AUBO-iS(FT) Series Robot Arm User Manual

1 About This Manual

1.1 Version Information

Item	Description
Manual name	AUBO-iS(FT) Series Robot Arm User Manual
Manual version	v1.0.1*
Release date	2026-08-27
Applicable products	AUBO-iS3(FT) Robot Arm, AUBO-iS7(FT) Robot Arm, AUBO-iS10(FT) Robot Arm, AUBO-iS20(FT) Robot Arm, AUBO-iS20L(FT) Robot Arm, AUBO-iS25(FT) Robot Arm
Applicable controller	AUBO-iS(FT) series robot arms are compatible with the AUBO-CB-iS Controller.

The User Manual is subject to regular review and revision, and updated content will be released in new versions. The content or information in this manual is subject to change without prior notice.

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

All images in this manual are for reference only. The actual product 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 the installation, commissioning, pre-operation inspection, maintenance, repair, handling, storage, and disposal of AUBO-iS(FT) series robot arms.

This manual does not replace the risk assessment, on-site safety design, work instructions, or applicable laws, regulations, and safety standards of the country/region where the system integrator is located.

1.4 Target Audience

This manual is intended for the following professionals:

• Robot arm installation personnel
• Commissioning and operating personnel
• Maintenance and repair personnel
• Safety management personnel

1.5 Operation Prerequisites

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

• Have received relevant training provided by AUBO or an AUBO-authorized distributor;
• Have the basic knowledge required for installation and maintenance of mechanical, electrical, and automation equipment;
• Be familiar with on-site safety management requirements and have basic risk identification and safe operation awareness;
• Have read and understood the safety instructions in this manual and related documents.

1.6 Related Documents

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

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

1.7 More 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 must be followed when operating the robot arm or robotic system. Integrators, users, and operators must read this chapter carefully and strictly follow the instructions marked with safety warning signs.

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

2.2 Safety Warning Signs

This manual uses the following safety warning signs to indicate important safety information. When seeing the relevant signs, be sure to read and follow the corresponding instructions.

Table 2-1 Warning Sign Description

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 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 specific circumstances, sometimes have the potential for serious consequences.

2.3 General Safety Specifications

When operating the robot arm and its related equipment, always follow the following basic safety rules. This section lists general safety requirements. Safety instructions for specific scenarios are described in the relevant chapters of this manual.

1. Be sure to install the machine and all electrical equipment in accordance with the requirements and specifications in this manual.

2. Initial tests and inspections of the machine and its protective system are required before the first use and commissioning.

3. Before starting the machine and system for the first time, check whether the machine and system are complete, safe to operate, and free of any damage. During this inspection, compliance with applicable national or regional work safety regulations must be observed, and all safety functions must be tested.

4. The user must check and ensure that all safety parameters and user programs are correct, and that all safety functions are operating properly. Each safety function must be checked by personnel qualified to operate the robot. The robot may be started only after it has passed comprehensive and careful safety tests and reached the required safety level.

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

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

7. Safety parameters must be set and changed by authorized personnel. 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 functions must be analyzed.

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

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 for safety, the robot stops automatically to prevent collision injury to the robot or operator. This function is specially designed for human-robot collaboration safety of AUBO-iS(FT) series robot arms, but the robot system must be within its normal operating range and must use an AUBO series controller. If the user develops a controller independently, the robot will not have the above functions. The user shall bear all hazardous consequences arising therefrom.

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

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

Prohibited Actions:

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 the first startup: - System integrity check (mechanical installation, electrical connection, and grounding protection) - 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 earth 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 cause casualties. 4. It is strictly prohibited to manually and frequently switch the power supply system on and off. The robot arm joint modules are equipped with brakes to maintain the robot pose when powered off. Do not manually and frequently switch the power supply system on and off. It is recommended that the interval between each power-on and power-off operation be greater than 10s. 5. When the robot arm is running, 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 has just stopped. Cut off the power and wait for one hour before the robot cools down. 6. It is strictly prohibited to modify safety parameters or bypass safety functions without authorization.

Operation Specifications:

Sign	Description
	1. Ensure that the robot arm and end tool are securely installed. Insecure installation may cause equipment to fall off or reduce operation accuracy. 2. Ensure that the robot arm has sufficient workspace, with no obstacles, sharp corners, or pinch points. The operator's head and face shall be outside the reachable range of the robot arm. 3. Do not connect safety devices to general I/O interfaces. Only dedicated safety 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 the machine immediately and contact AUBO or an authorized service provider. 6. Manual handling of high-payload (≥20 kg) robot arms is strictly prohibited. Compliant dedicated lifting 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 insulation and protective measures. Handle the robot arm carefully during transportation to avoid impacts. 2. Do not expose the robot arm to strong magnetic fields for a long time. Strong magnetic fields may damage the equipment. 3. Do not modify the robot arm without authorization. Any unauthorized modification will void the warranty, and AUBO assumes no liability for any consequences arising therefrom.

2.4 Personnel Safety

When operating the robotic system, personnel safety shall be prioritized. Users and integrators shall at least take 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 standard operating procedures. For training consultation, 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 to start and shall be regarded as continuously operating. Approaching it casually is strictly prohibited.
3. In emergencies such as when personnel are trapped or confined, the robot arm may be forced to move by firmly pushing or pulling it. Manual movement of the robot arm without power is limited to emergency situations and may damage the robot arm joints.
4. Personnel shall not place the 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 operation solutions for the complete robotic machine, nor does it list all risk conditions that may affect the safety of peripheral equipment in the complete integrated system. The installation safety performance of the complete robotic equipment depends on the design and construction method of the complete integration solution. The equipment integrator must perform risk assessment throughout the design and installation process of the complete integrated system in accordance with applicable local laws, regulations, safety specifications, and industry standards.

All safety-related information contained in this manual shall not be regarded as a guarantee by AUBO (Beijing) Intelligent Technology Co., Ltd. Even if operators strictly follow all safety instructions in this manual, there are still potential risks 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. We have made every effort to ensure that the content of this manual is accurate and reliable, but assume 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 comply with safety requirements
• Provide necessary training for users and related operators
• Develop complete system operating specifications 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 to perform the risk assessment process:

Standard No.	Name	Description
ISO 12100:2010	Safety of machinery — General principles for design — Risk assessment and risk reduction	Basic framework for risk assessment
ISO 10218-2:2025	Robotics and robotic devices — Safety requirements — Part 2: Industrial robot systems and robot applications	Safety requirements for industrial robot integration
RIA TR R15.306-2014	Technical report for industrial robots and robot systems — Safety requirements, task-based risk assessment methodology	Guide for task-based risk assessment
ANSI B11.0-2010	Safety of machinery — General requirements and risk assessment	U.S. machinery safety standard

For applicable standards and regulatory guidelines, visit the AUBO website at www.aubo-robotics.cn or consult the 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 protective 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 the risks to an acceptable level. Note that specific robot equipment may also have other significant hazards.

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

If the robot is deployed for non-collaborative operation, 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 personnel and equipment operation safety.

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 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 poses 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 significant property damage. 4. Before releasing emergency stop, confirm that the hazard has been completely eliminated.

2.7.2 Emergency Joint Movement

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

• Forced dragging: Firmly push or pull the robot arm joints to force the joints to move.

Sign	Description
	Forcible manual movement of the robot arm is limited to emergency situations and may damage the robot arm joints.

2.7.3 Over-Force Safety Protection of Robot Arm

The robot arm is equipped with an over-force safety protection function. When the robot arm is powered on and stationary, if an operator or 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 function can reduce injury to operators, other objects, and the robot arm when a collision occurs between the operator or other object and 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 is equipped with a collision protection function. During operation of the robot arm, if an operator or other 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 enter drag teaching mode at the same time. At this point, the robot arm can be dragged to a relatively safe position, and then the teach pendant can be operated to allow the robot arm to continue running. This function can reduce injury to operators, other objects, and the robot arm when a collision occurs between the operator or other object and the robot arm. It also saves program restart time and improves work efficiency. The safety threshold for collision force can be changed by setting the collision level.

3 Robot Arm Description

3.1 About the iS(FT) Series

The AUBO-iS(FT) series robot arm is a six-degree-of-freedom modular collaborative robot with built-in six-axis force control, launched by AUBO (Beijing) Intelligent Technology Co., Ltd. It is designed for industrial flexible automation scenarios. The series includes six standard models, with payloads covering 3kg to 25kg and reach spanning 0.8865m to 2.10m, covering application needs from precision assembly to high-payload grinding, handling, and other scenarios.

The core advantage of this series is the native integration of a high-precision six-axis force/torque sensor at the end, enabling real-time sensing and accurate feedback of multi-dimensional forces and torques without additional external components. Combined with AUBO's self-developed force control algorithm, the equipment features fast force control response, excellent accuracy, and strong adaptability. It can automatically correct operation deviations and effectively solve industry pain points of traditional equipment, such as high operation rigidity, low fault tolerance, and difficulty adapting to irregular workpieces.

Figure 3-1 AUBO-iS(FT) Series Robot Arm

Sign	Description
	AUBO-iS(FT) series robot arms are compatible with the AUBO-CB-iS Controller.

The AUBO-iS(FT) series robot arm mimics the human arm and has six rotary 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 pedestal, and the tool end is used to connect the robot arm to the tool. The tool end is the end of wrist 3.
• Arm tubes are used between the shoulder and elbow and between the elbow and wrist.
• Through the teach software interface or drag teaching, users can control the rotation of each joint so that the robot end tool moves to different poses.

Figure 3-2 Robot Joint Diagram

3.2 Technical Specifications

3.2.1 AUBO-iS3(FT)

• Technical specifications of the robot arm body

Robot arm type	AUBO-iS3(FT)
Degrees of freedom	6 rotary joints
Weight	16kg
Payload	3kg
Maximum working radius	625mm
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	≤ 2.5m/s
Repeatability	± 0.02mm
Operating ambient temperature range	0 ~ 50°C
Operating ambient humidity	90% relative humidity (non-condensing)
IP rating	IP64
Average power	Approximately 150W when running typical programs
Peak power	1000W
Mounting surface diameter	⌀140mm

• Technical specifications of the force-control end

Robot arm type	AUBO-iS3(FT)
Parameter	Factory default parameter	Customizable model 1	Customizable model 2
Range - force (Fz)	500N	200N	800N
Range - force (Fx = Fy)	400N	200N	800N
Range - torque (Mx=My=Mz)	12N.m	8N.m	56N.m
Overload level	300% F.S.	300% F.S.	(F)1600N, (M)113N.m
Repeatability	0.1% F.S.	0.1% F.S.	0.1% F.S.
Combined accuracy	0.5% F.S.	0.5% F.S.	1% F.S.
Resolution	0.03% F.S.	0.03% F.S.	0.03% F.S.
Protection rating	IP64	IP64	IP64

3.2.2 AUBO-iS7(FT)

• Technical specifications of the robot arm body

Robot arm type	AUBO-iS7(FT)
Degrees of freedom	6 rotary joints
Weight	21.5kg
Payload	7kg
Maximum working radius	886.5mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -162° ~ +162°
Maximum joint speed	joint1/joint2/joint3: 237°/s joint4/joint5/joint6: 296°/s
Tool speed	≤ 3.6m/s
Repeatability	± 0.02mm
Operating ambient temperature range	0 ~ 50°C
Operating ambient humidity	90% relative humidity (non-condensing)
IP rating	IP64
Average power	Approximately 200W when running typical programs
Peak power	2000W
Mounting surface diameter	⌀170mm

• Technical specifications of the force-control end

Robot arm type	AUBO-iS7(FT)
Parameter	Factory default parameter	Customizable model 1	Customizable model 2
Range - force (Fz)	500N	200N	800N
Range - force (Fx = Fy)	400N	200N	800N
Range - torque (Mx=My=Mz)	12N.m	8N.m	56N.m
Overload level	300% F.S.	300% F.S.	(F)1600N, (M)113N.m
Repeatability	0.1% F.S.	0.1% F.S.	0.1% F.S.
Combined accuracy	0.5% F.S.	0.5% F.S.	1% F.S.
Resolution	0.03% F.S.	0.03% F.S.	0.03% F.S.
Protection rating	IP64	IP64	IP64

3.2.3 AUBO-iS10(FT)

• Technical specifications of the robot arm body

Robot arm type	AUBO-iS10(FT)
Degrees of freedom	6 rotary joints
Weight	36kg
Payload	12kg
Maximum working radius	1300mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -167° ~ +167°
Maximum joint speed	joint1/joint2: 178°/s joint3: 237°/s joint4/joint5/joint6: 296°/s
Tool speed	≤ 4.0m/s
Repeatability	± 0.03mm
Operating ambient temperature range	0 ~ 50°C
Operating ambient humidity	90% relative humidity (non-condensing)
IP rating	IP54 (customizable IP64)
Average power	Approximately 500W when running typical programs
Peak power	2000W
Mounting surface diameter	⌀218mm

• Technical specifications of the force-control end

Robot arm type	AUBO-iS10(FT)
Range - force (Fz)	800N
Range - force (Fx = Fy)	800N
Range - torque (Mx=My=Mz)	56N.m
Overload level	(F)1600N, (M)113N.m
Repeatability	0.1% F.S.
Combined accuracy	1% F.S.
Resolution	0.03% F.S.
Protection rating	IP64

3.2.4 AUBO-iS20(FT)

• Technical specifications of the robot arm body

Robot arm type	AUBO-iS20(FT)
Degrees of freedom	6 rotary joints
Weight	64kg
Payload	20kg
Maximum working radius	1647mm
Joint range	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -168° ~ +168°
Maximum joint speed	joint1/joint2: 123°/s joint3: 178°/s joint4/joint5/joint6: 296°/s
Tool speed	≤ 3.5m/s
Repeatability	± 0.05mm
Operating ambient temperature range	0 ~ 50°C
Operating ambient humidity	90% relative humidity (non-condensing)
IP rating	IP54 (customizable IP64)
Average power	Approximately 1000W when running typical programs
Peak power	3000W
Mounting surface diameter	⌀260mm

• Technical specifications of the force-control end

Robot arm type	AUBO-iS20(FT)
Range - force (Fz)	1600N
Range - force (Fx = Fy)	1600N
Range - torque (Mx=My=Mz)	96N.m
Overload level	(F)3200N, (M)165N.m
Repeatability	0.3% F.S.
Combined accuracy	2% F.S.
Resolution	0.03% F.S.
Protection rating	IP64

3.2.5 AUBO-iS20L(FT)

• Technical specifications of the robot arm body

Robot arm type	AUBO-iS20L(FT)
Degrees of freedom	6 rotary joints
Weight	72kg
Payload	20kg
Maximum working radius	2000mm
Joint range	joint1/joint2/joint3/joint4/joint5/joint6: -360° ~ +360°
Maximum joint speed	joint1/joint2: 104°/s joint3: 178°/s joint4/joint5/joint6: 296°/s
Tool speed	≤ 3.5m/s
Repeatability	± 0.05mm
Operating ambient temperature range	0 ~ 50°C
Operating ambient humidity	90% relative humidity (non-condensing)
IP rating	IP54 (customizable IP64)
Average power	Approximately 1000W when running typical programs
Peak power	3000W
Mounting surface diameter	⌀282mm

• Technical specifications of the force-control end

Robot arm type	AUBO-iS20L(FT)
Range - force (Fz)	1600N
Range - force (Fx = Fy)	1600N
Range - torque (Mx=My=Mz)	96N.m
Overload level	(F)3200N, (M)165N.m
Repeatability	0.3% F.S.
Combined accuracy	2% F.S.
Resolution	0.03% F.S.
Protection rating	IP64

3.2.6 AUBO-iS25(FT)

• Technical specifications of the robot arm body

Robot arm type	AUBO-iS25(FT)
Degrees of freedom	6 rotary joints
Weight	75.6kg
Payload	25kg
Maximum working radius	1700mm
Joint range	joint1/joint2/joint3/joint4/joint5/joint6: -360° ~ +360°
Maximum joint speed	joint1/joint2: 104°/s joint3: 178°/s joint4/joint5/joint6: 296°/s
Tool speed	≤ 3.0m/s
Repeatability	± 0.05mm
Operating ambient temperature range	0 ~ 50°C
Operating ambient humidity	90% relative humidity (non-condensing)
IP rating	IP54 (customizable IP64)
Average power	Approximately 1000W when running typical programs
Peak power	3000W
Mounting surface diameter	⌀282mm

• Technical specifications of the force-control end

Robot arm type	AUBO-iS25(FT)
Range - force (Fz)	1600N
Range - force (Fx = Fy)	1600N
Range - torque (Mx=My=Mz)	96N.m
Overload level	(F)3200N, (M)165N.m
Repeatability	0.3% F.S.
Combined accuracy	2% F.S.
Resolution	0.03% F.S.
Protection rating	IP64

3.3 Performance Parameters

3.3.1 Payload Curve

The following figures show the robot arm wrist payload offset curves. The vertical axis Payload indicates the payload, and the horizontal axis Center of Gravity Offset indicates the distance between the center of the tool end flange and the tool center.

Figure 3-3 Payload Offset Curve of AUBO-iS3(FT) Robot Arm

Figure 3-4 Payload Offset Curve of AUBO-iS7(FT) Robot Arm

Figure 3-5 Payload Offset Curve of AUBO-iS10(FT) Robot Arm

Figure 3-6 Payload Offset Curve of AUBO-iS20(FT) Robot Arm

Figure 3-7 Payload Offset Curve of AUBO-iS20L(FT) Robot Arm

Figure 3-8 Payload Offset Curve of AUBO-iS25(FT) Robot Arm

Sign	Description
	1. The payload conditions shall be within the range shown in the chart. 2. The payload shown in the chart is the maximum payload capacity of this robot arm model. Under no circumstances shall the maximum weight shown in the chart be exceeded. 3. Exceeding the allowable value may damage internal machine components.

3.4 Robot Arm Workspace

3.4.1 Mechanical Dimensions

Figure 3-9 Mechanical Dimensions of AUBO-iS3(FT) Robot Arm

Figure 3-10 Mechanical Dimensions of AUBO-iS7(FT) Robot Arm

Figure 3-11 Mechanical Dimensions of AUBO-iS10(FT) Robot Arm

Figure 3-12 Mechanical Dimensions of AUBO-iS20(FT) Robot Arm

Figure 3-13 Mechanical Dimensions of AUBO-iS20L(FT) Robot Arm

Figure 3-14 Mechanical Dimensions of AUBO-iS25(FT) Robot Arm

3.4.2 Movement Range of Body P Point

(a)

(b)

Figure 3-15 Movement Range of Body P Point of AUBO-iS3(FT) Robot Arm

(a) Side view; (b) Top view

(a)

(b)

Figure 3-16 Movement Range of Body P Point of AUBO-iS7(FT) Robot Arm

(a) Side view; (b) Top view

(a)

(b)

Figure 3-17 Movement Range of Body P Point of AUBO-iS10(FT) Robot Arm

(a) Side view; (b) Top view

(a)

(b)

Figure 3-18 Movement Range of Body P Point of AUBO-iS20(FT) Robot Arm

(a) Side view; (b) Top view

(a)

(b)

Figure 3-19 Movement Range of Body P Point of AUBO-iS20L(FT) Robot Arm

(a) Side view; (b) Top view

(a)

(b)

Figure 3-20 Movement Range of Body P Point of AUBO-iS25(FT) Robot Arm

(a) Side view; (b) Top view

3.4.3 Mechanical Dimensions of End Flange

The end flanges used for different models of the AUBO-iS(FT) series robot arms vary slightly. The end flange has several threaded holes and one positioning hole.

Figure 3-21 Mechanical Dimensions of End Flange of AUBO-iS3(FT) Robot Arm

Figure 3-22 Mechanical Dimensions of End Flange of AUBO-iS7(FT) Robot Arm

Figure 3-23 Mechanical Dimensions of End Flange of AUBO-iS10(FT) Robot Arm

Figure 3-24 Mechanical Dimensions of End Flange of AUBO-iS20(FT), AUBO-iS20L(FT), and AUBO-iS25(FT) Robot Arms

3.4.4 Top View of Base

Figure 3-25 Top View of Base of AUBO-iS3(FT) Robot Arm

Figure 3-26 Top View of Base of AUBO-iS7(FT) Robot Arm

Figure 3-27 Top View of Base of AUBO-iS10(FT) Robot Arm

Figure 3-28 Top View of Base of AUBO-iS20(FT) Robot Arm

Figure 3-29 Top View of Base of AUBO-iS20L(FT) and iS25(FT) Robot Arms

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 gases or liquids
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℃ ~ 50℃
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 sturdy surface that can withstand at least 10 times the full torque 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 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 equipment safety functions.

Controller safety instructions:

• The controller shall be placed horizontally on the floor.
• A clearance of ≥ 50 mm shall be reserved on each side of the controller to ensure ventilation and heat dissipation.
• The teach pendant may be hung on the controller. Ensure that cables do not trip personnel.

Sign	Description
	1. A damp controller may cause casualties. 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 20kg or above, uncontrolled motion may cause irreversible serious injury or even death. The following safety requirements must be strictly followed during installation.

4.2.1 Pre-installation Preparation

• Before installation, complete the risk assessment for the robot arm installation scenario and 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 have proven safety competency for handling high-payload servo systems.
• For high-payload robots, it is recommended to provide means to limit their movement space, such as mechanical stops, electromechanical devices, or certified safety software.
• It is recommended to install safety protective devices such as safety fences or safety light curtains. The safety fence height shall be greater than 2000mm, and the minimum shall not be less than 1400mm. The ground clearance shall not exceed 180mm. Protective panel fasteners must use "captive bolts" to ensure that protective panels can be reliably restored after maintenance. The minimum safety distance S of the safety light curtain must be calculated and determined using the formula $S=(K\times T)+C$, in combination with personnel approach speed (K), robot arm stopping time (T), and intrusion distance (C).

4.2.2 Handling and Lifting Safety Specifications

• Manual handling of robot arms with a rated payload of 20kg or above is strictly prohibited. Manual handling involves major safety risks such as personnel injury, falling objects, and equipment damage. Such robot arms must be handled and lifted using compliant dedicated equipment, and the entire process must comply with safety specifications.
• During lifting, the influence of the end-effector on the center of gravity must be considered. If necessary, remove the end-effector first.
• Lifting operations must be directed by a dedicated person. During lifting, unauthorized personnel are prohibited from entering the operation radius. Lifting operators must have corresponding safety competency qualifications.

4.2.3 Foundation Engineering Requirements

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

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

2. Equipotential bonding: The robot arm body must use equipotential bonding, with grounding resistance ≤ 4Ω. The grounding terminal shall be securely 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 based on the movement range of the robot arm.
2. Install the robot arm body: Fix the robot arm to 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 initial configuration through the teach 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 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 diagram of the base style. The actual equipment shall prevail.

• Low-payload base: Equipped with 4 leveling bolts and 4 swivel casters for easy fixing and movement. To fix the robot arm, rotate the upper part of the leveling bolt to lower the leveling bolt. To move the robot arm, use a wrench to rotate the lower nut of the leveling bolt and raise the leveling bolt so that the swivel caster leaves the ground.
• High-payload base: Equipped with 4 leveling bolts, specially designed for stable installation. To fix the robot arm, rotate the handwheel to adjust the height of the leveling bolt, and use an adjustable wrench to tighten the nut.

Figure 4-1 Base Structure Diagram

(a) Low-payload base structure diagram; (b) High-payload base structure diagram

1, 4—Contact surfaces between base and robot arm; 2—Swivel caster; 3—Leveling bolt; 5—Nut; 6—Handwheel

4.3.2 Installing the Robot Arm

AUBO-iS(FT) series robot arms have a 360° installation position and pose self-adaptation function, supporting base mounting, ceiling mounting, wall mounting, and other mounting methods, as shown in Figure 4-2. After the robot arm is installed, the teach software will automatically identify and adjust the working parameters of the robot arm after power-on.

For installation on the base, it is recommended to use 4 bolts for fixing, and to pre-install positioning pins using 2 holes with slightly smaller diameters to improve installation accuracy. For mechanical dimensions, see 3.4.4 Top View of Base.

Figure 4-2 Diagram of Different Installation Poses

Sign	Description
	1. Ensure that the robot arm is correctly and safely installed in place. 2. The robot arm shall not be installed in water or 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 safely placed on a sturdy surface, the robot arm may tip over and cause injury.
	1. When installed on the base, the contact surface between the robot and the base must be in close contact. 2. Users are advised to use a base contact surface with strong heat dissipation performance, such as all-aluminum material. When the working environment exceeds 35℃, users are strongly advised to use materials with strong heat dissipation performance.

4.3.3 Installing the End Tool

The end tool flange has several threaded holes and one positioning hole, making it convenient to install grippers and other tools at the end of the robot arm. For the mechanical dimensions of the tool flange, see 3.4.3 Mechanical Dimensions of End Flange.

Sign	Description
	1. Ensure that the tool is correctly and safely installed in place. 2. Ensure the safety structure of the tool so that no parts 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 grounding wire (PE wire) to ensure a good electrical connection between the enclosure and the ground. It is strictly prohibited to power on the robot arm without connecting the protective earth wire (PE wire).

• Grounding technical requirements:
  • Cable specification: The protective earth conductor (PE) must use a copper-core cable with a cross-sectional area ≥ 2.5mm². The insulation layer must be intact, and terminals must be firmly crimped using professional crimping tools. Twisted connections are strictly prohibited.
  • Grounding resistance: After grounding construction is completed, a grounding resistance tester must be used to measure between the robot arm PE terminal and the ground. A grounding resistance ≤ 4Ω is qualified.
  • Record retention: Grounding test records must be retained and filed as important proof of safety compliance.
• Safety inspection and maintenance:
  • Routine inspection: Operators shall regularly check the PE wire connection status to ensure there is no looseness, breakage, or corrosion.
  • Maintenance requirements: After equipment maintenance, relocation, or reinstallation, the grounding resistance must be retested to ensure the grounding system remains effective.
  • Training requirements: All operators must receive grounding safety training and understand the risks of ungrounded equipment and correct grounding methods.

Sign

Description

1. It is strictly prohibited to power on the robot arm without connecting the protective earth wire (PE wire). Missing or poor grounding may cause electric shock, abnormal electromagnetic interference of the equipment, or permanent damage. 2. When the robot arm is not connected to the PE wire, the enclosure may carry an induced voltage of 15V ~ 105V. Contact by operators may cause numbness, tingling, or other discomfort, which may trigger panic and incorrect operation, causing secondary injuries such as collision with the robot arm or accidental triggering of emergency stop.

4.3.5 Cable Connection

After the robot arm is installed, the controller must be correctly connected before normal power-on and use. For cable connection methods, refer to the controller user manual.

4.4 Arm-Side Interfaces and Buttons

4.4.1 Introduction

To meet diverse end tool requirements, the AUBO-iS(FT) series robot arm is designed with an 8-pin connector at the wrist, hereinafter referred to as the "Tool I/O interface", a 4-pin connector, hereinafter referred to as the "Tool RS485 interface", and a drag teaching button. The Tool RS485 interface is optional.

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

1—Drag teaching 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, and supports connection and control of grippers, sensors, and other end execution devices. It uses industrial-grade cable connection and is internally equipped with 8 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 software. For configuration methods and functions, refer to the AuboStudio User Manual.

Figure 4-4 Diagram of Tool I/O Interface

Table 4-1 Cable Pinout Function Table of 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
Gray	DI/O 0	5	Red	AI 0	8
Blue	DI/O 1	7	Pink	AI 1	6

The digital I/O interface of the Tool I/O interface uses the NPN switching scheme:

• Digital input mode: When active, the connector is driven to connect to GND; when disabled, it is in an open-circuit state;
• Digital output mode: Equipped with a weak-current pull-down resistor to ensure signal stability and reliability.

For detailed electrical parameters of the Tool I/O interface, see Table 4-2 to Table 4-4. Electrical tolerance is within ±10%.

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

Parameter	Minimum value	Typical value	Maximum value	Unit
Power supply voltage in 24V mode	23	24	25	V
Power supply voltage in 12V mode	11.5	12	12.5	V
Power supply current in both modes	-	0.35	1.0	A

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

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

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

I/O type	Parameter	Minimum value	Typical value	Maximum value	Unit
Digital input interface	Input voltage	-0.5	-	Vout+2	V
	Logic low voltage	0	1.5	2	V
	Logic high voltage	Vout-4	Vout	Vout+2	V
	Input resistance	-	4.3	-	kΩ
Digital output interface	Open-circuit voltage	Same as current power supply
	Voltage when inputting 1A current	0.35	0.4	0.85	A
	Input current	0.35	0.4	0.5	A
	Current through GND	0.35	0.4	0.5	A
Analog input interface	AI0	0	-	+10	V
	AI1	0	-	+10	V

Sign	Description
	When connecting tools and grippers, ensure that interrupting the power supply will not cause any danger, such as a workpiece falling from the tool.

4.4.3 Tool RS485 Interface

The Tool RS485 interface provides fieldbus communication capability, supports direct communication and data exchange with various devices, uses the standard RS485 communication protocol, and uses industrial cables for connection. It contains 4 functional wires internally, as shown in Figure 4-5 and Table 4-5. Its power supply voltage is configured in the same way as the Tool I/O interface power supply voltage. For configuration methods and functions, refer to the AuboStudio User Manual. For related electrical parameters, see Table 4-2.

Figure 4-5 Diagram of Tool RS485 Interface

Table 4-5 Cable Pinout Function Table of Tool RS485 Interface

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

4.4.4 Drag Teaching Button

The drag teaching button is a human-machine interaction component provided by the AUBO-iS(FT) series robot arm. Press and hold the button to enter drag teaching mode, allowing the user to easily move the robot arm. After the button is released, the robot arm maintains the current pose and exits drag teaching mode. This function can be used together with the "trajectory recording" function. For details, refer to the AuboStudio User Manual.

5 Handling and Transportation Precautions

When lifting the robot, appropriate measures shall be taken to position moving parts so that they do not move unexpectedly during lifting and transportation and cause hazards. During packaging and transportation, packaging shall be performed according to the packaging standard, and required markings shall be placed on the outside of the packing box.

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

The controller shall be lifted using the handle.

When moving the robot from the packaging materials to the installation position, hold the robot until all bolts of the robot base are fully tightened.

After fixing, power on the robot and use the robot drag teaching function to adjust the robot pose to an appropriate position.

Keep the original packaging after transportation is completed. Store the packaging materials in a dry place in case the robot needs to be repackaged and moved in the future.

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

6 Maintenance, Repair, and Disposal

6.1 Maintenance and Repair

When performing any maintenance or repair operation, strictly follow all safety specifications in this manual.

Equipment maintenance, calibration, and repair shall be performed according to the latest service manual, which can be obtained from the official technical support website www.aubo-robotics.cn. All authorized distributors of AUBO (Beijing) Intelligent Technology Co., Ltd. can access this website.

Equipment repair work may only be performed by authorized system integrators or AUBO personnel. If parts need to be returned to AUBO (Beijing) Intelligent Technology Co., Ltd., strictly follow the relevant process in the service manual.

During the operation, the safety level requirements corresponding to maintenance and repair must be met, and current local work safety regulations must be followed. After the operation 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 restore normal working conditions after equipment failure, including 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 complete power disconnection. Necessary precautions must be taken to prevent others from reconnecting system power during maintenance. After power-off, recheck the system to ensure it is powered off. 2. Check the grounding connection before restarting the system. 3. Comply with ESD (electrostatic discharge) regulations when disassembling the robot arm or controller. 4. Avoid disassembling the controller power supply system. After the controller is turned off, its power supply system may retain high voltage for several hours. 5. Prevent water or dust from entering the robot arm or controller.
	1. Replace faulty parts with new parts with the same part number or corresponding parts approved by AUBO (Beijing) Intelligent Technology Co., Ltd. 2. Reactivate all disabled safety measures immediately after this work is completed. 3. Record all repair operations in writing and keep them in the technical documentation related to the entire robotic system. 4. The controller has no parts that can be repaired by the end user. If maintenance or repair service is required, contact your distributor or AUBO (Beijing) Intelligent Technology Co., Ltd.

6.2 Disposal

AUBO robots must be disposed of in accordance with applicable national laws, regulations, and national standards.

7 Quality Assurance

7.1 Product Warranty

AUBO-iS(FT) series robot arm bodies have an 18-month limited warranty. The built-in six-axis force/torque sensor at the end of the robot arm has a 12-month limited warranty.

If new equipment and its components have defects caused by poor manufacturing or materials within 18 months after being put into use, AUBO (Beijing) Intelligent Technology Co., Ltd. shall provide necessary spare parts to replace or repair the relevant parts.

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

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

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

7.2 Disclaimer

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

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

• Products purchased from channels not recognized 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.
• Use of this product for purposes other than those specified.
• Operating environmental conditions exceeding the product specifications.
• Use in grinding environments or special operating environments without product protection.
• Product damage caused by improper transportation.
• Failures, damage, or indirect damage caused by accidents or human factors.
• Failures, damage, or indirect damage caused by modifications.
• Installation of non-original genuine parts or accessories.
• Damage caused by modification, commissioning, or repair of original parts by a third party other than AUBO (Beijing) Intelligent Technology Co., Ltd. or its designated integrator.
• Failures, damage, or indirect damage caused by natural disasters or other force majeure.
• Failures caused by reasons other than the responsibility of AUBO (Beijing) Intelligent Technology Co., Ltd., in addition to the situations 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 testing equipment, or applications deemed hazardous by AUBO (Beijing) Intelligent Technology Co., Ltd.
• Appearance parts and wearing parts. According to the product warranty agreement, AUBO (Beijing) Intelligent Technology Co., Ltd. only provides warranty commitments for flaws and defects in products and parts sold to distributors.

AUBO (Beijing) Intelligent Technology Co., Ltd. assumes no other express or implied warranties or liabilities, including but not limited to any implied warranty of merchantability or fitness for a particular purpose. In addition, AUBO (Beijing) Intelligent Technology Co., Ltd. assumes no liability for any form of indirect or consequential damage arising from related products.

8 Appendix

8.1 Terms

Category 0 stop: When the robot power is cut off, the robot stops immediately. This is an uncontrolled stop. Because each joint brakes at the fastest speed, the robot may deviate from the programmed path. This protective stop may be used only when the safety-rated limit is exceeded or when an error occurs in the safety-rated part of the control system. For more information, refer to EN ISO13850:2008 or IEC60204-1:2006.

Category 1 stop: When the robot is powered to stop, the robot stops, and the power is cut off after the robot has stopped. This is a controlled stop, and the robot follows the programmed path. The power is cut off after one second or once the robot has stopped. For more information, refer to EN ISO13850:2008 or IEC60204-1:2006.

Category 2 stop: A controlled stop with power supplied to the robot. The robot stops all movements within one second. The safety-rated control system can keep the robot in the stopped position. For more information, refer to IEC60204-1:2006.

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

Risk assessment: Risk assessment is the entire process of identifying all risks and reducing them to an appropriate level. Risk assessment shall be documented and archived. For details, refer to ISO12100.

Performance level: Performance Level (PL) is a discrete level used to describe the ability of safety-related parts of a control system to perform safety functions under predictable conditions. PLd is the second-highest reliability classification, meaning that the safety function is quite reliable. For more information, refer to EN ISO13849-1:2008.

8.2 Revision Records

Version	Date	Revision Description
v1.0.0*	2026-05-21	1. Released trial version v1.0.0*.
v1.0.1*	2026-08-27	1. Released v1.0.1* trial version. 2. Unified manual structure, safety instructions, chapter names, and warning signs.

8.3 Technical Specification Summary

Parameter	AUBO-iS3(FT)	AUBO-iS7(FT)	AUBO-iS10(FT)	AUBO-iS20(FT)	AUBO-iS20L(FT)	AUBO-iS25(FT)
Degrees of freedom	6 rotary joints	6 rotary joints	6 rotary joints	6 rotary joints	6 rotary joints	6 rotary joints
Weight	16kg	21.5kg	36kg	64kg	72kg	75.6kg
Payload	3kg	7kg	12kg	20kg	20kg	25kg
Maximum working radius	625mm	886.5mm	1300mm	1647mm	2000mm	1700mm
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: -167° ~ +167°	joint1/joint2/joint4/joint5/joint6: -360° ~ +360° joint3: -168° ~ +168°	joint1/joint2/joint3/joint4/joint5/joint6: -360° ~ +360°	joint1/joint2/joint3/joint4/joint5/joint6: -360° ~ +360°
Maximum joint speed	joint1/joint2/joint3/joint4/joint5/joint6: 237°/s	joint1/joint2/joint3: 237°/s joint4/joint5/joint6: 296°/s	joint1/joint2: 178°/s joint3: 237°/s joint4/joint5/joint6: 296°/s	joint1/joint2: 123°/s joint3: 178°/s joint4/joint5/joint6: 296°/s	joint1/joint2: 104°/s joint3: 178°/s joint4/joint5/joint6: 296°/s	joint1/joint2: 104°/s joint3: 178°/s joint4/joint5/joint6: 296°/s
Tool speed	≤ 2.5m/s	≤ 3.6m/s	≤ 4.0m/s	≤ 3.5m/s	≤ 3.5m/s	≤ 3.0m/s
Repeatability	± 0.02mm	± 0.02mm	± 0.03mm	± 0.05mm	± 0.05mm	± 0.05mm
Operating ambient temperature range	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C	0 ~ 50°C
Operating ambient humidity	90% relative humidity (non-condensing)	90% relative humidity (non-condensing)	90% relative humidity (non-condensing)	90% relative humidity (non-condensing)	90% relative humidity (non-condensing)	90% relative humidity (non-condensing)
IP rating	IP64	IP64	IP54 (customizable IP64)	IP54 (customizable IP64)	IP54 (customizable IP64)	IP54 (customizable IP64)
Average power	Approximately 150W when running typical programs	Approximately 200W when running typical programs	Approximately 500W when running typical programs	Approximately 1000W when running typical programs	Approximately 1000W when running typical programs	Approximately 1000W when running typical programs
Peak power	1000W	2000W	2000W	3000W	3000W	3000W
Mounting surface diameter	⌀140mm	⌀170mm	⌀218mm	⌀260mm	⌀282mm	⌀282mm