	Green
	Lock indicator light	Red
Operating temperature	0~50ºC
Transportation and storage temperature	-20℃~60℃
Humidity	90% relative humidity (non-condensing)
Cable length	2.5m
Mounting method	Magnetic attachment

9.3 Revision History

Version/Date	Description
v0.0.3//20241231	Released trial version v0.0.3. 1. [7.4.6] Revised the description of remote power on/off of the controller.
v0.0.4//20260720	1. Released trial version v0.0.4. 2. Unified the manual structure, safety instructions, chapter naming, and warning signs.
v0.0.5//20260922	1. Released trial version v0.0.5. 2. Added the description of stop types in the appendix.