AUBO-G Series Robot Arm User Manual
1 About This Manual
1.1 Version Information
| Item | Content |
|---|---|
| Manual name | AUBO-G Series Robot Arm User Manual |
| Manual version | v1.0.1* |
| Release date | 2026-08-27 |
| Applicable products | AUBO-G35 robot arm, AUBO-G40 robot arm |
| Applicable controller | The AUBO-G series robot arm is compatible with the CB-G40 and CB-G40-MINI controllers. |
The User Manual will be subject to regular check and revision, and updated content will appear in new versions. The content or information in this manual is subject to change without prior notice.
Before installing and using the product, please 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 guidance for installation, commissioning, pre-operation inspection, maintenance, repair, handling, storage, and disposal of AUBO-G series robot arms.
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/region where the robot 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
The 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 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:
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 must be followed when operating the robot arm or robotic system. Integrators, users, and operators must carefully read this chapter and strictly comply with 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 perform risk assessments based on actual applications, end tools, peripheral equipment, the working environment, and personnel activity ranges, 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 these signs, be sure to 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 guidelines must always be followed. This section lists general safety requirements. Safety instructions for specific scenarios are described in the relevant chapters of this manual.
Please be sure to install the robot and all electrical equipment in accordance with the requirements and specifications in this user manual.
Initial tests and inspections on the robot and its protective system are required before the first use and commissioning.
Before starting the robot and system for the first time, be sure to check whether the robot and system are complete, safe to operate, and free of any damage. During this inspection, it is necessary to observe compliance with national or regional production safety regulations, and all safety features must be tested.
The user must check and ensure that all safety parameters and user programs are correct, and that all safety features are functioning properly. Personnel qualified to operate the robot are required to check each safety feature. The robot can only be started after it has passed comprehensive and careful safety tests and reached the required safety level.
The robot must be installed and commissioned by qualified professionals in accordance with installation standards.
When the robot installation and construction are complete, a comprehensive risk assessment must be conducted again and documented.
Safety parameters must be set and changed by authorized personnel, and passwords or isolation measures must be used to prevent unauthorized personnel from changing or setting safety parameters. After safety parameters are modified, the relevant safety features need to be analyzed.
In case of an accident or abnormal operation, the emergency stop switch can be used to stop the robot's movement.
The robot arm has a collision detection function. When an external force on the powered-on robot exceeds the normal force range set by the user for safety, the robot will stop automatically to prevent robot damage or personal injury to the operator from collision. This feature is specially designed for the safety of human-robot collaboration in the AUBO-G series robot arm. However, it requires the robotic system to be within its normal operating range and to be used with AUBO series controllers. If the users develop their own controllers, the robot will not have the above functions. The user is solely responsible for any hazardous consequences arising therefrom.
Connecting different machines may increase existing hazards or create new ones. 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 any damage to the robot or personal injury caused by improper operation on the robot.
Prohibited Items:
| Sign | Description |
|---|---|
| 1. It is strictly prohibited to start the robot arm before safety checks and risk assessment are completed. The following checks must be completed before first startup: - System integrity check (mechanical installation, electrical connection, protective grounding) - Testing of all safety features - 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 result in electric shock, equipment damage, or electromagnetic interference. 3. It is strictly prohibited to use the controller in a humid environment or an environment with conductive dust, which may result in death or injury. 4. It is strictly prohibited to manually switch the power supply system on and off frequently. The robot arm joint modules are equipped with brakes to maintain the robot's pose during a power outage. Do not manually switch the power supply system on and off frequently. It is recommended that the interval between power cycles be greater than 10s. 5. When the robot arm is running, it is strictly prohibited to touch the joints or 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 for the robot to cool down. 6. It is strictly prohibited to modify safety parameters or bypass safety features without authorization. |
Operation Specifications:
| Sign | Description |
|---|---|
| 1. Ensure that the robot arm and end tools are firmly 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 should 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 to use the robot arm if it is damaged. Stop it immediately and contact AUBO or an authorized service provider. 6. High-payload (≥20 kg) robot arms are strictly prohibited from being manually handled. Compliant special-purpose lifting equipment must be used. 7. A safety assessment must be performed after each installation is completed to confirm that all safety features function properly. |
| 1. Before transporting the robot arm, check the insulation and protective measures. Handle it carefully during transportation to avoid collisions. 2. Do not expose the robot arm to strong magnetic fields for an extended period. 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 assumes no responsibility for any resulting consequences. |
2.4 Personnel Safety
During operation of the robotic system, personnel safety shall be prioritized. Users and integrators shall at least take the following measures:
- Ensure that all relevant personnel have received training from AUBO or an AUBO-authorized distributor and fully understand safe and standard operating procedures. For training details, please contact support@aubo-robotics.cn.
- During operation, hair must be tied back, loose clothing and jewelry must not be worn. When the robot is stationary, it may be waiting for a start signal and shall be considered continuously active. It is strictly prohibited to approach it without authorization.
- In emergency situations, such as when a person is pinched or trapped, the joints may be forced to move by pushing or pulling the robot arm firmly. Manually moving the robot arm without power is limited to emergency situations and may damage the joints of the robot arm.
- Personnel must 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 a component of a complete robotic system and does not constitute a complete machine by itself. Therefore, this manual does not cover the complete design, installation, and operating scheme of a complete robot machine, nor does it list all risk conditions that may affect the safety of peripheral equipment in the integrated system. The installation safety performance of the complete robot equipment depends on the design and construction method of the overall integration solution. The equipment integrator shall conduct risk assessments 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 considered a guarantee by AUBO (Beijing) Intelligent Technology Co., Ltd. Even if operators strictly follow all safety instructions in this manual, there is still a potential risk of personal injury or equipment damage.
AUBO (Beijing) Intelligent Technology Co., Ltd. continuously optimizes product performance and reliability and reserves the right to upgrade products without prior notice. The company has made every effort to ensure that the content of this manual is accurate and reliable, but assumes no responsibility for omissions or errors in the document.
2.5.1 Integrator Responsibilities
The integrator assumes the following key responsibilities:
- Perform a comprehensive risk assessment of the complete robotic system
- Ensure that the design, installation, and commissioning of the entire system meet safety requirements
- Provide necessary training to users and relevant operators
- Develop complete system operating specifications and emergency plans
- Establish and maintain appropriate safety protection measures
- Use appropriate methods at final installation to eliminate hazards or minimize all hazards to an acceptable level
- Communicate residual risks to end users
- Mark the integrator's information on the robot
- Archive 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 — Safety requirements — Part 2: Industrial robot systems and robot applications | Safety requirements for industrial robot integration |
| RIA TR R15.306-2014 | Technical Report for Industrial Robots and Robot Systems — Safety Requirements — Task-based Risk Assessment Methodology | Task-based risk assessment guide |
| ANSI B11.0-2010 | Safety of Machinery — General Requirements and Risk Assessment | U.S. machinery safety standard |
For applicable standards and regulatory guidance, please visit the AUBO website at 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 misuse. When using a collaborative robot arm 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.
- Danger caused by impact between the robot payload and a solid surface. The integrator must assess such hazards and their associated risk levels through risk assessment, and determine and implement corresponding measures to reduce risks to an acceptable level. Please note that other significant hazards may exist for specific robot equipment.
By combining the inherent safety design measures applied to 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 serves to communicate the residual risks present before robot installation to the integrator and end user. If the integrator's risk assessment determines that hazards in the corresponding application scenario 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, with hazardous tools), the risk assessment may require the integrator to add supporting 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 movements of the robot arm. The robot arm body is not equipped with a push-button emergency stop device, but the controller, wired teach pendant, control handle, and other devices are equipped with push-button emergency stop devices. For details, please refer to the user manual of the compatible controller or accessory.
| Sign | Description |
|---|---|
| 1. Emergency stop must not be used as a routine risk reduction measure and shall be regarded as a secondary protective means. 2. If multiple emergency stop buttons need to be connected, this must be included in the risk assessment of the robot application. 3. If an 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, it must be confirmed that the hazard has been completely eliminated. |
2.7.2 Emergency Joint Movement
In an emergency, the robot arm joints can be moved by the following method:
- Forced dragging: Push or pull the robot arm firmly to force the joints to move.
| Sign | Description |
|---|---|
| Forcibly moving the robot arm manually is limited to emergency situations and may damage the joints of the robot arm. |
2.7.3 Over-force Safety Protection of Robot Arm
The robot arm is equipped with an over-force safety protection feature. When the robot arm is powered on and stationary, if an operator or other 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 feature can reduce injuries to operators and damage to other objects and the robot arm in the event of a collision.
| Sign | Description |
|---|---|
| This feature can reduce collision damage. A risk assessment is required when this feature is used for other purposes. |
2.7.4 Collision Protection
The robot arm is equipped with a collision protection feature. During operation, if an operator or another object accidentally collides with the robot arm and the collision force exceeds the safety threshold, the robot arm will enter a Category 2 stop state and simultaneously switch to drag teaching mode. At this point, the robot arm can be dragged to a relatively safe position, after which the operator can use the teach pendant to resume operation. This feature can reduce injuries to operator and damage to other objects and the robot arm in the event of a collision, while also saving time on restarting the program, improving work efficiency. The safety threshold for collision force can be changed by setting the collision level.
3 Description of Robot Arm
3.1 About the G Series
The AUBO-G series is a new-generation flagship collaborative robot launched by AUBO (Beijing) Intelligent Technology Co., Ltd., with core positioning in safety, high performance, and ultra-high payload. The series is equipped with advanced joint sensing and encoding technology, supports EtherCAT communication across the entire line, and adopts a 48V standard power platform and a 96V ultra-high payload power platform. It achieves lightweight design through permanent magnet braking, providing a high-safety, high-performance collaborative solution for ultra-high payload scenarios.
| Sign | Description |
|---|---|
| The AUBO-G series robot arm is compatible with the CB-G40 and CB-G40-MINI controllers. |
The AUBO-G series robot arm mimics the 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, and the tool end is used to connect the robot arm to the tool (the tool end is the end of wrist 3).
- The shoulder and elbow, as well as the elbow and wrist, are connected by arm tubes.
- Through the teach pendant software interface or drag teaching, users can control each joint to rotate, allowing the robot's end tool to move to different poses.
3.2 Technical Specifications
3.2.1 AUBO-G35
| Robot arm type | AUBO-G35 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Body weight (including robot arm cables) | 115kg |
| Payload | 35kg |
| Maximum working radius | 2100mm |
| Joint range | joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -165° ~ +165° |
| Maximum joint speed | joint1: 175°/s joint2: 130°/s joint3: 200°/s joint4/joint5/joint6: 336°/s |
| Tool speed | ≤ 6.4m/s |
| Repositioning accuracy | ± 0.05mm |
| Operating ambient temperature range | -10°C ~ 50°C |
| Operating ambient humidity | 0% ~ 90% RH (non-condensing) |
| IP rating | IP67 |
| Average power | Approx. 1500W when running typical programs |
| Peak power | 6000W |
| Mounting surface diameter | ⌀315mm |
| Certification Bodies for Common Marks | CE |
3.2.2 AUBO-G40
| Robot arm type | AUBO-G40 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight (including robot arm cables) | 109kg |
| Payload | 42kg |
| Maximum working radius | 1800mm |
| Joint range | joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -165° ~ +165° |
| Maximum joint speed | joint1/joint2: 175°/s joint3: 200°/s joint4/joint5/joint6: 336°/s |
| Tool speed | ≤ 5.4m/s |
| Repositioning accuracy | ± 0.05mm |
| Operating ambient temperature range | -10°C ~ 50°C |
| Operating ambient humidity | 0% ~ 90% RH (non-condensing) |
| IP rating | IP67 |
| Average power | Approx. 1500W when running typical programs |
| Peak power | 6000W |
| Mounting surface diameter | ⌀315mm |
| Certification Bodies for Common Marks | CE |
3.3 Performance Parameters
3.3.1 Load offset
The following is the load offset curve of the robot arm's wrist, in which the vertical axis represents the payload, and the horizontal axis represents the distance from the center of the tool end flange to the center of the tool.
| Sign | Description |
|---|---|
| 1. The load conditions should be within the range shown in the chart. 2. The load shown in the chart is the maximum load capacity of this robot arm. Under no circumstances should the maximum load shown in the chart be exceeded. 3. Otherwise, the internal components of the robot arm may be damaged. |
3.4 Robot Arm Workspace
3.4.1 Mechanical dimensions
3.4.2 P point movement range of robot arm body
3.4.3 Mechanical dimensions of end flange
3.4.4 Top view of pedestal
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 salt mist
- No dust or metal powder
- No mechanical impact or vibration
- No electromagnetic noise
- No radioactive materials
- Low humidity
- No flammable materials
- Ambient temperature: -10℃ ~ 50℃
- 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 solid surface that is strong enough 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 installation surface shall be free of vibration and shall not become loose 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 features of the equipment.
Controller safety instructions:
- The controller should 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 will not trip personnel.
| Sign | Description |
|---|---|
| 1. A damp controller can cause death or injury. 2. Pay close attention to environments with conductive dust. |
4.2 Installation Notes for High-Payload Robot Arms
For robot arms with a rated payload of 20 kg or higher, uncontrolled motion may cause irreversible severe injury or even death. The following safety requirements must be strictly followed during installation.
4.2.1 Pre-installation Preparation
- Before installation, complete a risk assessment of the robot arm installation scenario to identify potential hazards in lifting, fixing, electrical connection, and other processes (such as mechanical crushing, falling objects, and electric shock).
- All personnel involved in installation must have received targeted training or proven experience demonstrating their safety competence in handling high-payload servo systems.
- For high-payload robots, it is recommended to provide means to restrict their movement space (mechanical stops, electromechanical devices, or certified safety software).
- It is recommended to install safety fences, safety light curtains, and other safety protection devices. The safety fence height shall be greater than 2000 mm (minimum not less than 1400 mm), and the ground clearance shall not exceed 180 mm; fasteners for protective panels must use "captive bolts" to ensure that the protective panels can be reliably restored after maintenance. The minimum safety distance S of the safety light curtain must be determined by calculation using the formula
, considering the person's approach speed (K), the robot arm's stopping time (T), and the intrusion distance (C).
4.2.2 Safety Specifications for Handling and Lifting
- Robot arms with a rated payload of 20 kg or higher are strictly prohibited from being manually handled, as manual handling poses significant safety risks such as personal injury, falling objects, and equipment damage. Such robot arms must be transported and lifted using compliant special-purpose equipment, with the entire process complying with safety specifications.
- When lifting, the effect of the end effector on the center of gravity must be considered, and it should be removed in advance if necessary.
- Lifting operations must be directed by a dedicated person. Unauthorized personnel are prohibited from entering the working radius during lifting. In addition, lifting personnel must have the corresponding safety competency qualifications.
4.2.3 Foundation Engineering Requirements
Robot arms with a rated payload of 20 kg or higher have large dynamic inertia, and the installation floor must undergo professional structural calculation. To meet the foundation stability requirements specified in ISO 10218-2:2025, it is recommended to implement the following technical standards:
- Material strength: The robot mounting foundation shall be constructed of reinforced concrete with a strength grade of no less than C30 (corresponding to approximately 4000 psi per international standards), to ensure that anchor bolts do not loosen under the large overturning moment generated by the robot's emergency stop.
- Installation accuracy:
- The flatness tolerance of the mounting surface shall be
to prevent internal stress from being generated in the base casting during fastening. - The inclination of the mounting surface shall be
to ensure the accuracy of the robot's gravity compensation algorithm and prevent joint overload caused by eccentric load.
Equipotential bonding: The robot arm body must be equipotentially connected, with a grounding resistance ≤ 4Ω. The grounding terminals must be securely connected without loosening, and the specifications of the grounding cables must match the power requirements of the robot arm.
4.3 Installing the Robot Arm
The installation of the robot arm is divided into the following main steps:
- Determine the workspace: Plan a safe working area according to the robot arm movement range.
- Install the robot arm body: Fix the robot arm to the base or workbench surface.
- Install the end tool: Install the end effector to the robot arm flange.
- Connect the controller: Complete the electrical connection according to the controller manual.
- Power-on commissioning: After power-on, complete initial configuration through the teach pendant software.
A safety assessment must be performed after each installation of the robot, and the requirements in the safety chapter of this manual must be strictly followed.
4.3.1 Installing the Robot Arm
The AUBO-G series robot arm features a 360° installation position and pose adaptation capability, and supports base mounting, ceiling mounting, wall mounting, and various other installation methods, as shown in Figure 4-1. After the robot arm is installed, the teach pendant software will automatically detect and adjust the robot arm's work parameters upon power-on.
For installation on the base, it is recommended to use six bolts for fastening, and to pre-install two positioning pins in holes with slightly smaller diameter to improve installation accuracy. For mechanical dimensions, refer to 3.4.4 Top View of Pedestal.
| Sign | Description |
|---|---|
| 1. Ensure the robot arm is correctly and securely installed. 2. The robot arm should not be installed in water or in a humid environment unless it is stated to meet IP67 requirements. Otherwise, if the robot arm is submerged in water for a period of time, it may suffer damage. 3. Risk of tip-over: 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 must be in close contact. 2. It is recommended to use a base contact surface with strong heat dissipation performance, such as a full-aluminum material. When the operating environment exceeds 35°C, materials with strong heat dissipation performance are strongly recommended. |
4.3.2 Base Heat Dissipation
Base heat dissipation must be considered during installation. The mounting base shall provide a robot mounting surface with a diameter of not less than ⌀330 mm, and the mounting surface flatness requirement is 0.1. Thermal grease must be applied to the contact area between the robot and the mounting base. The diameter of the thermal grease coverage area is ⌀195 mm, and the application thickness is 2 mm. Kafuter K-5215 thermal grease is recommended.
4.3.3 Installing the End Tool
The end tool flange is designed with several threaded holes and one positioning hole, allowing tools such as grippers to be mounted to 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. 2. Ensure that the tool safety structure is correct so that no parts will accidentally fall and cause risks. |
4.3.4 Protective Grounding
The power input terminal of the robot arm controller must be connected to a qualified protective grounding wire (PE wire), ensuring a sound 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 specifications: The protective grounding wire (PE) must use a copper-core cable with a cross-sectional area of ≥ 2.5mm². The insulation layer must be intact. Connection terminals must be crimped securely using professional crimping tools; wrapping connections are strictly prohibited.
- Grounding resistance: After the grounding installation is completed, the grounding resistance must be measured between the robot arm PE terminal and the ground using a grounding resistance tester. A resistance value of ≤ 4Ω is considered qualified.
- Record keeping: 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 connection status of the PE wire to ensure there is no loosening, breakage, or corrosion.
- Maintenance requirements: The grounding resistance must be retested after equipment maintenance, relocation, or reinstallation to ensure the continuous effectiveness of the grounding system.
- Training requirements: All operators must receive grounding safety training to understand the risks of ungrounded equipment and the correct grounding methods.
| Sign | Description |
|---|---|
| 1. It is strictly prohibited to power on the robot arm without connecting the protective grounding wire (PE wire). Failure to provide proper grounding may result in electric shock, abnormal electromagnetic interference, or permanent damage to the equipment. 2. When the robot arm is not connected to the PE wire, the enclosure may carry an induced voltage of 15V ~ 105V. Contact with the enclosure may cause discomfort such as tingling or numbness, which could lead to panic-induced incorrect operation, secondary hazards including collision with the robot arm, or accidental emergency stop activation. |
4.3.5 Cable Connection
After the robot arm is installed, it must be correctly connected to the controller before it can be powered on and used normally. For cable connection methods, please refer to the controller user manual.
4.4 Arm-side Interfaces and Buttons
4.4.1 Introduction
To meet the diverse needs of end tools, the AUBO-G series robot arm is equipped with a 12-pin connector (hereinafter referred to as the "I/O+RS485 interface"), an 8-pin connector (hereinafter referred to as the "Ethernet interface"), and a drag teach button at the wrist. Among these, the Ethernet interface is optional.
4.4.2 I/O+RS485 Interface
The I/O+RS485 interface integrates power supply, signal transmission, and fieldbus communication functions. It supports the connection and control of end actuators such as grippers and sensors. It uses industrial-grade cables and is internally equipped with 12 functional 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 teach pendant software. For configuration methods and functions, please refer to the AuboStudio User Manual.
| Color | Signal | Pin | Color | Signal | Pin |
|---|---|---|---|---|---|
| Pink | AI 1 | 1 | Black | GND | 7 |
| Purple | AI 2 | 2 | Brown | 0/24V | 8 |
| Blue | DI/O 1 | 3 | White | RS485- | 9 |
| Light Blue | DI/O 2 | 4 | Orange | RS485+ | 10 |
| Gray | DI/O 3 | 5 | Red | 0/24V | 11 |
| Green | DI/O 4 | 6 | Yellow | GND | 12 |
The digital I/O interface of the I/O+RS485 interface adopts the NPN switching scheme:
- Digital input mode: When activated, the connector is driven to connect to GND; when deactivated, it is in an open-circuit state;
- Digital output mode: Equipped with a weak pull-down resistor to ensure signal stability and reliability. The detailed electrical parameters of the I/O+RS485 interface are shown in Table 4-2 to Table 4-4, with electrical tolerance within ±10%.
| 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. |
| Parameters | Minimum value | Typical value | Maximum value | Unit |
|---|---|---|---|---|
| Power supply voltage in 24 V mode | 23 | 24 | 25 | V |
| Power supply voltage in 12 V mode | 11.5 | 12 | 12.5 | V |
| Power supply current in both modes | - | 0.35 | 1.0 | A |
| Parameters | Minimum value | Typical value | Maximum value | Unit |
|---|---|---|---|---|
| Input voltage range | 0 | - | 10 | V |
| Voltage resolution | - | 2.5 | - | mV |
| I/O type | Parameter | Minimum | Typical | Maximum | 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 current power supply | |||
| Voltage at 1A current input | 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 | AI 1 | 0 | - | +10 | V |
| AI 2 | 0 | - | +10 | V | |
4.4.3 Ethernet Interface (Optional)
The Ethernet interface (i.e., Gigabit Ethernet interface) adopts an integrated internal wiring design, which integrates high-speed communication cables inside the robot arm body. This eliminates external cable entanglement, dragging, abrasion, and other problems, achieving a balance between motion flexibility and communication stability. It contains 8 functional wires internally (as shown in Figure 4-5 and Table 4-5). Its power supply voltage is configured in the same way as that of the I/O+RS485 interface. For configuration methods and functions, please refer to the AuboStudio User Manual. For related electrical parameters, please refer to Table 4-2.
| Color | Signal | Pin |
|---|---|---|
| White 1 | TX+ | 1 |
| Orange | TX- | 2 |
| White 2 | RX+ | 3 |
| Green | RX- | 4 |
| White 3 | FTX+ | 5 |
| Blue | FTX- | 6 |
| White 4 | FRX+ | 7 |
| Brown | FRX- | 8 |
4.4.4 Drag Teach Button
The drag teach button is a human-machine interaction component provided on the AUBO-G series robot arm. Press and hold the button to enter drag teach mode, and the user can easily move the robot arm. After the button is released, the robot arm maintains its current pose and exits drag teach mode. This feature can be used together with the "trajectory recording" function. For details, please refer to the AuboStudio User Manual.
5 Handling and Transportation Precautions
For hoisting the robot, appropriate measures shall be taken to position the moving components to prevent them from causing hazards due to unexpected movements during hoisting and transportation. During packaging for transportation, the robot shall be packed according to the packaging standards, and the required marks shall be placed on the outside of the packing box.
During transportation, ensure that the robot is stable and fixed in a proper position.
The controller should be lifted using the handle.
When moving the robot from its packaging materials to the installation position, hold the robot until all bolts on the robot base are fully tightened.
After securing, power on the robot and use the drag teach function to adjust the robot's pose as appropriate.
Keep the original packaging intact after transportation is complete. Store the packaging materials in a dry place in case you need to repack and move the robot in the future.
| Sign | Description |
|---|---|
| 1. Ensure that your back or other body parts are not overstrained when lifting the equipment. 2. All regional and national guidelines shall be followed. AUBO (Beijing) Intelligent Technology Co., Ltd. is not responsible for any damage caused during equipment transportation. 3. Ensure that the installation of the robot strictly follows the installation instructions in the manual. |
6 Maintenance, Repair, and Disposal
6.1 Maintenance and Repair
Maintenance and repair work must strictly comply with all safety instructions in this manual.
Maintenance, calibration, and repair must be carried out according to the latest service manual, which is accessible from the support website: www.aubo-robotics.cn. All dealers of AUBO (Beijing) Intelligent Technology Co., Ltd. are permitted to access this website.
Repairs must be performed by an authorized system integrator or AUBO (Beijing) Intelligent Technology Co., Ltd. Parts returned to AUBO (Beijing) Intelligent Technology Co., Ltd. shall be handled in accordance with the provisions of the service manual.
It is necessary to ensure the safety level specified for maintenance and repair work, comply with effective national or regional work safety regulations, and test all safety features to ensure they are functioning properly.
The purpose of maintenance and repair work is to ensure the normal operation of the system or to help restore it to a normal state in the event of a system failure. Repair includes fault diagnosis and physical repair.
The following safety procedures and warnings must be followed during operation of the robot arm or controller:
| Sign | Description |
|---|---|
| 1. Remove the main input cable from the back of the controller to ensure it is completely powered off. Take necessary precautionary measures to prevent others from reconnecting the system power during maintenance. After powering off, recheck the system to ensure a complete power cutoff. 2. Check the grounding connection before restarting the system. 3. Please comply with ESD (Electrostatic discharge) regulations when disassembling the robot arm or controller. 4. Avoid disassembling the power supply system of the controller. After the controller is turned off, its power supply system may retain high voltage for several hours. 5. Prevent water or dust from entering the robot arm or the controller. |
| 1. Replace faulty components with new components with the same part number or corresponding components approved by AUBO (Beijing) Intelligent Technology Co., Ltd. 2. Immediately reactivate all disabled safety measures after completing this work. 3. Record all maintenance operations in writing and incorporate them in the technical documentation related to the entire robotic system. 4. The controller contains 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. |
6.2 Disposal
The AUBO robot must be disposed of in accordance with applicable national laws, regulations, and standards.
7 Quality Assurance
7.1 Product Warranty
AUBO robots 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 components for replacement or repair the related components.
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 Quality 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 environments 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 parts or accessories that are not genuine;
- Damage caused by modification, commissioning, or repair of genuine 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, in biological testing equipment, or for purposes deemed hazardous by AUBO (Beijing) Intelligent Technology Co., Ltd.
- Appearance parts and wearing parts. According to the product quality 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 Glossary
Category 0 stop: The robot stops immediately when its power supply is cut off. This is an uncontrolled stop, and since each joint brakes at the maximum speed, the robot may experience a deviation from the programmed path. This protective stop should 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, please refer to EN ISO 13850:2008 or IEC60204-1:2006.
Category 1 stop: This stop mechanism is implemented to stop the robot by powering the robot, with the power supply cut off immediately after the robot has stopped. This is a controlled stop, and the robot will follow the programmed path. The power is cut off one second later or once the robot has come to a complete stop. For more information, please refer to EN ISO 13850:2008 or IEC60204-1:2006.
Category 2 stop: This stop is a controlled stop with power supplied to the robot, in which the robot stops all movements within one second. The safety-rated control system can keep the robot in the stopped position. For more information, please refer to IEC60204-1:2006.
Integrator: Integrator refers to the entity that designs the final installation of the robot, which 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 refers to the entire process of identifying all risks and reducing them to an appropriate level. Risk assessment should be documented and archived. For details, please refer to ISO 12100.
Performance level: Performance Level (PL) is a distinct level for describing the ability of each safety-related part of the control system to perform safety features under predictable conditions. PLd is the second highest reliability classification, meaning the safety feature is quite trustworthy. For more information, please refer to EN ISO 13849-1:2008.
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-G35 | AUBO-G40 |
|---|---|---|
| Degrees of freedom | 6 rotary joints | 6 rotary joints |
| Weight | 115kg | 109kg |
| Payload | 35kg | 42kg |
| Maximum working radius | 2100mm | 1800mm |
| Joint range | joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -165° ~ +165° | joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -165° ~ +165° |
| Maximum joint speed | joint1: 175°/s joint2: 130°/s joint3: 200°/s joint4/joint5/joint6: 336°/s | joint1/joint2: 175°/s joint3: 200°/s joint4/joint5/joint6: 336°/s |
| Tool speed | ≤ 6.4m/s | ≤ 5.4m/s |
| Repositioning accuracy | ± 0.05mm | ± 0.05mm |
| Operating ambient temperature range | -10 °C ~ 50 °C | -10 °C ~ 50 °C |
| Operating ambient humidity | 0% ~ 90% RH (non-condensing) | 0% ~ 90% RH (non-condensing) |
| IP rating | IP67 | IP67 |
| Average power | Approx. 1500W when running typical programs | Approx. 1500W when running typical programs |
| Peak power | 6000W | 6000W |
| Mounting surface diameter | ⌀315mm | ⌀315mm |
| Certification Bodies for Common Marks | CE | CE |