AUBO-i Series Robot Arm User Manual

1 About this Manual

1.1 Version Information

Item	Description
Manual name	AUBO-i Series Robot Arm User Manual
Manual version	v1.0.1*
Release date	2026-08-27
Applicable products	AUBO-i3 robot arm, AUBO-i5 robot arm, AUBO-i7 robot arm, AUBO-i10 robot arm, AUBO-i12 robot arm, AUBO-i16 robot arm, AUBO-i20 robot arm
Applicable controller	The AUBO-i series robot arms can be used with the AUBO-CB-iS series controllers.

The User Manual will be regularly checked and revised, and updates will be released in new versions. The contents or information in this manual are subject to change without notice.

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

All pictures in this manual are for reference 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. and may not be copied, reproduced in whole or in part, or converted into any other form for use without the written permission of AUBO (Beijing) Intelligent Technology Co., Ltd.

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

Copyright © 2015-2026 AUBO. All rights reserved.

1.3 Use of this Manual

This Manual provides guidance for the installation, commissioning, pre-operation inspection, maintenance, repair, handling, storage, and disposal of AUBO-i 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 Intended Readers

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 Preconditions for Operation

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 associated documents.

1.6 Associated Documents

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

• AUBO-CB-iS Series Controller User Manual
• AuboStudio User Manual

1.7 Additional Information

For more information about products, services, training, or technical support, 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 robot 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 robot systems, this manual cannot list all possible hazardous scenarios. Users and integrators shall perform risk assessment based on actual applications, end tools, peripheral equipment, working environment, and personnel activity areas, 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 a relevant sign, be sure to read and follow the corresponding instructions.

Table 2-1 Warning Signs

Sign	Level	Description
	DANGER	Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury.
	WARNING	Indicates a potentially hazardous situation which, if not avoided, could result in personal injury or serious equipment damage.
	CAUTION	Indicates a potentially hazardous situation which, if not avoided, could result in minor personal injury or equipment damage. Depending on the circumstances, matters marked with this symbol may sometimes cause serious consequences.
	NOTICE	Indicates a situation which, if not avoided, could result in personal injury or equipment damage. Depending on the circumstances, matters marked with this symbol may sometimes cause serious consequences.

2.3 General Safety Rules

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.

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

2. Make sure to perform a preliminary test and inspection of the machine and its protection system before using the machine or putting it into production for the first time.

3. Before starting the machine and system for the first time, check whether the machine and system are complete, safe to operate, and free from any detected damage. During this inspection, verify compliance with valid national or regional work safety regulations, and test all safety functions.

4. 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 may be started only after it has passed a comprehensive and careful safety test and reached the required safety level.

5. The machine shall be installed and commissioned by professionals in accordance with installation standards.

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

7. Safety parameters shall be set and modified 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.

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

9. 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, the robot automatically stops to prevent collision injury to the robot or operators. This function is specially designed for the safety of human-robot collaboration of AUBO-i series robot arms, but requires that the robot system operate within the normal operating range and use an AUBO series controller. If the user develops a controller independently, the robot will not have the above function. The user shall bear the hazardous consequences arising therefrom.

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

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

Strictly Prohibited:

Sign

Description

1. It is strictly prohibited to start the robot arm before safety inspection and risk assessment are completed. The following checks must be completed before the first startup: - System integrity check (mechanical installation, electrical connection, and protective grounding) - Testing of all safety functions - 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, which may result in 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 posture when power is off. Do not frequently switch the power supply system on and off manually. It is recommended that the interval between each startup and shutdown be greater than 10 s. 5. When the robot arm is operating, it is strictly prohibited to touch the surfaces of joints and motors. Do not operate or touch the machine while the robot is working or immediately after it stops. Cut 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.

Operating Rules:

Sign	Description
	1. Ensure that the robot arm and end tool are installed securely. Improper installation may cause equipment to fall or reduce operating accuracy. 2. Ensure that the robot arm has sufficient workspace, free of obstacles, sharp corners, or pinch points. Operators' heads and faces shall be outside the reachable range of the robot arm. 3. Do not connect safety devices to general-purpose I/O interfaces. Only dedicated safety interfaces may be used. 4. Correctly configure installation parameters, including installation angle, TCP weight and offset, safety parameters, etc. 5. Do not continue using the robot arm if it is damaged. Stop it immediately and contact AUBO or an authorized service provider. 6. Heavy-load robot arms (≥20 kg) are strictly prohibited from manual handling. Compliant special 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. Before transporting the robot arm, check the insulation and protective measures. Handle it carefully during transportation to avoid bumps. 2. Do not expose the robot arm to strong magnetic fields for a long time, as 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 shall not assume any liability arising therefrom.

2.4 Personnel Safety

Personnel safety shall be given priority when operating the robot system. Users and integrators shall take at least the following measures:

1. Ensure that all relevant personnel have received official AUBO training or training from an AUBO-authorized distributor, and fully understand safe and standardized operating procedures. For training inquiries, contact support@aubo-robotics.cn.
2. During operation, hair shall be tied back, loose clothing shall not be worn, and jewelry shall not be worn. When the robot is stationary, it may be waiting for a start signal and shall be regarded as continuously operating. Do not approach it at will.
3. In emergency situations where personnel are caught or trapped, the robot arm may be pushed or pulled with force to force the joints to move. Manual movement of the robot arm without electric drive is only allowed in emergencies and may damage the robot arm joints.
4. Personnel shall not place their head, face, neck, fingers, or other body parts in areas where they may be struck, pinched, or entangled.

2.5 Responsibilities and Regulations

The robot arm is a component of a complete robot system and does not itself constitute a complete machine. Therefore, this manual does not cover the complete set of design, installation, and operating solutions for a complete robot machine, nor does it list all risk conditions of peripheral equipment that may affect the safety of the entire integrated system. The installation safety performance of complete robot equipment depends on the design and construction method of the overall integration solution. The equipment integrator shall perform risk assessment throughout the design and installation process of the entire integrated system in accordance with applicable local laws, regulations, safety codes, and industry standards.

All safety information contained in this manual shall not be regarded as a guarantee from 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 improves product performance and reliability and reserves the right to upgrade products without notice. We have made every effort to ensure the accuracy and reliability of this manual, but assume no liability for omissions or errors in the document.

2.5.1 Integrator Responsibilities

The integrator assumes the following key responsibilities:

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

2.5.2 Reference Standards

The integrator may refer to the following international standards when performing risk assessment:

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, applications and integration	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 guidelines on applicable standards and regulations, visit the AUBO official 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 using collaborative robot arms without peripheral safety protection devices, the following potential hazards may be involved:

• Risk of puncture or cut injuries caused by sharp end-effectors or tool connectors.
• Risk of exposure when handling toxic, corrosive, or other harmful substances.
• Risk of operators' fingers or limbs being pinched by robot 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. Note that specific robot equipment may also have other major hazards.

Combined with the inherent safety design of AUBO robots, and the safety rules and risk assessment developed by the integrator and end user, the risks related to collaborative operation of the robot arm can be reduced to a reasonably practicable level. This document is intended to communicate residual risks before robot installation to the integrator and end user. If the integrator determines through risk assessment that a specific application scenario has hazards that may pose unacceptable risks to operators, the integrator must take appropriate risk reduction measures to eliminate or minimize these hazards until the risk level reaches an acceptable standard. Use of the robot is prohibited before necessary risk reduction measures are completed.

If the robot is deployed in a non-collaborative operation mode, such as with hazardous work 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 Response

2.7.1 Emergency Stop Device

Pressing the emergency stop button will immediately stop all motions 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 applicable controller user manual or accessory user manual.

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 constitutes a potential threat, it must be integrated into the system emergency stop circuit. Failure to comply with this warning may result in death, serious personal injury, or major property damage. 4. Before releasing the emergency stop, confirm that the hazard has been completely eliminated.

2.7.2 Emergency Moving of Joints

In an emergency, the robot arm joints can be moved as follows:

• Forced dragging: Push or pull the robot arm joints with force to force the joints to move.

Sign	Description
	Forced manual movement of the robot arm is for emergency use only and may damage the robot arm joints.

2.7.3 Excessive-Force Safety Protection of the Robot Arm

The robot arm has an excessive-force safety protection function. When the robot arm is powered on and stationary, if an operator or other object accidentally contacts 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 injury to personnel, other objects, and the robot arm when an operator or other object collides with the robot arm.

Sign	Description
	This function can reduce collision injury. A risk assessment is required when it is used for other purposes.

2.7.4 Collision Protection

The robot arm has a collision protection function. During operation of the robot arm, if an operator or other object accidentally contacts the robot arm and the collision force exceeds the safety threshold, the robot arm enters Category 2 stop and also enters HandGuide mode. The robot arm can then be dragged to a relatively safe position, and operation can be resumed by operating the teach pendant. This function can reduce injury to personnel, other objects, and the robot arm when an operator or other 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 Description of Robot Arms

3.1 AUBO-i Series

The AUBO-i series robot arm is an intelligent lightweight 6-DOF modular collaborative robot developed by AUBO (Beijing) Intelligent Technology Co., Ltd. It is available in six variants with various options to support payloads from 3 kg to 20 kg and reaches from 0.625 m to 1.65 m.

Figure 3-1 AUBO-i Series Robot Arm

Sign	Description
	The AUBO-i series robot arm can be used with the AUBO-CB-iS series controller.

The AUBO-i series robot arm imitates the human arm and has a total of 6 rotating joints, with each joint 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 and the carriage, and the tool end is used to connect the robot arm and the tool (the tool end is the end of wrist 3). Arm tubes are used to connect the shoulder and elbow, and the elbow and wrist. Through the teach pendant software interface or HandGuide, the user can control the rotation of each joint to move the robot end tool to different poses.

Figure 3-2 Robot Joints

3.2 Technical Specifications

3.2.1 AUBO-i3

Robot Arm Type	AUBO-i3
Degrees of freedom	6
Weight	16 kg
Payload	3 kg
Maximum working radius	625 mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -156° ~ +156°
Maximum joint speed	joint1/joint2/joint3/joint4/joint5/joint6: 237°/s
Tool speed	≤ 2.5 m/s
Repeatability	± 0.02 mm
Ambient temperature	0 ~ 50°C
Ambient humidity	90% RH (non-condensing)
IP rating	IP54
ISO 14644-1 Cleanroom class	5
Average power	Approx. 150 W when running typical programs
Peak power	1000 W
Mounting surface diameter	⌀140 mm
General approval mark/agency	CE, NRTL, CR
Environmental and chemical compliance certification	RoHS&REACH
Collaborative robot safety standard	ISO/TS 15066

3.2.2 AUBO-i5

Robot Arm Type	AUBO-i5
Degrees of freedom	6
Weight	24 kg
Payload	5 kg
Maximum working radius	886.5 mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -162° ~ +162°
Maximum joint speed	joint1/joint2/joint3: 223°/s joint4/joint5/joint6: 237°/s
Tool speed	≤ 3.4 m/s
Repeatability	± 0.02 mm
Ambient temperature	0 ~ 50°C
Ambient humidity	90% RH (non-condensing)
IP rating	IP54
ISO 14644-1 Cleanroom class	5
Average power	Approx. 200 W when running typical programs
Peak power	2000 W
Mounting surface diameter	⌀170 mm
General approval mark/agency	CE, NRTL, CR
Environmental and chemical compliance certification	RoHS&REACH
Collaborative robot safety standard	ISO/TS 15066

3.2.3 AUBO-i7

Robot Arm Type	AUBO-i7
Degrees of freedom	6
Weight	23.4 kg
Payload	7 kg
Maximum working radius	786.5 mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -158° ~ +158°
Maximum joint speed	joint1/joint2/joint3: 223°/s joint4/joint5/joint6: 237°/s
Tool speed	≤ 3.0 m/s
Repeatability	± 0.02 mm
Ambient temperature	0 ~ 50°C
Ambient humidity	90% RH (non-condensing)
IP rating	IP54
ISO 14644-1 Cleanroom class	5
Average power	Approx. 200 W when running typical programs
Peak power	2000 W
Mounting surface diameter	⌀170 mm
General approval mark/agency	CE, NRTL, CR
Environmental and chemical compliance certification	RoHS&REACH
Collaborative robot safety standard	ISO/TS 15066

3.2.4 AUBO-i10

Robot Arm Type	AUBO-i10
Degrees of freedom	6
Weight	38.5 kg
Payload	10 kg
Maximum working radius	1350 mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -167° ~ +167°
Maximum joint speed	joint1/joint2: 178°/s joint3: 223°/s joint4/joint5/joint6: 237°/s
Tool speed	≤ 3.0 m/s
Repeatability	± 0.03 mm
Ambient temperature	0 ~ 50°C
Ambient humidity	90% RH (non-condensing)
IP rating	IP54
ISO 14644-1 Cleanroom class	5
Average power	Approx. 500 W when running typical programs
Peak power	2000 W
Mounting surface diameter	⌀218 mm
General approval mark/agency	CE, NRTL, CR
Environmental and chemical compliance certification	RoHS&REACH
Collaborative robot safety standard	ISO/TS 15066

3.2.5 AUBO-i12

Robot Arm Type	AUBO-i12
Degrees of freedom	6
Weight	40 kg
Payload	12 kg
Maximum working radius	1250 mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -166° ~ +166°
Maximum joint speed	joint1/joint2: 178°/s joint3: 267°/s joint4/joint5/joint6: 237°/s
Tool speed	≤ 3.8 m/s
Repeatability	± 0.03 mm
Ambient temperature	0 ~ 50°C
Ambient humidity	90% RH (non-condensing)
IP rating	IP54
ISO 14644-1 Cleanroom class	5
Average power	Approx. 500 W when running typical programs
Peak power	2000 W
Mounting surface diameter	⌀218 mm
General approval mark/agency	CE, NRTL, CR
Environmental and chemical compliance certification	RoHS&REACH
Collaborative robot safety standard	ISO/TS 15066

3.2.6 AUBO-i16

Robot Arm Type	AUBO-i16
Degrees of freedom	6
Weight	38 kg
Payload	16 kg
Maximum working radius	967.5 mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -161° ~ +161°
Maximum joint speed	joint1/joint2: 178°/s joint3: 267°/s joint4/joint5/joint6: 237°/s
Tool speed	≤ 3.0 m/s
Repeatability	± 0.03 mm
Ambient temperature	0 ~ 50°C
Ambient humidity	90% RH (non-condensing)
IP rating	IP54
ISO 14644-1 Cleanroom class	5
Average power	Approx. 600 W when running typical programs
Peak power	2000 W
Mounting surface diameter	⌀218 mm
General approval mark/agency	CE, NRTL, CR
Environmental and chemical compliance certification	RoHS&REACH
Collaborative robot safety standard	ISO/TS 15066

3.2.7 AUBO-i20

Robot Arm Type	AUBO-i20
Degrees of freedom	6
Weight	63 kg
Payload	20 kg
Maximum working radius	1650 mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -168° ~ +168°
Maximum joint speed	joint1/joint2: 110°/s joint3/joint4/joint5/joint6: 178°/s
Tool speed	≤ 2.6 m/s
Repeatability	± 0.05 mm
Ambient temperature	0 ~ 50°C
Ambient humidity	90% RH (non-condensing)
IP rating	IP54
ISO 14644-1 Cleanroom class	5
Average power	Approx. 1000 W when running typical programs
Peak power	3000 W
Mounting surface diameter	⌀258 mm
General approval mark/agency	CE, NRTL, CR
Environmental and chemical compliance certification	RoHS&REACH
Collaborative robot safety standard	ISO/TS 15066

3.3 Performance Parameters

3.3.1 Load Deflection

In the following wrist load-deflection curves of the robot arm, the ordinate p represents the payload, and the abscissa d represents the distance from the center of the end effector flange to the center of the tool.

Figure 3-3 Load-Deflection Curve - AUBO-i3

Figure 3-4 Load-Deflection Curve - AUBO-i5

Figure 3-5 Load-Deflection Curve - AUBO-i7

Figure 3-6 Load-Deflection Curve - AUBO-i10

Figure 3-7 Load-Deflection Curve - AUBO-i12

Figure 3-8 Load-Deflection Curve - AUBO-i16

Figure 3-9 Load-Deflection Curve - AUBO-i20

Sign	Description
	1. The load conditions shall be within the range shown in the figure. 2. The load shown in the figure is the maximum payload of the robot arm, and in no case shall the maximum load shown in the figure be exceeded. 3. Otherwise, the internal components of the robot may be damaged.

3.4 Robot Arm's Workspace

3.4.1 Mechanical Dimensions

Figure 3-10 Mechanical Dimensions - AUBO-i3

Figure 3-11 Mechanical Dimensions - AUBO-i5

Figure 3-12 Mechanical Dimensions - AUBO-i7

Figure 3-13 Mechanical Dimensions - AUBO-i10

Figure 3-14 Mechanical Dimensions - AUBO-i12

Figure 3-15 Mechanical Dimensions - AUBO-i16

Figure 3-16 Mechanical Dimensions - AUBO-i20

3.4.2 Moving Range of Point P

(a)

(b)

Figure 3-17 Moving Range of Point P - AUBO-i3

(a) Side view; (b) Top view

(a)

(b)

Figure 3-18 Moving Range of Point P - AUBO-i5

(a) Side view; (b) Top view

(a)

(b)

Figure 3-19 Moving Range of Point P - AUBO-i7

(a) Side view; (b) Top view

(a)

(b)

Figure 3-20 Moving Range of Point P - AUBO-i10

(a) Side view; (b) Top view

(a)

(b)

Figure 3-21 Moving Range of Point P - AUBO-i12

(a) Side view; (b) Top view

(a)

(b)

Figure 3-22 Moving Range of Point P - AUBO-i16

(a) Side view; (b) Top view

(a)

(b)

Figure 3-23 Moving Range of Point P - AUBO-i20

(a) Side view; (b) Top view

3.4.3 Mechanical Dimensions of Tool Flange

The tool flanges used by different models of AUBO-i series robot arm are slightly different. AUBO-i3, AUBO-i5, AUBO-i7, and AUBO-i10 have two types of tool flanges. The tool flange contains several threaded holes and one locating hole.

Figure 3-24 Mechanical Dimensions for Type B Tool Flange - AUBO-i3/i5/i7/i10

Figure 3-25 Mechanical Dimensions for Type C Tool Flange - AUBO-i3/i5/i7/i10

Figure 3-26 Mechanical Dimensions for Type C Tool Flange - AUBO-i12/i16

Figure 3-27 Mechanical Dimensions for Type C Tool Flange - AUBO-i20

3.4.4 Top View of Base

Figure 3-28 Top View of Base - AUBO-i3

Figure 3-29 Top View of Base - AUBO-i5/i7

Figure 3-30 Top View of Base - AUBO-i10/i12/i16

Figure 3-31 Top View of Base - AUBO-i20

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:

1. No corrosive gas or liquid
2. No oil mist
3. No smoke
4. No dust or metal powder
5. No mechanical shock or vibration
6. No electromagnetic noise
7. No radioactive materials
8. Low humidity
9. No flammable materials
10. Ambient temperature: 0°C ~ 45°C
11. 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 capable of withstanding 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 from vibration and shall not be loose after installation.

Instructions for installing additional devices:

If non-AUBO original components (such as cables) are added to the robot, the user must ensure that such components do not interfere with or impair the safety functions of the equipment.

Controller safety instructions:

• The controller shall be placed horizontally on the ground.
• A clearance of ≥ 50 mm shall be reserved on each side of the controller to ensure ventilation and heat dissipation.
• The teach pendant may be hung on the controller. Make sure that the cable does not trip personnel.

Sign	Description
	1. A wet controller can cause injury or death. 2. Pay close attention to environments where conductive dust is present.

4.2 Installation Precautions for Heavy-Load Robot Arms

For robot arms with a rated payload of 20 kg or above, loss of motion control may cause irreversible severe injury or even death. The following safety requirements must be strictly observed during installation.

4.2.1 Pre-installation Preparation

1. Before installation, complete the risk assessment for the robot arm installation scenario and identify potential hazards in hoisting, fixing, electrical connection, and other stages (such as mechanical crushing, falling objects, and electric shock).
2. All personnel involved in installation must receive targeted training or prove through experience that they have the safety competence required to handle heavy-load servo systems.
3. For heavy-load robots, it is recommended to provide means of limiting their motion space (mechanical stops, electromechanical devices, or certified safety software).
4. It is recommended to install safety protection devices such as safety fences or safety light curtains. The safety fence height shall be greater than 2000 mm (and shall not be less than 1400 mm at minimum), and the ground clearance shall not exceed 180 mm. Protective panel fasteners must use captive bolts to ensure that the protective panels can be reliably reset after maintenance. The minimum safety distance S of a safety light curtain must be determined by calculation using the formula $S=(K\times T)+C$, based on the approach speed of personnel (K), the stopping time of the robot arm (T), and the intrusion distance (C).

4.2.2 Handling and Hoisting Safety Standards

1. For robot arms with a rated payload of 20 kg or above, manual handling is strictly prohibited. Manual handling presents major safety risks such as personnel injury, falling objects, and equipment damage. Such robot arms must be handled and hoisted using compliant special equipment, and the entire process must comply with safety regulations.
2. During hoisting, the influence of the end-effector on the center of gravity must be considered. If necessary, remove the end-effector first.
3. Hoisting operations must be directed by a designated person. During hoisting, unrelated personnel are prohibited from entering the operating radius. Hoisting personnel must have the corresponding safety competence qualifications.

4.2.3 Foundation Engineering Requirements

1. Robot arms with a rated payload of 20 kg or above have large dynamic inertia, and the installation ground must undergo professional structural calculation. To meet the foundation stability requirements of ISO 10218-2:2025, it is recommended to follow the following technical standards:

   • Material strength: The robot installation foundation should use reinforced concrete with a strength grade not lower than C30 (equivalent to approximately 4000 psi in international standards), to ensure that anchor bolts do not loosen under the large overturning moment generated by a robot emergency stop.
   • Installation precision:
   1. Mounting surface flatness tolerance $\le 0.5mm$, to prevent internal stress in the base casting during tightening.
   2. Mounting surface inclination $\le {0.5}^{\circ }$, to ensure the accuracy of the robot gravity compensation algorithm and prevent joint overload caused by eccentric loads.

2. Equipotential bonding: The robot arm body shall use equipotential bonding. The grounding resistance shall be ≤ 4Ω, the grounding terminal shall be firmly connected without looseness, and the grounding cable specification shall match the power requirements of the robot arm.

4.3 Installing the Robot Arm

Robot arm installation consists of the following main steps:

1. Determine the workspace: Plan a safe working area according to the robot arm motion range.
2. Install the robot arm body: Fix the robot arm on the base or workbench surface.
3. Install the end tool: Install the end-effector on the robot arm flange.
4. Connect the controller: Complete electrical connections according to the controller manual.
5. Power-on commissioning: After power-on, complete the initial configuration through the teach pendant software.

A safety assessment must be carried out after each robot installation, and the relevant requirements in the safety chapter of this manual must be strictly followed.

4.3.1 Base (Optional)

The AUBO robot base is an optional component used to support and fix the robot arm. Dedicated bases matching different robot models and payloads can be selected. Figure 4-1 shows a schematic of the base style. The actual equipment shall prevail.

• Small-load base: Equipped with 4 anchor bolts and 4 universal wheels for easy fixing 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 lower nut of the anchor bolt and lift the anchor bolt so that the universal wheel is released from the ground.
• Heavy-load base: Equipped with 4 anchor bolts and designed for stable installation. When fixing the robot arm, rotate the torx wheel to adjust the anchor bolt height, and tighten the nut with an adjustable wrench.

Figure 4-1 Base Structure Diagram

(a) Small-load base structure diagram; (b) Heavy-load base structure diagram

1, 4—Contact surface between base and robot arm; 2—Universal wheel; 3—Anchor bolt; 5—Nut; 6—Torx wheel

4.3.2 Installing the Robot Arm

The AUBO-i series robot arm has a 360° installation position and posture adaptation function, and supports base mounting, ceiling mounting, wall mounting, and other installation methods, as shown in Figure 4-2. After the robot arm is installed, the teach pendant software will automatically identify and adjust the working parameters of the robot arm after power-on.

For base mounting, it is recommended to use 4 bolts for fixing and install dowel pins in 2 holes with slightly smaller diameters in advance to improve installation accuracy. For mechanical dimensions, see 3.4.4 Top View of Base.

Figure 4-2 Diagram of Different Installation Postures

Sign	Description
	1. Ensure that the robot arm is correctly and securely installed in place. 2. The robot arm should 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 solid surface, it may tip over and cause injury.
	1. For base mounting, the contact surface between the robot and the base must be in close contact. 2. It is recommended that users use a base contact surface with strong heat dissipation performance, such as an all-aluminum material. When the operating environment exceeds 35°C, it is strongly recommended that users use materials with strong heat dissipation performance.

4.3.3 Installing the End Tool

The end tool flange has several threaded holes and 1 locating hole, allowing grippers and other tools to be installed at the end of the robot arm. For the mechanical dimensions of the tool flange, see 3.4.3 Mechanical Dimensions of Tool Flange.

Sign	Description
	1. Ensure that the tool is correctly and securely installed in place. 2. Ensure that the tool safety architecture prevents any risk caused by accidental falling of parts.

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).

1. Grounding technical requirements:
   1. Cable specification: The protective grounding conductor (PE) must be a copper-core cable with a cross-sectional area of ≥ 2.5 mm². The insulation layer must be intact, and terminals must be securely crimped with professional crimping tools. Winding connections are strictly prohibited.
   2. Grounding resistance: After grounding construction is completed, a grounding resistance tester must be used to measure the resistance between the robot arm PE terminal and the ground. A grounding resistance of ≤ 4Ω is qualified.
   3. Record retention: Grounding test records must be retained and filed as important proof of safety compliance.
2. Safety inspection and maintenance:
   1. Routine inspection: Operators shall regularly inspect the PE wire connection status to ensure that there is no looseness, breakage, or corrosion.
   2. Maintenance requirements: After equipment maintenance, relocation, or reinstallation, the grounding resistance must be retested to ensure that the grounding system remains effective.
   3. Training requirements: All operators must receive grounding safety training and understand the risks of ungrounded equipment 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, 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 15 V ~ 105 V. Contact by operators may cause discomfort such as numbness or tingling in the hand, which may lead to panic and incorrect operation, resulting in secondary injuries such as collision with the robot arm or accidental emergency stop triggering.

4.3.5 Cable Connection

After the robot arm is installed, the controller must be connected correctly before the robot arm can be powered on for normal use. For the cable connection method, see the controller user manual.

4.4 Arm-side Interfaces and Buttons

4.4.1 Introduction

To meet diverse requirements for end tools, the AUBO-i 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 HandGuide button at the wrist. The tool RS485 interface is optional.

Figure 4-3 Diagram of Arm-side Interfaces and Buttons

1—HandGuide button; 2—Tool I/O interface; 3—Tool RS485 interface

4.4.2 Tool I/O Interface

The tool I/O interface integrates power supply and signal transmission functions. It supports connection and control of end-effector devices such as grippers and sensors, uses industrial-grade cable connection, and contains 8 function wires internally (as shown in Figure 4-4 and Table 4-1). The power supply voltage, digital I/O interface mode, I/O interface functions, and other items can be configured in the teach pendant software. For the configuration method and functions, see the AuboStudio User Manual.

Figure 4-4 Tool I/O Interface Diagram

Table 4-1 Cable Color Coding and Pin Function of the Tool I/O Interface

Color	Signal	Pin	Color	Signal	Pin
White	GND	1	Green	DI/O 2	3
Brown	12/24V	2	Yellow	DI/O 3	4
Grey	DI/O 0	5	Red	AI 0	8
Blue	DI/O 1	7	Pink	AI 1	6

The tool I/O interface's digital I/O uses an NPN switching scheme:

• Digital input mode: when activated, the connector drives connection to GND; when disabled, it is in an open-circuit state.
• Digital output mode: equipped with a weak pull-down resistor to ensure signal stability and reliability.

For detailed electrical parameters of the tool I/O interface, see Table 4-2 to Table 4-4. Electrical tolerances are within ±10%.

Table 4-2 Tool I/O Interface Power Electrical Parameters

Parameter	Minimum	Typical	Maximum	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

Table 4-3 Tool I/O Interface Input Voltage Parameters

Parameter	Minimum	Typical	Maximum	Unit
Input voltage range	0	-	10	V
Voltage resolution	-	2.5	-	mV

Table 4-4 Tool I/O Interface Digital I/O Electrical Parameters

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 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	AI 0	0	-	+10	V
	AI 1	0	-	+10	V

Sign	Description
	When connecting a tool or gripper, ensure that power interruption does not cause any danger, such as a workpiece falling from the tool.

4.4.3 Tool RS485 Interface (Optional)

The tool RS485 interface provides fieldbus communication capabilities, supports direct communication and data exchange with multiple devices, uses the standard RS485 communication protocol, and uses industrial cable connection with 4 function wires internally (as shown in Figure 4-5 and Table 4-5). Its power supply voltage is configured in the same way as the power supply voltage of the tool I/O interface. For the configuration method and functions, see the AuboStudio User Manual. For relevant electrical parameters, see Table 4-2.

Figure 4-5 Tool RS485 Interface Diagram

Table 4-5 Cable Color Coding and Pin Function of the Tool RS485 Interface

Color	Signal	Pin
Brown	12/24V	1
White	RS485A	2
Blue	RS485B	3
Black	GND	4

4.4.4 HandGuide Button

The HandGuide button is a human-machine interaction component provided by the AUBO-i series robot arm. Press and hold the button to enter HandGuide mode, in which the user can easily move the robot arm. Release the button, and the robot arm holds the current pose and exits HandGuide mode. This function can be used together with the "trajectory recording" function. For details, see the AuboStudio User Manual.

5 Handling and Transportation Precautions

When hoisting the robot, appropriate measures shall be taken to position moving parts so that they do not move unexpectedly during hoisting and transportation and cause hazards. During packaging and transportation, packaging shall be performed according to packaging standards, and required markings shall be applied outside the packaging 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 on the robot base are tightened.

After the robot is fixed, power it on and use the robot HandGuide function to adjust the robot posture to an appropriate position.

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

Sign	Description
	1. Make sure 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. shall not be responsible for damage arising 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

When carrying out any maintenance or repair work, strictly follow all safety requirements in this manual.

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

Equipment repair 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., strictly follow the relevant procedures in the service manual.

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

Maintenance and repair work is used to ensure stable operation of the equipment or to restore normal operating conditions after equipment failure, covering both 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 that it is completely powered off. Necessary precautions must be taken to prevent others from re-energizing the system during maintenance. After power-off, check the system again to ensure that it is powered off. 2. Check the grounding connection before restarting the system. 3. Follow ESD (electrostatic discharge) regulations when disassembling the robot arm or controller. 4. Avoid disassembling the power supply system of the controller. After the controller is turned off, its power supply system may retain high voltage for several hours. 5. Prevent water or dust from entering the robot arm or controller.
	1. Replace faulty parts with new parts of 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 documentation related to the robot system. 4. The controller has no parts that can be serviced by end users. If maintenance or repair services are 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 robots feature a limited warranty period of 18 months.

If the new equipment or any of its components exhibits defects resulting from poor manufacturing and/or material within 18 months from the start of use, AUBO (Beijing) Intelligent Technology Co., Ltd. shall provide the necessary spare parts for replacement or repair.

AUBO (Beijing) Intelligent Technology Co., Ltd. has ownership of the equipment or components replaced or returned to AUBO (Beijing) Intelligent Technology Co., Ltd.

When the warranty expires, AUBO (Beijing) Intelligent Technology Co., Ltd. reserves the right to charge the customer for replacement or repair.

If the equipment is defective outside the warranty period, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any damage or loss arising therefrom, such as production loss or damage to other production equipment.

7.2 Disclaimer

The product warranty will become invalid if an equipment defect is caused by improper handling or failure to follow the relevant information described in the User Manual.

Faults caused by the following conditions are not covered by this warranty:

• Products purchased through channels not approved by AUBO.
• Failure to install, wire, or connect other control equipment in accordance with industrial standards or the requirements of the User Manual.
• Use beyond the specified conditions or standards indicated for the product.
• Use of this product for purposes other than those specified.
• Use in environmental conditions beyond the specified range of the product.
• Use in a grinding environment or special operating environment without product protection.
• Product damage caused by improper transportation.
• Faults, damage, or indirect damage caused by accidents or human factors.
• Faults, damage, or indirect damage caused by modification.
• 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 integrator.
• Faults, damage, or indirect damage caused by natural disasters or other force majeure.
• Faults caused by reasons other than the responsibility of AUBO (Beijing) Intelligent Technology Co., Ltd., in addition to the situations listed 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 fault cannot be reproduced or cannot be identified by AUBO (Beijing) Intelligent Technology Co., Ltd.
• Use of this product in radioactive equipment, biological test equipment, or applications judged dangerous 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. shall not be liable for any other express or implied warranties or liabilities, including but not limited to any implied warranties of merchantability or fitness for a particular purpose. In addition, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any form of indirect damage or consequences arising from the relevant products.

8 Appendix

8.1 Glossary

Category 0 stop: Robot motion is stopped by immediate removal of power to the robot. This is an uncontrolled stop, where the robot may deviate from the programmed path because each joint brakes as fast as possible. This protective stop is used if the safety assessment limit is exceeded or in case of a fault in the safety-related parts of the control system. For more information, see EN ISO 13850:2008 or IEC60204-1:2006.

Category 1 stop: Robot motion is stopped with power available to the robot, and then the power is removed when the stop is achieved. It is a controlled stop, where the robot will continue moving along the programmed path. Power is removed after one second or as soon as the robot stands still. For more information, see EN ISO 13850:2008 or IEC60204-1:2006.

Category 2 stop: Category 2 stop is a controlled stop with power left available to the robot. The robot stops all motions within one second. The safety-related control system monitors that the robot stays at the stop position. For more information, see IEC60204-1:2006.

Integrator: The integrator is the entity that designs the final robot installation. The integrator is responsible for performing the final risk assessment and must ensure that the final installation complies with local laws and regulations.

Risk assessment: A risk assessment is the overall process of identifying all risks and reducing them to an appropriate level. A risk assessment should be documented. For more information, see ISO 12100.

Performance level: Performance level (PL) is a discrete level used to specify the ability of safety-related parts of a control system to perform a safety function under foreseeable conditions. PLd is the second highest reliability classification, meaning that the safety function is highly reliable. For more information, see EN ISO 13849-1:2008.

8.2 Revision Records

Version / Time	Description
v1.0.0*/20251014	v1.0.0* (Trial) released.
v1.0.1*/20260827	1. Released v1.0.1* trial version. 2. Unified manual structure, safety instructions, chapter names, and warning signs.

8.3 Technical Specifications Summary

Parameter	AUBO-i3	AUBO-i5	AUBO-i7	AUBO-i10	AUBO-i12	AUBO-i16	AUBO-i20
Degrees of freedom	6 rotating joints	6 rotating joints	6 rotating joints	6 rotating joints	6 rotating joints	6 rotating joints	6 rotating joints
Weight	16 kg	24 kg	23.4 kg	38.5 kg	40 kg	38 kg	63 kg
Payload	3 kg	5 kg	7 kg	10 kg	12 kg	16 kg	20 kg
Maximum working radius	625 mm	886.5 mm	786.5 mm	1350 mm	1250 mm	967.5 mm	1650 mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -156° ~ +156°	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -162° ~ +162°	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -158° ~ +158°	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -167° ~ +167°	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -166° ~ +166°	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -161° ~ +161°	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -168° ~ +168°
Maximum joint speed	joint1/joint2/joint3/joint4/joint5/joint6: 237°/s	joint1/joint2/joint3: 223°/s joint4/joint5/joint6: 237°/s	joint1/joint2/joint3: 223°/s joint4/joint5/joint6: 237°/s	joint1/joint2: 178°/s joint3: 223°/s joint4/joint5/joint6: 237°/s	joint1/joint2: 178°/s joint3: 267°/s joint4/joint5/joint6: 237°/s	joint1/joint2: 178°/s joint3: 267°/s joint4/joint5/joint6: 237°/s	joint1/joint2: 110°/s joint3/joint4/joint5/joint6: 178°/s
Tool speed	≤ 2.5 m/s	≤ 3.4 m/s	≤ 3.0 m/s	≤ 4.0 m/s	≤ 3.8 m/s	≤ 3.0 m/s	≤ 2.6 m/s
Repeatability	± 0.02 mm	± 0.02 mm	± 0.02 mm	± 0.03 mm	± 0.03 mm	± 0.03 mm	± 0.05 mm
Operating ambient temperature range	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C
Operating ambient humidity	90% RH (non-condensing)	90% RH (non-condensing)	90% RH (non-condensing)	90% RH (non-condensing)	90% RH (non-condensing)	90% RH (non-condensing)	90% RH (non-condensing)
IP protection rating	IP54	IP54	IP54	IP54	IP54	IP54	IP54
ISO 14644-1 cleanroom class	5	5	5	5	5	5	5
Average power	Approx. 150 W when running typical programs	Approx. 200 W when running typical programs	Approx. 200 W when running typical programs	Approx. 500 W when running typical programs	Approx. 500 W when running typical programs	Approx. 600 W when running typical programs	Approx. 1000 W when running typical programs
Peak power	1000 W	2000 W	2000 W	2000 W	2000 W	2000 W	3000 W
Mounting surface diameter	⌀140 mm	⌀170 mm	⌀170 mm	⌀218 mm	⌀218 mm	⌀218 mm	⌀258 mm
General approval mark/agency	CE, NRTL, CR	CE, NRTL, CR	CE, NRTL, CR	CE, NRTL, CR	CE, NRTL, CR	CE, NRTL, CR	CE, NRTL, CR
Environmental and chemical compliance certification	RoHS&REACH	RoHS&REACH	RoHS&REACH	RoHS&REACH	RoHS&REACH	RoHS&REACH	RoHS&REACH
Collaborative robot safety standard	ISO/TS 15066	ISO/TS 15066	ISO/TS 15066	ISO/TS 15066	ISO/TS 15066	ISO/TS 15066	ISO/TS 15066