AUBO-C Series Robot Arm User Manual
1 About This Manual
1.1 Version Information
| Item | Content |
|---|---|
| Manual name | AUBO-C Series Robot Arm User Manual |
| Manual version | v1.0.1* |
| Release date | 2026-08-27 |
| Applicable products | AUBO-C3 robot arm, AUBO-C5 robot arm |
| Applicable controllers | The AUBO-C series robot arm can be used with the AUBO-CB-C and AUBO-CB-iS controllers. |
The User Manual will be checked and revised regularly, and updated content will be released with new versions. The content or information in this manual is subject to change without prior notice.
Before installing and using the product, read this manual completely and keep it properly for reading and reference at any time.
All figures in this manual are for illustrative purposes only. The actual product received shall prevail.
1.2 Copyright and Disclaimer
This manual is the exclusive property of AUBO (Beijing) Intelligent Technology Co., Ltd. It may not be photocopied, reproduced in whole or in part, or converted into any other form without the written permission of AUBO (Beijing) Intelligent Technology Co., Ltd.
AUBO (Beijing) Intelligent Technology Co., Ltd. is not responsible for any errors or omissions that may appear in this manual, or for any accidental or indirect damages resulting 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 instructions for installation, commissioning, pre-operation inspection, maintenance, repair, handling, storage, and disposal of AUBO-C series robot arms.
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/region where the product is used.
1.4 Target Audience
This manual is intended for the following professionals:
- Robot arm installation personnel
- Commissioning and operation personnel
- Maintenance and repair personnel
- Safety management personnel
1.5 Operation Prerequisites
Personnel who read and use this manual shall meet the following requirements:
- Have received relevant training provided by AUBO or an AUBO-authorized distributor;
- Have the basic knowledge required for 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.
1.6 Related Documents
When using this manual, it is recommended to also read the following documents:
- AUBO-CB-C Series Controller User Manual
- AUBO-CB-iS Series Controller User Manual
- AuboStudio User Manual
1.7 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 describes the basic safety principles that shall be followed when operating the robot arm or robotic system. Integrators, users, and operators must carefully read this chapter and strictly follow the instructions marked with safety warning signs.
Due to the complexity and potential hazards of robotic systems, this manual cannot list all possible hazardous scenarios. Users and integrators shall conduct risk 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 describe important safety information. When these signs appear, read and follow the corresponding instructions.
| 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
When operating the robot arm and its related equipment, the following basic safety rules must always be followed. This section lists general safety requirements. Safety instructions for specific scenarios are described in the relevant chapters of this manual.
Be sure to install the robot and all electrical equipment in accordance with the requirements and specifications in this manual.
Before the first use and before putting the robot into production, initial tests and inspections shall be performed on the robot and its protective system.
Before starting the robot and system for the first time, check whether the robot and system are complete, safe to operate, and free of any damage. During this inspection, compliance with applicable national or regional work safety regulations must be observed, and all safety functions must be tested.
The user must check and ensure that all safety parameters and user programs are correct, and that all safety functions are working properly. Each safety function shall be checked by personnel qualified to operate the robot. The robot can be started only after comprehensive and careful safety tests have been passed and the required safety level has been reached.
The robot shall be installed and commissioned by qualified professionals in accordance with installation standards.
After the robot is installed and the installation is completed, a comprehensive risk assessment shall be conducted again and documented.
Safety parameters shall be set and changed by authorized personnel. Passwords or isolation measures shall be used to prevent unauthorized personnel from changing or setting safety parameters. After safety parameters are modified, the relevant safety functions shall be analyzed.
In the event of an accident or abnormal operation, the emergency stop switch can be used to stop robot movement.
The robot arm has a collision detection function. When the robot is powered on and the external force exceeds the normal force range set by the user for safety, the robot stops automatically to prevent collision injury to the robot or the operator. This function is specially designed for human-robot collaborative safety of AUBO-C series robot arms, but it requires the robotic system to be within its normal operating range and to use AUBO series controllers. If the user develops a controller independently, the robot will not have the above function. The user shall bear the hazardous consequences arising therefrom.
Connecting different machines together may increase hazards or create new hazards. Always perform a comprehensive risk assessment of the entire installation. When different safety and emergency stop performance levels are required, always select the highest performance level.
AUBO (Beijing) Intelligent Technology Co., Ltd. is not liable for damage to the robot or personal injury caused by improper operation of the robot.
Prohibited Items:
| Sign | Description |
|---|---|
| 1. It is strictly prohibited to start the robot arm before completing safety inspection and risk assessment. The following inspections must be completed before the first start-up: - System integrity inspection (mechanical installation, electrical connection, protective grounding) - All safety function tests - Verification of safety parameter correctness - Review of risk assessment documents 2. It is strictly prohibited to power on the robot arm without connecting the protective grounding wire (PE wire). Poor grounding may cause electric shock, equipment damage, or electromagnetic interference. 3. It is strictly prohibited to use the controller in humid environments or environments with conductive dust, as this may cause injury or death. 4. It is strictly prohibited to frequently switch the power supply system on and off manually. The robot arm joint modules are equipped with brakes to maintain the robot pose when power is off. Do not frequently switch the power supply system on and off manually. It is recommended that the interval between each power-on and power-off be greater than 10s. 5. When the robot arm is running, it is strictly prohibited to touch the joint and motor surfaces. Do not operate or touch the robot while it is working or immediately after it has stopped. Turn off the power supply and wait for one hour before the robot cools down. 6. It is strictly prohibited to modify safety parameters or bypass safety functions without authorization. |
Operation Specifications:
| Sign | Description |
|---|---|
| 1. Ensure that the robot arm and end tool are securely installed. Insecure installation may cause equipment to fall or reduce operation accuracy. 2. Ensure that the robot arm has sufficient workspace, free of obstacles, sharp corners, or pinch points. The operator's head and face shall be outside the robot arm's reachable range. 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. If the robot arm is damaged, do not continue using it. Stop the robot immediately and contact AUBO or an authorized service provider. 6. Robot arms with heavy payloads (≥20 kg) must not be handled manually. Compliant dedicated hoisting equipment must be used. 7. A safety assessment must be performed after each installation is completed to confirm that all safety functions are normal. |
| 1. Check insulation and protective measures before transporting the robot arm, and handle it carefully during transportation to avoid bumps or collisions. 2. Do not expose the robot arm to strong magnetic fields for a long time. Strong magnetic fields may damage the equipment. 3. Do not modify the robot arm without authorization. Any unauthorized modification will void the warranty, and AUBO will not assume any liability arising therefrom. |
2.4 Personnel Safety
When operating the robotic system, personnel safety shall be prioritized. Users and integrators shall take at least the following measures:
- Ensure that all relevant personnel have received official training from AUBO or an AUBO-authorized distributor and fully understand safe and standard operating procedures. For training inquiries, contact support@aubo-robotics.cn.
- Operators shall tie back their hair, avoid wearing loose clothing, and not wear jewelry. When the robot is stationary, it may be waiting to start and shall be regarded as continuously operating; approaching it at will is strictly prohibited.
- In emergencies such as when a person is pinched or trapped, the robot arm can be forced to move by pushing or pulling it firmly. Manually moving the robot arm without power is limited to emergency situations and may damage the robot arm joints.
- Personnel shall not place their head, face, neck, fingers, or other body parts in areas where they may be struck, pinched, or entangled.
2.5 Responsibilities and Specifications
The robot arm is part of a complete robotic system and does not constitute a complete machine by itself. Therefore, this manual does not cover the complete design, installation, and operation solution for a complete robotic machine, nor does it list all risk conditions that may affect the safety of peripheral equipment in the integrated system. The installation safety performance of a complete robotic device depends on the design and construction method of the complete integration solution. The equipment integrator shall conduct risk assessment for the entire design and installation process of the integrated system in accordance with applicable local laws, regulations, safety specifications, and industry standards.
All safety information contained in this manual shall not be regarded as a guarantee by AUBO (Beijing) Intelligent Technology Co., Ltd. Even if operators strictly follow all safety instructions in this manual, potential risks of personal injury or equipment damage still exist.
AUBO (Beijing) Intelligent Technology Co., Ltd. continuously optimizes product performance and reliability and reserves the right to upgrade products. Product updates will not be notified separately. We have made every effort to ensure that the content of this manual is accurate and reliable, but assume no liability for omissions or errors in the document.
2.5.1 Integrator Responsibilities
The integrator assumes the following key responsibilities:
- Conducting a comprehensive risk assessment of the complete robotic system
- Ensuring that the design, installation, and commissioning of the entire system meet safety requirements
- Providing necessary training to users and relevant operators
- Developing complete system operation specifications and emergency plans
- Establishing and maintaining appropriate safety protection measures
- Using appropriate methods at the final installation to eliminate hazards or minimize all hazards to an acceptable level
- Communicating residual risks to the end user
- Marking integrator information on the robot
- Archiving all relevant technical documents and risk assessment reports
2.5.2 Reference Standards
The integrator may refer to the following international standards when performing 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 | Robotics and robotic devices — Safety requirements — Part 2: Industrial robot systems and robot applications | Safety requirements for industrial robot integration |
| RIA TR R15.306-2014 | Technical Report for Industrial Robots and Robot Systems — Safety Requirements — Task-based Risk Assessment Methodology | Task-based risk assessment guide |
| ANSI B11.0-2010 | Safety of Machinery — General Requirements and Risk Assessment | U.S. machinery safety standard |
For guidance on applicable standards and regulations, please visit the AUBO website at www.aubo-robotics.cn or consult local regulatory authorities.
2.6 Hazard Identification
Risk assessment shall consider potential hazards during normal use, commissioning, maintenance, cleaning, abnormal recovery, and foreseeable misuse. When collaborative robot arms are used without peripheral safety guards, the following potential hazards may be involved:
- Risk of puncture or cut injuries caused by sharp end-effectors or tool connectors.
- Risk of exposure when handling toxic, corrosive, or other harmful substances.
- Risk of operators' fingers or limbs being pinched by robot arm joints or the base.
- Risk of collision with personnel during robot arm movement.
- Risk of objects falling due to improper fixation of end tools.
- Hazard caused by impact between the robot payload and a solid surface. The integrator must assess such hazards and their associated risk levels through risk assessment, and determine and implement corresponding measures to reduce risks to an acceptable level. Please note that other significant hazards may also exist for specific robotic equipment.
By combining the inherent safety design of AUBO robots with the safety specifications and risk assessments developed by the integrator and end user, the risks associated with collaborative operation of the robot arm can be reduced to a reasonably practicable range. This document is intended to communicate residual risks that exist before robot installation to the integrator and end user. If the integrator determines through risk assessment that a corresponding application scenario contains hazards that may pose an 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. Use of the robot is prohibited before necessary risk reduction measures are completed.
If the robot is deployed for non-collaborative operation (for example, equipped with hazardous tools), the risk assessment result may require the integrator to add safety devices (such as safety start devices) during program development to ensure the safety of personnel and equipment operation.
2.7 Emergency Handling
2.7.1 Emergency Stop Device
Pressing the emergency stop button will immediately stop all movement of the robot arm. The robot arm body is not equipped with a button-type emergency stop device, but button-type emergency stop devices are provided on the controller, wired teach pendant, control handle, and other devices. For details, refer to the user manual of the compatible controller or accessory.
| Sign | Description |
|---|---|
| 1. Emergency stop shall not be used as a regular risk reduction measure and shall be regarded as a secondary protective means. 2. If multiple emergency stop buttons must be connected, they must be included in the risk assessment of the robot application. 3. If the end tool poses a potential threat, it must be integrated into the system's emergency stop circuit. Failure to comply with this warning may result in death, serious personal injury, or significant property damage. 4. Before releasing the emergency stop, confirm that the hazard has been completely eliminated. |
2.7.2 Emergency Joint Movement
In an emergency, the robot arm joints can be moved in the following way:
- Forced dragging: Push or pull the robot arm joints firmly to force the joints to move.
| Sign | Description |
|---|---|
| Forcibly moving the robot arm manually is limited to emergency situations and may damage the robot arm joints. |
2.7.3 Over-force Safety Protection of Robot Arm
The robot arm is equipped with an over-force safety protection function. When the robot arm is powered on and stationary, if an operator or another object accidentally collides with the robot arm and the collision force exceeds the safety threshold, the robot arm will move passively in the direction of the collision force. This function can reduce injuries to operators, other objects, and the robot arm when an operator or another object collides with the robot arm.
| Sign | Description |
|---|---|
| This function can reduce collision injuries. A risk assessment is required when it is used for other purposes. |
2.7.4 Collision Protection
The robot arm is equipped with a collision protection function. During robot arm operation, if an operator or another object accidentally collides with the robot arm and the collision force exceeds the safety threshold, the robot arm enters a Category 2 stop state and simultaneously enters drag teaching mode. At this time, the robot arm can be dragged to a relatively safe position, and then the teach pendant can be operated to allow the robot arm to continue running. This function can reduce injuries to personnel, other objects, and the robot arm when an operator or another object collides with the robot arm. It also saves the time required to restart the program and improves work efficiency. The safety threshold of the collision force can be changed by setting the collision level.
3 Robot Arm Description
3.1 About the AUBO-C Series
The AUBO-C series robot arms are commercial-grade intelligent lightweight 6-degree-of-freedom modular collaborative robots developed by AUBO (Beijing) Intelligent Technology Co., Ltd., designed to meet needs in service, retail, and other fields.
| Sign | Description |
|---|---|
| The AUBO-C series robot arm can be used with the AUBO-CB-C and AUBO-CB-iS controllers. |
The AUBO-C series robot arm mimics a human arm and has six rotating joints, each representing one degree of freedom. As shown in Figure 3-2, the robot arm joints include the base (Joint 1), shoulder (Joint 2), elbow (Joint 3), wrist 1 (Joint 4), wrist 2 (Joint 5), and wrist 3 (Joint 6). The base is used to connect the robot arm body to the base support, and the tool end is used to connect the robot arm to a tool (the tool end is the end of wrist 3). Arm tubes are used between the shoulder and elbow and between the elbow and wrist. Through the teaching software interface or drag teaching, users can control the rotation of each joint so that the end tool moves to different poses.
3.2 Technical Specifications
3.2.1 AUBO-C3
| Robot arm type | AUBO-C3 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight | 16kg |
| Payload | 3kg |
| Maximum working radius | 625mm |
| Joint range | joint1/joint6: -360° ~ +360° joint2/joint4/joint5: -175° ~ +175° joint3: -156° ~ +156° |
| Maximum joint speed | joint1/joint2/joint3/joint4/joint5/joint6: 185°/s |
| Tool speed | ≤ 1.9m/s |
| Repeatability | ± 0.05mm |
| Operating ambient temperature range | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) |
| IP rating | IP54 |
| Average power | Approx. 150W when running typical programs |
| Peak power | 600W |
| Mounting surface diameter | ⌀140mm |
3.2.2 AUBO-C5
| Robot arm type | AUBO-C5 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight | 24kg |
| Payload | 5kg |
| Maximum working radius | 886.5mm |
| Joint range | joint1/joint6: -360° ~ +360° joint2/joint4/joint5: -175° ~ +175° joint3: -162° ~ +162° |
| Maximum joint speed | joint1/joint2/joint3/joint4/joint5/joint6: 185°/s |
| Tool speed | ≤ 2.8m/s |
| Repeatability | ± 0.05mm |
| Operating ambient temperature range | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) |
| IP rating | IP54 |
| Average power | Approx. 200W when running typical programs |
| Peak power | 600W |
| Mounting surface diameter | ⌀170mm |
3.3 Performance Parameters
3.3.1 Load Offset
The following figures show the load offset curves for the robot arm wrist. The vertical axis p indicates the payload, and the horizontal axis d indicates the distance from the center of the tool end flange to the center of the tool.
| Sign | Description |
|---|---|
| 1. Load conditions shall be within the range shown in the charts. 2. The load shown in the charts is the maximum load capacity of the corresponding robot arm model. Under no circumstances shall the maximum weight shown in the charts be exceeded. 3. Exceeding the allowable value may damage internal machine components. |
3.4 Robot Arm Workspace
3.4.1 Mechanical Dimensions
3.4.2 Movement Range of Body P Point
3.4.3 Mechanical Dimensions of End Flange
The end flanges used by different models of AUBO-C series robot arms are slightly different. The end flange has four M6 threaded holes and one Ф 6mm positioning hole.
3.4.4 Top View of Base
4 Installation and Commissioning
4.1 Important Safety Instructions
4.1.1 Environmental Conditions
The robot arm shall be installed in an environment that meets the following conditions:
- No corrosive gases or liquids
- No oil mist
- No smoke
- No dust or metal powder
- No mechanical impact or vibration
- No electromagnetic noise
- No radioactive materials
- Low humidity
- No flammable materials
- Ambient temperature: 0℃ ~ 45℃
- Avoid direct sunlight (avoid outdoor use)
4.1.2 Safety Requirements
The installation foundation shall meet the following mechanical load-bearing requirements:
- Load-bearing capacity: Install the robot on a sturdy surface that is sufficient to withstand at least 10 times the full torsional force of the base joint and at least 5 times the weight of the robot arm.
- Stability: The mounting surface shall be free of vibration, and there shall be no looseness after installation.
Instructions for installing additional devices:
If non-AUBO original supporting components (such as cables) are added to the robot, the user shall ensure that such components do not interfere with or impair the safety functions of the equipment.
Controller safety instructions:
- The controller shall be placed horizontally on the floor.
- A clearance of ≥ 50 mm shall be reserved on each side of the controller to ensure ventilation and heat dissipation.
- The teach pendant can be hung on the controller. Ensure that cables do not trip personnel.
| Sign | Description |
|---|---|
| 1. A damp controller can cause injury or death. 2. Pay close attention to environments with conductive dust. |
4.2 Installing the Robot Arm
The installation of the robot arm consists of the following main steps:
- Determine the workspace: Plan a safe work area according to the movement range of the robot arm.
- Install the robot arm body: Secure the robot arm to the base or workbench surface.
- Install the end tool: Install the end-effector on the robot arm flange.
- Connect the controller: Complete the electrical connections according to the controller manual.
- Power-on commissioning: After power-on, complete initial configuration through the teaching software.
After each installation of the robot, a safety assessment shall be performed, and the relevant requirements in the safety chapter of this manual shall be strictly followed.
4.2.1 Base (Optional)
The AUBO robot base is an optional component used to support and secure the robot arm. Figure 4-1 shows a schematic diagram of the base style. The actual equipment shall prevail. The base is equipped with 4 anchor bolts and 4 universal wheels for convenient fixation and movement. When fixing the robot arm, rotate the upper part of the anchor bolt to lower the anchor bolt. When moving the robot arm, use a wrench to rotate the nut at the lower part of the anchor bolt and raise the anchor bolt so that the universal wheel is released from the ground.
4.2.2 Installing the Robot Arm
The AUBO-C series robot arm has a 360° installation position and pose self-adaptation function and supports base mounting, ceiling mounting, wall mounting, and multiple installation methods, as shown in Figure 4-2. After the robot arm is installed, the teaching software will automatically identify and adjust the working parameters of the robot arm after power-on.
When installing on a base, it is recommended to use 4 bolts for fixation and to pre-install positioning pins in 2 holes with slightly smaller diameters to improve installation accuracy. For mechanical dimensions, refer to 3.4.4 Top View of Base.
| Sign | Description |
|---|---|
| 1. Ensure that the robot arm is correctly and securely installed in place. 2. The robot arm shall not be installed in water or in a humid environment unless it is declared to have an IP67 protection rating. Otherwise, if the robot arm is immersed in water for a period of time, it may be damaged. 3. Tip-over hazard: If the robot arm is not securely placed on a sturdy surface, it may tip over and cause injury. |
| 1. When installed on a base, the contact surface between the robot and the base shall be in close contact. 2. Users are advised to use a base contact surface with strong heat dissipation performance, such as all-aluminum material. When the operating environment exceeds 35℃, users are strongly advised to use materials with strong heat dissipation performance. |
4.2.3 Installing the End Tool
The end tool flange has 4 threaded holes and 1 positioning hole, allowing tools such as grippers to be conveniently installed at the end of the robot arm. For mechanical dimensions of the tool flange, refer to 3.4.3 Mechanical Dimensions of End Flange.
| Sign | Description |
|---|---|
| 1. Ensure that the tool is correctly and securely installed in place. 2. Ensure that the tool safety structure is correct so that no parts accidentally fall and cause risks. |
4.2.4 Protective Grounding
The power input terminal of the robot arm controller must be connected to a qualified grounding wire (PE wire) to ensure a good electrical connection between the enclosure and the ground. It is strictly prohibited to power on the robot arm without connecting the protective grounding wire (PE wire).
Grounding Technical Requirements:
- Cable specification: The protective grounding conductor (PE) must use a copper-core cable with a cross-sectional area of ≥ 2.5mm². The insulation layer must be intact, and terminals must be crimped securely using professional crimping tools. Twisted or wrapped connections are strictly prohibited.
- Grounding resistance: After grounding construction is completed, a grounding resistance tester must be used to measure between the robot arm PE terminal and the ground. A grounding resistance of ≤ 4Ω is qualified.
- Record retention: Grounding test records must be retained for filing as important evidence of safety compliance.
- Safety inspection and maintenance:
- Routine inspection: Operators shall regularly inspect the PE wire connection status to ensure that there is no looseness, breakage, or corrosion.
- Maintenance requirements: After equipment maintenance, relocation, or reinstallation, the grounding resistance must be retested to ensure the continuous effectiveness of the grounding system.
- Training requirements: All operators must receive grounding safety training to understand the risks of being ungrounded and the correct grounding method.
| Sign | Description |
|---|---|
| 1. It is strictly prohibited to power on the robot arm without connecting the protective grounding wire (PE wire). Missing or poor grounding may cause electric shock accidents, abnormal equipment electromagnetic interference, or permanent damage. 2. When the robot arm is not connected to the PE wire, the enclosure may carry an induced voltage of 15V ~ 105V. Contact by operators may cause discomfort such as numbness or tingling in the hand, which may trigger panic-induced misoperation and lead to secondary injuries such as collision with the robot arm or accidental triggering of emergency stop. |
4.2.5 Cable Connection
After the robot arm is installed, it must be correctly connected to the controller before normal power-on and use. For cable connection methods, refer to the controller user manual.
4.3 Arm-side Interfaces and Buttons
4.3.1 Introduction
To meet diverse requirements for end tools, the AUBO-C series robot arm is designed with an 8-pin connector (hereinafter referred to as the "tool I/O interface"), a 4-pin connector (hereinafter referred to as the "tool RS485 interface"), and a drag teaching button at the wrist. The tool RS485 interface and drag teaching button are optional configurations.
4.3.2 Tool I/O Interface
The tool I/O interface integrates power supply and signal transmission functions. It supports connection and control of end-effectors such as grippers and sensors. It uses industrial-grade cables and has 8 internal function wires (as shown in Figure 4-4 and Table 4-1). The power supply voltage, digital I/O interface mode, and I/O interface functions can all be configured in the teaching software. For configuration methods and functions, refer to the AuboStudio User Manual.
| Color | Signal | Pin | Color | Signal | Pin |
|---|---|---|---|---|---|
| White | GND | 1 | Green | DI/O 2 | 3 |
| Brown | 12/24V | 2 | Yellow | DI/O 3 | 4 |
| Gray | DI/O 0 | 5 | Red | AI 0 | 8 |
| Blue | DI/O 1 | 7 | Pink | AI 1 | 6 |
The digital I/O interface of the tool I/O interface adopts an NPN switching scheme:
- Digital input mode: when activated, the connector is driven to connect to GND; when disabled, it is in an open-circuit state;
- Digital output mode: equipped with a weak-current pull-down resistor to ensure signal stability and reliability.
For detailed electrical parameters of the tool I/O interface, refer to Tables 4-2 to 4-4. Electrical tolerance is within ±10%.
| Parameter | Minimum value | Typical value | Maximum value | Unit |
|---|---|---|---|---|
| Power supply voltage in 24V mode | 23 | 24 | 25 | V |
| Power supply voltage in 12V mode | 11.5 | 12 | 12.5 | V |
| Power supply current in both modes | - | 0.35 | 1.0 | A |
| Parameter | Minimum value | Typical value | Maximum value | Unit |
|---|---|---|---|---|
| Input voltage range | 0 | - | 10 | V |
| Voltage resolution | - | 2.5 | - | mV |
| I/O type | Parameter | Minimum value | Typical value | Maximum value | Unit |
|---|---|---|---|---|---|
| Digital input interface | Input voltage | -0.5 | - | Vout+2 | V |
| Logic low voltage | 0 | 1.5 | 2 | V | |
| Logic high voltage | Vout-4 | Vout | Vout+2 | V | |
| Input resistance | - | 4.3 | - | kΩ | |
| Digital output interface | Open-circuit voltage | Same as supply voltage | |||
| Voltage at 1 A input current | 0.35 | 0.4 | 0.85 | A | |
| Input current | 0.35 | 0.4 | 0.5 | A | |
| Current through GND | 0.35 | 0.4 | 0.5 | A | |
| Analog input interface | AI0 | 0 | - | +10 | V |
| AI1 | 0 | - | +10 | V | |
| Sign | Description |
|---|---|
| When connecting tools and grippers, ensure that interrupting the power supply will not cause any danger, such as the workpiece falling from the tool. |
4.3.3 Tool RS485 Interface (Optional)
The tool RS485 interface provides fieldbus communication capability and supports direct communication and data exchange with various devices. It adopts the standard RS485 communication protocol, uses industrial cables for connection, and contains 4 internal function wires (as shown in Figure 4-5 and Table 4-5). Its power supply voltage is configured in the same way as that of the tool I/O interface. For configuration methods and functions, refer to the AuboStudio User Manual. For related electrical parameters, refer to Table 4-2.
| Color | Signal | Pin |
|---|---|---|
| Brown | 12/24V | 1 |
| White | RS485A | 2 |
| Blue | RS485B | 3 |
| Black | GND | 4 |
4.3.4 Drag Teaching Button
The drag teaching button is a human-machine interaction component provided by the AUBO-C series robot arm. Press and hold the button to enter drag teaching mode, in which the user can easily move the robot arm. After the button is released, the robot arm maintains its current pose and exits drag teaching mode. This function can be used together with the "trajectory recording" function. For details, refer to the AuboStudio User Manual.
5 Handling and Transportation Precautions
When hoisting the robot, appropriate measures shall be taken to position moving components so that they do not move unexpectedly during hoisting and transportation and cause hazards. During packaging and transportation, the robot shall be packed according to packaging standards, and required marks shall be placed on the outside of the packing box.
During transportation, ensure that the robot is stable and fixed in an appropriate position.
The controller shall be lifted using the handle.
When moving the robot from its packaging materials to the installation position, hold the robot until all bolts of the robot base are fully tightened.
After the robot is fixed, power it on and use the robot drag teaching function to adjust the robot pose to an appropriate position.
Keep the original packaging after transportation is completed. Store the packaging materials in a dry place for future repacking and moving of the robot.
| Sign | Description |
|---|---|
| 1. Ensure that your back or other body parts are not overloaded when lifting the equipment. 2. All regional and national guidelines shall be followed. AUBO (Beijing) Intelligent Technology Co., Ltd. is not responsible for damage caused during equipment transportation. 3. Ensure that the robot is installed in strict accordance with the installation instructions in the manual. |
6 Maintenance, Repair, and Disposal
6.1 Maintenance and Repair
All maintenance and repair work shall strictly comply with all safety specifications in this manual.
Equipment maintenance, calibration, and repair operations shall be performed according to the latest service manual, which can be obtained from the official technical support website www.aubo-robotics.cn. All authorized distributors of AUBO (Beijing) Intelligent Technology Co., Ltd. can log in to access this website.
Equipment repair work may only be performed by authorized system integrators or AUBO personnel. If parts need to be returned to AUBO (Beijing) Intelligent Technology Co., Ltd., the relevant procedures in the service manual shall be strictly followed.
During operations, the safety level requirements corresponding to maintenance and repair shall be met, and current local work safety regulations shall be followed. After operations are completed, all safety functions shall be tested one by one to confirm that they operate normally.
Maintenance and repair work is used to ensure stable equipment operation or restore normal operating conditions after equipment failure, and includes fault diagnosis and physical repair.
When operating the robot arm body or controller, strictly follow the following safety procedures and warning requirements:
| Sign | Description |
|---|---|
| 1. Remove the main input cable from the back of the controller to ensure it is completely powered off. Necessary precautions shall be taken to prevent others from reconnecting system energy during maintenance. After power-off, recheck the system to ensure that it is powered off. 2. Check the grounding connection before restarting the system. 3. Comply with ESD (electrostatic discharge) regulations when disassembling the robot arm or controller. 4. Avoid disassembling the controller power supply system. 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 having the same part number or corresponding parts approved by AUBO (Beijing) Intelligent Technology Co., Ltd. 2. Reactivate all disabled safety measures immediately after the work is completed. 3. Record all repair operations in writing and keep them in the technical documents related to the entire robotic system. 4. The controller has no parts that can be repaired by the end user. If maintenance or repair service is required, contact your distributor or AUBO (Beijing) Intelligent Technology Co., Ltd. |
6.2 Disposal
AUBO robots must be disposed of in accordance with applicable national laws, regulations, and national standards.
7 Quality Assurance
7.1 Product Warranty
AUBO-C series robot arms have an 18-month limited warranty.
If the new equipment and its components show defects due to poor manufacturing or poor materials within 18 months after being put into use, AUBO (Beijing) Intelligent Technology Co., Ltd. shall provide the necessary spare parts for replacement or repair the related parts.
All equipment or components replaced or returned to AUBO (Beijing) Intelligent Technology Co., Ltd. are owned by 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 fees.
Outside the warranty period, if the equipment exhibits defects, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any resulting damage or loss, such as production loss or damage to other production equipment.
7.2 Disclaimer
The "Product Warranty" becomes void if the equipment defect is caused by improper handling or failure to follow the relevant information described in the user manual.
Failures caused by the following situations are not covered by this warranty:
- Products purchased from channels not authorized by AUBO.
- Installation, wiring, or connection to other control equipment that does not comply with industrial standards or the requirements of the user manual.
- Use beyond the specified conditions or standards of the product.
- Using this product for purposes other than those specified.
- Operating environmental conditions that exceed the product's specifications.
- Use in a grinding environment or other special operating environment without proper 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 modifications.
- Installation of non-original genuine parts or accessories.
- Damage caused by modification, commissioning, or repair of original parts by a third party 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 events.
- Failures caused by reasons other than the responsibility of AUBO (Beijing) Intelligent Technology Co., Ltd., in addition to the situations mentioned above.
The following situations 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 identified by AUBO (Beijing) Intelligent Technology Co., Ltd.
- Use of this product with radioactive equipment, biological testing equipment, or for purposes deemed hazardous by AUBO (Beijing) Intelligent Technology Co., Ltd.
- Appearance parts and wearing parts. According to the product warranty agreement, AUBO (Beijing) Intelligent Technology Co., Ltd. only provides warranty commitments for flaws and defects in products and parts sold to distributors.
AUBO (Beijing) Intelligent Technology Co., Ltd. disclaims any other express or implied warranties or liabilities, including but not limited to any implied warranty of merchantability or fitness for a particular purpose. Furthermore, AUBO (Beijing) Intelligent Technology Co., Ltd. is not liable for any form of indirect or consequential damages arising from the related products.
8 Appendix
8.1 Terms
Category 0 stop: The robot stops immediately when its power is cut off. This is an uncontrolled stop. Because each joint brakes at the fastest speed, the robot may deviate from the programmed path. This protective stop may be used only when the safety-rated limit is exceeded or when an error occurs in the safety-rated part of the control system. For more information, refer to EN ISO13850:2008 or IEC60204-1:2006.
Category 1 stop: The robot stops while power is supplied to it, and power is cut off after the robot has stopped. This is a controlled stop, and the robot follows the programmed path. Power is cut off after one second or once the robot has come to a complete stop. For more information, refer to EN ISO13850:2008 or IEC60204-1:2006.
Category 2 stop: A controlled stop with power supplied to the robot. The robot stops all movements within one second. The safety-rated control system can keep the robot in the stopped position. For more information, refer to IEC60204-1:2006.
Integrator: The integrator is the organization that designs the final installation of the robot. The integrator is responsible for conducting the final risk assessment and must ensure that the final installation complies with local laws and regulations.
Risk assessment: Risk assessment is the entire process of identifying all risks and reducing them to an appropriate level. Risk assessment shall be documented and archived. For details, refer to ISO12100.
Performance level: Performance Level (PL) is a discrete level used to describe the ability of safety-related parts of a control system to perform a safety function under predictable conditions. PLd is the second highest reliability classification, meaning that the safety function is fairly reliable. For more information, refer to EN ISO13849-1:2008.
8.2 Revision Records
| Version No./Time | Description |
|---|---|
| v1.0.0*/20260429 | Trial version v1.0.0* released. |
| v1.0.1*/20260827 | 1. Released v1.0.1* trial version. 2. Unified manual structure, safety instructions, chapter names, and warning signs. |
8.3 Technical Specifications Summary
| Parameter | AUBO-C3 | AUBO-C5 |
|---|---|---|
| Degrees of freedom | 6 rotary joints | 6 rotary joints |
| Weight | 16kg | 24kg |
| Payload | 3kg | 5kg |
| Maximum working radius | 625mm | 886.5mm |
| Joint range | joint1/joint6: -360° ~ +360° joint2/joint4/joint5: -175° ~ +175° joint3: -156° ~ +156° | joint1/joint6: -360° ~ +360° joint2/joint4/joint5: -175° ~ +175° joint3: -162° ~ +162° |
| Maximum joint speed | joint1/joint2/joint3/joint4/joint5/joint6: 185°/s | joint1/joint2/joint3/joint4/joint5/joint6: 185°/s |
| Tool speed | ≤ 1.9m/s | ≤ 2.8m/s |
| Repeatability | ± 0.05mm | ± 0.05mm |
| Operating ambient temperature range | 0 ~ 50°C | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) | 90% relative humidity (non-condensing) |
| IP rating | IP54 | IP54 |
| Average power | Approx. 150W when running typical programs | Approx. 200W when running typical programs |
| Peak power | 600W | 600W |
| Mounting surface diameter | ⌀140mm | ⌀170mm |