AUBO-iS Series Robot Arm User Manual
1 About this Manual
1.1 Version Information
| Item | Content |
|---|---|
| Manual name | AUBO-iS Series Robot Arm User Manual |
| Manual version | v1.0.1* |
| Release date | 2026-08-27 |
| Applicable products | AUBO-iS3 robot arm, AUBO-iS7 robot arm, AUBO-iS10 robot arm, AUBO-iS20 robot arm, AUBO-iS20L robot arm, AUBO-iS25 robot arm, AUBO-iS35 robot arm |
| Applicable controllers | AUBO-iS series robot arms (except AUBO-iS35) can be used with AUBO-CB-iS and AUBO-CB-iS(CE) controllers. AUBO-iS35 is only compatible with the AUBO-CB-iS-H controller. |
The User Manual will be regularly checked and corrected, and the updates will be incorporated in the new version. The information in this manual is subject to change without notice.
Please read this manual thoroughly before installing and using the product, and keep it properly for future reference.
All pictures in this manual are for illustration 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 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 Purpose of the Manual
This manual is intended to guide the installation, commissioning, pre-operation inspection, maintenance, repair, handling, storage and disposal of AUBO-iS series robot arms.
This manual is not a substitute for the system integrator's risk assessment, on-site safety design, work instructions, or the laws, regulations and safety standards applicable in the relevant country/region.
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
Readers of this manual should meet the following requirements:
- Have received the relevant training provided by AUBO or an AUBO-authorized distributor;
- Have basic knowledge required for the installation and maintenance of mechanical, electrical and automation equipment;
- Be familiar with on-site safety management requirements and have basic risk identification and safe operation awareness;
- Have read and understood the safety instructions in this manual and the related documents.
1.6 Related Documents
It is recommended to read the following documents together with this manual:
1.7 Where to Get More Information
For more information about products, services, training or technical support, please visit https://www.aubo-robotics.cn.
2 Safety
2.1 Safety Instructions
This chapter describes the basic safety principles to be followed when operating the robot arm or robot system. Integrators, users and operators must read this chapter carefully and strictly follow the instructions marked with safety warning signs.
Because robot systems are complex and potentially hazardous, this manual cannot list every possible hazardous scenario. Users and integrators should perform a risk assessment based on the actual application, end tools, peripheral equipment, working environment and personnel activity range, and take appropriate risk reduction measures.
2.2 Safety Warning Signs
The following safety warning signs are used in this manual to indicate important safety information. When you see a corresponding sign, be sure to read and follow the relevant instructions.
| Sign | Level | Description |
|---|---|---|
 | DANGER | Indicates a hazardous situation which, if not avoided, could result in death or serious injury. |
 | WARNING | Indicates a hazardous situation which, if not avoided, could result in injury to personnel or serious equipment damage. |
 | CAUTION | Indicates a hazardous situation which, if not avoided, could result in minor personal injury or equipment damage. Matters marked with this symbol may, depending on the specific circumstances, sometimes have the potential for serious consequences. |
 | NOTICE | Indicates a situation which, if not avoided, could result in injury to personnel or equipment damage. Matters marked with this symbol may, depending on the specific circumstances, sometimes have the potential for serious consequences. |
2.3 General Safety Rules
When operating the robot arm and related equipment, the following basic safety rules must always be observed. The safety requirements listed in this section are general requirements, and specific safety instructions will be detailed in the relevant chapters of this manual.
- Be sure to install the machine and all electrical equipment in accordance with the requirements and specifications in this manual.
- Before first use and production start-up, perform a preliminary test and inspection of the machine and its protection system.
- Before starting the machine and system for the first time, check whether the machine and system are intact, whether operation is safe, and whether any damage is detected. During this inspection, verify whether the applicable national or regional safety production rules and regulations are satisfied, and test all safety functions.
- Users must check and ensure that all safety parameters and user programs are correct and that all safety functions are working properly. Each safety function must be checked by personnel qualified to operate the robot. The robot may be started only after it has passed a thorough and careful safety test and reached the required safety level.
- Professional personnel are required to install and commission the machine according to the installation standards.
- After the machine has been installed and set up, perform a comprehensive risk assessment again and keep the records.
- Safety parameters shall be set and changed by authorized personnel only. Use passwords or isolation measures to prevent unauthorized persons from changing or setting safety parameters. After safety parameters are modified, the relevant safety functions shall be analyzed.
- In case of an accident or abnormal operation, the emergency stop switch may be used to stop the robot movement.
- The robot arm is equipped with a collision detection function. When the external force applied to the energized robot exceeds the normal force range set by the user, the robot automatically stops to prevent collision injuries to the robot or operators. This function is specially designed for the safety of human-robot collaboration in the AUBO-iS series robot arm, but it requires that the robot system operate within the normal operating range and use an AUBO series controller. If a self-developed controller is used, this function will not be available, and the user shall bear all possible dangerous consequences arising therefrom.
- Connecting different machines together may increase hazards or introduce 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.
- 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.
Prohibited actions:
| Sign | Description |
|---|---|
| 1. Starting the robot arm before completing safety inspection and risk assessment is strictly prohibited. The following checks must be completed before the first start-up: - System integrity check (mechanical installation, electrical connection, protective grounding) - All safety function tests - Verification of safety parameter correctness - Review of risk assessment documents 2. Powering on the robot arm without connecting the protective ground wire (PE wire) is strictly prohibited. Poor grounding may result in electric shock, equipment damage, or electromagnetic interference. 3. Using the controller in a damp environment or an environment with conductive dust is strictly prohibited, as it may result in personal injury or death. 4. Frequent manual switching of the power supply system on and off is strictly prohibited. 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 power-on and power-off be greater than 10 seconds. 5. Touching joint and motor surfaces while the robot arm is running is strictly prohibited. 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 until the robot cools down. 6. Modifying safety parameters or bypassing safety functions without authorization is strictly prohibited. |
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 sufficient workspace for the robot arm, free of obstacles, sharp edges, or pinch points. Operators' heads and faces shall remain 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. Configure installation parameters correctly, 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 heavy-load (≥20 kg) robot arms is strictly prohibited. Compliant dedicated hoisting equipment must be used. 7. A safety assessment must be performed after each installation is completed to confirm that all safety functions operate properly. |
| 1. Before transporting the robot arm, check the insulation condition and protective measures. Handle the robot arm carefully during transportation to avoid bumps and impacts. 2. Do not expose the robot arm to a strong magnetic field for a long time. A strong magnetic field 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 Personal Safety
When operating a robot system, personnel safety must be given top priority. Users and integrators should at least take the following measures:
- Ensure that all relevant personnel have received training provided by AUBO (or an AUBO-authorized distributor) and fully understand the safe and standardized operating procedures. Training inquiries: support@aubo-robotics.cn.
- During operation, tie back long hair, do not wear loose clothing, and do not wear jewelry. When the robot is stationary, it may still be in a ready-to-start state and should be regarded as continuously operating; approaching it casually is strictly prohibited.
- In an emergency such as a person being pinched or trapped, the robot arm may be forced to move by pushing or pulling it hard. Manual movement of the robot arm without power is only allowed in emergency situations and may damage the robot arm joints.
- Do not place the head, face, neck, fingers or any other part of the body in areas that may be hit, pinched or entangled.
2.5 Responsibilities and Standards
The robot arm is a component of a complete robot system and does not in itself constitute a complete machine. Therefore, this manual does not cover the full design, installation and operation scheme of a complete robot system, nor does it list all the various hazardous conditions that may affect the safety of peripheral equipment in the integrated system. The safety performance of a complete robot installation depends on the design and construction method of the overall integration scheme. The equipment integrator shall carry out design and installation risk assessment for the entire integrated system in accordance with the applicable local laws, regulations, safety codes and industry standards.
All safety information contained in this manual shall not be regarded as a guarantee by AUBO (Beijing) Intelligent Technology Co., Ltd. Even if the operator strictly follows all safety instructions in this manual, there is still a potential risk of personal injury or equipment damage.
AUBO (Beijing) Intelligent Technology Co., Ltd. continuously optimizes product performance and reliability and reserves the right to product iteration and upgrade without further notice. Although every effort has been made to ensure the accuracy and reliability of this manual, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be responsible for omissions or errors in the document.
2.5.1 Integrator Responsibilities
The integrator bears the following key responsibilities:
- Conduct a comprehensive risk assessment of the complete robot system
- Ensure that the design, installation and commissioning of the entire system comply with safety requirements
- Provide necessary training for users and relevant operators
- Formulate complete system operating procedures and emergency plans
- Establish and maintain appropriate safety protection measures
- Eliminate hazards or reduce all hazards to an acceptable level by appropriate means during final installation
- Inform the end user of any residual risks
- Mark the 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 for the risk assessment process:
| Standard No. | Name | Description |
|---|---|---|
| ISO 12100:2010 | Safety of machinery — General principles for design — Risk assessment and risk reduction | Basic framework for risk assessment |
| ISO 10218-2:2025 | Robots and robotic devices — Safety requirements — Part 2: Industrial robot systems and 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 methods | Task-based risk assessment guide |
| ANSI B11.0-2010 | Safety of machinery — General requirements and risk assessment | U.S. machinery safety standard |
For applicable standards and regulatory guidance, please visit the AUBO official 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 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 joints or the base.
- Risk of collision with personnel during robot movement.
- Risk of objects falling due to improper fixation of the end tool.
- Danger caused by impact between the robot payload and a solid surface. The integrator must assess such hazards and their associated risk levels through risk assessment, and determine and implement corresponding measures to reduce risks to an acceptable level. Please note that other significant hazards may also exist in specific robot installations.
By combining the robot's inherent safety design with the safety rules and risk assessment established by the integrator and end user, the risks associated with collaborative operation of the robot arm can be reduced to a reasonably practicable level. This document is intended to communicate the residual risks existing before the robot is installed to the integrator and end user. If, after conducting a risk assessment, the integrator determines that a given application scenario contains hazards that pose unacceptable risk to operators, the integrator must take appropriate risk reduction measures to eliminate or minimize such hazards until the risk level reaches an acceptable standard. Use of the robot is prohibited before the necessary risk reduction measures are completed.
If the robot is deployed in a non-collaborative mode (for example, with hazardous operation tools), the risk assessment result may require the integrator to add safety devices (such as a safety enabling device) during the program development stage to ensure the safety of personnel and equipment operation.
2.7 Emergency Handling
2.7.1 Emergency Stop Device
When the emergency stop button is pressed, the robot arm will immediately stop all motion. The robot arm body is not equipped with a button-type emergency stop device, but button-type emergency stop devices are provided in the controller, wired teach pendant, control handle and other devices. For details, please refer to the applicable controller user manual or accessory user manual.
| Sign | Description |
|---|---|
| 1. Emergency stop must not be used as a routine risk reduction measure; it should be regarded as a secondary protection measure. 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 may pose a potential threat, it must be integrated into the system emergency stop loop. Failure to comply with this warning may result in death, serious personal injury or major property loss. 4. Before releasing the emergency stop, confirm that the hazard has been completely removed. |
2.7.2 Emergency Moving of Joint
In an emergency, the robot arm joints may be moved in the following way:
- Forced dragging: push or pull the robot arm joints hard to force the joints to move.
| Sign | Description |
|---|---|
| Manual forced movement of the robot arm is only allowed in emergencies and may damage the robot arm joints. |
2.7.3 Excessive Force Safety Protection
The robot arm is equipped with excessive force safety protection. When the robot is energized and stationary, if the operator or another object accidentally touches 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 when a collision occurs between personnel or other objects and the robot arm.
| Sign | Description |
|---|---|
| This function can reduce collision injuries. Risk assessment is required when it is used for other purposes. |
2.7.4 Collision Protection
The robot arm is equipped with collision protection. During operation, when the operator or another object accidentally touches the robot arm and the collision force exceeds the safety threshold, the robot arm will enter a Category 2 stop state and simultaneously enter teach-drag mode. At this time, the robot arm may be dragged to a relatively safe position and then allowed to continue running through the teach pendant. This function can reduce injury to personnel, other objects and the robot in the event of a collision, while saving the time required to restart the program and improving work efficiency. The safety threshold of the collision force can be changed by setting the collision level.
3 Description of Robot Arms
3.1 About the iS Series
AUBO-iS series robot arms are intelligent, lightweight, 6-degree-of-freedom modular collaborative robots launched by AUBO (Beijing) Intelligent Technology Co., Ltd. They are divided into seven models and include various options to achieve payloads from 3 kg to 35 kg and a reach range from 0.8865 m to 2.10 m.
| Sign | Description |
|---|---|
| AUBO-iS series robot arms (except AUBO-iS35) can be used with AUBO-CB-iS and AUBO-CB-iS(CE) controllers. AUBO-iS35 is only compatible with the AUBO-CB-iS-H controller. |
The AUBO-iS series robot arm imitates the human arm and has 6 rotary joints, each of which represents 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 base; 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 between the shoulder and the elbow and between the elbow and the wrist.
- Through the teach software interface or teach dragging, users can control the rotation of each joint so that the end tool of the robot moves to different poses.
3.2 Technical Specifications
3.2.1 AUBO-iS3
| Robot arm model | AUBO-iS3 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| 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 |
| Operating ambient temperature range | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) |
| IP rating | IP67 |
| Average power | Approx. 150 W when running a typical program |
| Peak power | 1000 W |
| Mounting surface diameter | ⌀140 mm |
| General certification mark / organization | CE |
3.2.2 AUBO-iS7
| Robot arm model | AUBO-iS7 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight | 21.5 kg |
| Payload | 7 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: 237°/s joint4/joint5/joint6: 296°/s |
| Tool speed | ≤ 3.6 m/s |
| Repeatability | ± 0.02 mm |
| Operating ambient temperature range | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) |
| IP rating | IP67 (up to IP68) |
| Average power | Approx. 200 W when running a typical program |
| Peak power | 2000 W |
| Mounting surface diameter | ⌀170 mm |
| General certification mark / organization | CE, CR, REACH |
3.2.3 AUBO-iS10
| Robot arm model | AUBO-iS10 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight | 36 kg |
| Payload | 12 kg |
| Maximum working radius | 1300 mm |
| 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 | ≤ 4.0 m/s |
| Repeatability | ± 0.03 mm |
| Operating ambient temperature range | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) |
| IP rating | IP67 (up to IP68) |
| Average power | Approx. 500 W when running a typical program |
| Peak power | 2000 W |
| Mounting surface diameter | ⌀218 mm |
| General certification mark / organization | CE, CR, REACH |
3.2.4 AUBO-iS20
| Robot arm model | AUBO-iS20 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight | 64 kg |
| Payload | 20 kg |
| Maximum working radius | 1647 mm |
| 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 | ≤ 3.5 m/s |
| Repeatability | ± 0.05 mm |
| Operating ambient temperature range | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) |
| IP rating | IP67 (up to IP68) |
| Average power | Approx. 1000 W when running a typical program |
| Peak power | 3000 W |
| Mounting surface diameter | ⌀255 mm |
| General certification mark / organization | CE, CR, REACH |
3.2.5 AUBO-iS20L
| Robot arm model | AUBO-iS20L |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight | 65 kg |
| Payload | 20 kg |
| Maximum working radius | 2000 mm |
| 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 | ≤ 3.5 m/s |
| Repeatability | ± 0.05 mm |
| Operating ambient temperature range | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) |
| IP rating | IP67 |
| Average power | Approx. 1000 W when running a typical program |
| Peak power | 3000 W |
| Mounting surface diameter | ⌀282 mm |
| General certification mark / organization | CE, CR, REACH |
3.2.6 AUBO-iS25
| Robot arm model | AUBO-iS25 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight | 73 kg |
| Payload | 25 kg |
| Maximum working radius | 1700 mm |
| 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 | ≤ 3.0 m/s |
| Repeatability | ± 0.05 mm |
| Operating ambient temperature range | 0 ~ 50°C |
| Operating ambient humidity | 90% relative humidity (non-condensing) |
| IP rating | IP67 (up to IP68) |
| Average power | Approx. 1000 W when running a typical program |
| Peak power | 3000 W |
| Mounting surface diameter | ⌀282 mm |
| General certification mark / organization | CE, CR, REACH |
3.2.7 AUBO-iS35
| Robot arm model | AUBO-iS35 |
|---|---|
| Degrees of freedom | 6 rotary joints |
| Weight | 156 kg |
| Payload | 35 kg |
| Maximum working radius | 2100 mm |
| Joint range | joint1/joint2/joint3/joint4/joint5/joint6: -360° ~ +360° |
| Maximum joint speed | joint1/joint2: 113°/s joint3: 123°/s joint4/joint5/joint6: 237°/s |
| Tool speed | ≤ 4.0 m/s |
| Repeatability | ± 0.05 mm |
| Operating temperature | The robot can operate within the temperature range of 0 ~ 50 °C |
| Humidity | 90% relative humidity (non-condensing) |
| IP rating | IP67 |
| Average power | Approx. 1200 W when running a typical program |
| Peak power | 6000 W |
| Mounting surface diameter | ⌀423.3 mm |
| General certification mark / organization | CE, CR, REACH |
3.3 Performance Parameters
3.3.1 Load Curve
The following are the load offset curves of the robot arm wrist. In the ordinate, payload indicates the payload, and in the abscissa, Center of Gravity Offset indicates the distance between the center of the tool flange and the tool center.
| 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 load capacity of the model of robot arm, and in any case the maximum weight shown in the figure shall not be exceeded. 3. Exceeding the allowable value may damage internal machine components. |
3.4 Robot Arm Workspace
3.4.1 Mechanical Dimensions
3.4.2 Moving Range of Point P of the Robot Body
3.4.3 Mechanical Dimensions of the Tool Flange
The tool flanges used by different models of the AUBO-iS series robot arms are slightly different. The tool flange has several threaded holes and one positioning hole.
3.4.4 Top View of Base
4 Installation and Commissioning
4.1 Important Safety Instructions
4.1.1 Environmental Conditions
The robot arm should be installed in an environment that meets the following conditions:
- No corrosive gases or liquids
- No oil mist
- No smoke
- No dust or metal powder
- No mechanical shock or vibration
- No electromagnetic noise
- No radioactive materials
- Low humidity
- No flammable materials
- Ambient temperature: 0°C ~ 50°C
- Avoid direct sunlight (do not use outdoors)
4.1.2 Safety Requirements
The installation foundation shall meet the following mechanical load-bearing requirements:
- Load capacity: Install the robot on a rigid surface that can withstand at least 10 times the full torsional force of the base joint and at least 5 times the weight of the robot arm.
- Stability: The mounting surface shall be free of vibration and shall not become loose after installation.
Instructions for installing additional devices:
If non-AUBO factory-matched components (such as cables) are added to the robot, the user shall ensure that such components do not interfere with or damage the safety functions of the equipment.
Controller safety instructions:
- The controller should be placed horizontally on the floor.
- A gap of at least 50 mm should be reserved on all sides of the controller to ensure ventilation and heat dissipation.
- The teach pendant may be hung on the controller, and the cable shall not trip personnel.
| Sign | Description |
|---|---|
| 1. A damp controller can cause death or serious injury. 2. Pay close attention to environments with conductive dust. |
4.2 Installation Precautions for Heavy-Load Robot Arms
Robot arms with a rated payload of 20 kg or above may cause irreversible serious injury or even death if motion control is lost. The following safety requirements shall be strictly observed 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 hoisting, fixation and electrical connection operations, such as mechanical crushing, falling objects and electric shock.
- All personnel involved in the installation must have received targeted training or have proven safety competence in handling heavy-load servo systems.
- For heavy-load robots, it is recommended to provide means to limit the motion space, such as mechanical stops, electromechanical devices or certified safety software.
- It is recommended to add safety protection devices such as safety fences or safety light curtains. The height of the safety fence shall be higher than 2000 mm (not less than 1400 mm at minimum), and the clearance from the ground shall not exceed 180 mm. The fasteners of the protective panels must use captive bolts so that the protective panels can be reliably restored after maintenance. The minimum safety distance S of the safety light curtain shall be determined according to the formula
, based on the personnel approach speed (K), the stopping time of the robot arm (T), and the intrusion distance (C).
4.2.2 Handling and Hoisting Safety Rules
- For robot arms with a rated payload of 20 kg or above, manual handling is strictly prohibited. Manual handling poses major safety risks such as personal injury, falling objects and equipment damage. Such robot arms must be handled and hoisted using compliant dedicated equipment throughout the process in accordance with safety rules.
- When hoisting, the influence of the end effector on the center of gravity must be considered, and it should be removed first when necessary.
- Hoisting operations shall be directed by a dedicated person, and unauthorized personnel are prohibited from entering the operating radius during hoisting. Personnel engaged in hoisting shall have the corresponding safety qualification.
4.2.3 Foundation Engineering Requirements
Robot arms with a rated payload of 20 kg or above have a large dynamic inertia, and the installation floor must be professionally structurally verified. To meet the foundation stability requirements of ISO 10218-2:2025, the following technical standards are recommended:
- Material strength: The robot mounting foundation should be reinforced concrete with a strength grade not lower than C30 (approximately 4000 psi under the international standard) to ensure that the anchor bolts do not loosen under the huge overturning moment generated by robot emergency stop.
- Installation accuracy:
- The flatness tolerance of the mounting surface shall be less than or equal to 0.5 mm to prevent internal stress in the base casting during tightening.
- The tilt of the mounting surface shall be less than or equal to 0.5° to ensure the accuracy of the robot gravity compensation algorithm and prevent joint overload caused by eccentric load.
Equipotential bonding: The robot body shall be connected by equipotential bonding. The grounding resistance shall be less than or equal to 4 Ω. The grounding terminal shall be firmly connected without looseness, and the ground cable specification shall match the robot power requirements.
4.3 Robot Installation
The robot is installed in the following main steps:
- Determine the working space: Plan a safe working area according to the robot motion range.
- Install the robot body: Fix the robot on the base or workbench.
- Install the end tool: Install the end effector on the robot flange.
- Connect the controller: Complete the electrical connection according to the controller manual.
- Power-on commissioning: After power on, complete the initial configuration through the teach software.
After each installation, a safety assessment shall be carried out, and the safety requirements in the safety chapter of this manual shall be strictly followed.
4.3.1 Base (Optional)
The AUBO robot base is an optional component used to support and fix the robot arm. Different robot models and payloads can be matched with dedicated bases. Figure 4-1 shows a schematic of the base. The actual device shall be subject to the physical product.
- Small-load base: equipped with 4 anchor bolts and 4 universal wheels for easy fixation and movement. When fixing the robot arm, rotate the upper part of the anchor bolts to lower the bolts; when moving the robot arm, use a wrench to rotate the lower nuts of the anchor bolts and lift the bolts so that the universal wheels are off the ground.
- Heavy-load base: equipped with 4 anchor bolts and designed for stable installation. When fixing the robot arm, rotate the star knob to adjust the height of the anchor bolts and tighten the nuts with an adjustable wrench.
4.3.2 Robot Arm Installation
The AUBO-iS series robot arm features a 360° installation posture self-adaptation function and supports base mounting, hoisting, wall mounting and a variety of installation methods, as shown in Figure 4-2. After the robot arm is installed, the teach software will automatically identify and adjust the robot operating parameters after power-on.
When mounting on the base, it is recommended to use 4 bolts for fixation and to preinstall positioning pins using 2 holes with slightly smaller diameters to improve installation accuracy. For mechanical dimensions, see 3.4.4 Top View of Base.
| Sign | Description |
|---|---|
| 1. Make sure that the robot arm is correctly and safely 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 rating. Otherwise, if the robot arm is immersed in water for a period of time, it may be damaged. 3. Risk of tipping: if the robot arm is not safely placed on a solid surface, it may tip over and cause injury. |
| 1. When mounting on the base, the contact surface between the robot and the base shall be in close contact. 2. Users are advised to use a base contact surface with strong heat dissipation performance, such as aluminum. When the operating environment exceeds 35°C, the use of a material with strong heat dissipation performance is strongly recommended. |
4.3.3 Installation of End Tool
The tool flange has several threaded holes and one positioning hole, which makes it easy to install grippers and other tools on the end of the robot arm. For the mechanical dimensions of the tool flange, see 3.4.3 Mechanical Dimensions of the Tool Flange.
| Sign | Description |
|---|---|
| 1. Make sure that the tool is correctly and safely installed in place. 2. Ensure that the tool safety architecture will not pose a risk due to accidental falling of parts. |
4.3.4 Protective Grounding
The power input terminal of the robot controller must be connected to a qualified ground wire (PE wire) to ensure a good electrical connection between the enclosure and the earth. It is strictly prohibited to power on the robot arm without connecting the protective ground wire (PE wire).
- Grounding technical requirements:
- Wire specification: The protective earth conductor (PE) must use a copper cable with a cross-sectional area of at least 2.5 mm². The insulation layer shall be intact, and the terminals shall be crimped firmly with professional crimping tools. Twisted connections are strictly prohibited.
- Ground resistance: After grounding is completed, a ground resistance tester must be used to measure between the robot PE terminal and the earth. A ground resistance of less than or equal to 4 Ω is considered qualified.
- Record retention: Grounding test records must be retained for filing as important evidence of safety compliance.
- Safety inspection and maintenance:
- Daily inspection: Operators should 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 tested again to ensure that the grounding system remains effective.
- Training requirements: All operators must receive grounding safety training and understand the risks of ungrounded operation and the correct grounding methods.
| Sign | Description |
|---|---|
| 1. It is strictly prohibited to power on the robot arm without connecting the protective ground wire (PE wire). Ungrounded or poorly grounded operation may lead to electric shock, abnormal electromagnetic interference or permanent equipment 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. When touched by the operator, it may cause numbness, tingling and other discomfort, which may trigger panic or misoperation and result in 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 connected correctly before it can be powered on and used normally. For cable connection methods, please refer to the controller user manual.
4.4 Arm-Side Interfaces and Buttons
4.4.1 Introduction
To meet diverse end tool requirements, the AUBO-iS series robot arm is designed with an 8-pin connector on 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 teach-drag button. The Tool RS485 interface is optional.
4.4.2 Tool I/O Interface
The Tool I/O interface integrates power supply and signal transmission functions, supports the connection and control of end devices such as grippers and sensors, and uses industrial cables. It contains 8 functional wires internally (as shown in Figure 4-4 and Table 4-1). The power voltage, digital I/O mode, and I/O interface functions can all be configured in the teach software. For the configuration method and functions, please refer to AuboStudio User Manual.
| Color | Signal | Pin | Color | Signal | Pin |
|---|---|---|---|---|---|
| White | GND | 1 | Green | DI/O 2 | 3 |
| Brown | 12/24V | 2 | Yellow | DI/O 3 | 4 |
| Gray | DI/O 0 | 5 | Red | AI 0 | 8 |
| Blue | DI/O 1 | 7 | Pink | AI 1 | 6 |
The digital I/O interface of the Tool I/O interface uses an NPN switching scheme:
- Digital input mode: when activated, the connector drives 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 Tables 4-2 to 4-4. The electrical error is within ±10%.
| 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 |
| Parameter | Minimum | Typical | Maximum | Unit |
|---|---|---|---|---|
| Input voltage range | 0 | - | 10 | V |
| Voltage resolution | - | 2.5 | - | mV |
| I/O Type | Parameter | Minimum | Typical | Maximum | Unit |
|---|---|---|---|---|---|
| Digital input interface | Input voltage | -0.5 | - | Vout+2 | V |
| Logic low voltage | 0 | 1.5 | 2 | V | |
| Logic high voltage | Vout-4 | Vout | Vout+2 | V | |
| Input resistance | - | 4.3 | - | kΩ | |
| Digital output interface | Voltage when open circuit | Same as current power supply | |||
| Voltage when input current is 1 A | 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, make sure that no danger will occur when the power supply is interrupted, such as a workpiece falling from the tool. |
4.4.3 Tool RS485 Interface (Optional)
The Tool RS485 interface provides fieldbus communication capability and supports direct communication and data exchange with various devices. It uses the standard RS485 communication protocol, is connected with industrial cables, and contains 4 functional wires internally (as shown in Figure 4-5 and Table 4-5). Its power supply voltage uses the same configuration method as the Tool I/O interface power supply voltage. For the configuration method and functions, please refer to AuboStudio User Manual. For related electrical parameters, please refer to Table 4-2.
| Color | Signal | Pin |
|---|---|---|
| Brown | 12/24V | 1 |
| White | RS485A | 2 |
| Blue | RS485B | 3 |
| Black | GND | 4 |
4.4.4 Teach-Drag Button
The teach-drag button is a human-machine interaction component provided by the AUBO-iS series robot arm. When the button is pressed and held, the robot arm enters teach-drag mode, and the user can easily move the robot arm; when the button is released, the robot arm maintains the current pose and exits teach-drag mode. This function can be used together with the "trajectory recording" function. For details, please refer to AuboStudio User Manual.
5 Handling and Transportation Precautions
When the robot is hoisted, moving parts shall be properly positioned so that they do not move unexpectedly during hoisting and transportation and cause hazards. During packaging and transportation, package the robot according to packaging standards and mark the outside of the packaging box as required.
During transportation, the robot must be kept stable and fixed in the proper position.
The controller should be lifted using a handle.
When moving the robot from the packaging material to the installation position, hold the robot until all bolts of the robot base have been fully tightened.
After it is fixed, power on the robot and use the robot teach-drag function to adjust the robot pose to the appropriate position.
After transportation is completed, keep the original packaging. Store the packaging materials in a dry place for future repackaging and robot relocation.
| Sign | Description |
|---|---|
| 1. Make sure that your back or other body parts are not overburdened when lifting equipment. 2. All local and national guidelines shall be followed. AUBO (Beijing) Intelligent Technology Co., Ltd. is not responsible for damage caused during equipment transportation. 3. Make sure that the installation instructions in this manual are strictly followed when installing the robot. |
6 Maintenance, Repair and Disposal
6.1 Maintenance and Repair
When performing any maintenance or overhaul work, all safety requirements in this manual shall be strictly followed.
Equipment maintenance, calibration and repair operations shall be carried out in accordance with the latest service manual, which can be obtained from the official technical support website www.aubo-robotics.cn. All authorized distributors of AUBO (Beijing) Intelligent Technology Co., Ltd. can log in to this website.
Equipment repair work may only be performed by an authorized system integrator or AUBO factory personnel. If parts need to be returned to AUBO (Beijing) Intelligent Technology Co., Ltd., the relevant procedures in the service manual shall be strictly followed.
During operation, the corresponding safety level requirements for maintenance and overhaul shall be met, and the current local safety production regulations shall be observed. After work is completed, all safety functions shall be tested one by one to confirm that they work properly.
Maintenance and overhaul work is used to ensure stable operation of the equipment or to restore normal operating conditions after a fault occurs, and includes both fault diagnosis and physical repair.
When operating the robot body or controller, please strictly follow the safety procedures and warning requirements below:
| Sign | Description |
|---|---|
| 1. Remove the main input cable from the back of the controller to ensure that it is completely powered off. Necessary precautions shall be taken to prevent others from reconnecting the system power during maintenance. After power-off, the system shall be checked again to ensure that it is de-energized. 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 controller power supply system. The controller's power supply system may still retain high voltage for several hours after shutdown. 5. Avoid water or dust entering the robot arm or controller. |
| 1. Replace faulty parts with new parts of the same part number or corresponding parts approved by AUBO (Beijing) Intelligent Technology Co., Ltd. 2. Immediately re-enable all disabled safety measures after the work is completed. 3. Record all maintenance operations in writing and keep them in the technical documentation of the entire robot system. 4. The controller has no parts that can be repaired by the end user. If maintenance or repair services are required, please 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 series robot arms are covered by a limited warranty.
If defects caused by manufacturing or material defects occur within the warranty period after a new device and its components are put into use, AUBO (Beijing) Intelligent Technology Co., Ltd. shall provide necessary spare parts for replacement or repair of the relevant components.
Ownership of any device or component replaced or returned to AUBO (Beijing) Intelligent Technology Co., Ltd. shall belong to AUBO (Beijing) Intelligent Technology Co., Ltd.
If the product is no longer under warranty, 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 responsible for any damage or loss caused thereby, such as production loss or damage to other production equipment.
7.2 Disclaimer
If a defect in the equipment is caused by improper handling or failure to follow the relevant information described in the user manual, the product warranty will be void.
The following faults are not covered by this warranty:
- Products purchased through non-AUBO authorized channels.
- Connection of other control equipment in a manner that does not comply with industrial standards or the requirements of the user manual.
- Use beyond the product's stated specifications or standards.
- Use of this product for purposes other than those specified.
- Use in environmental conditions beyond the product's stated range.
- Use in grinding environments or special use environments without product protection.
- Damage to the product caused by improper transportation.
- Faults, damage or consequential damage caused by accidents or human factors.
- Faults, damage or consequential damage caused by modification.
- Installation of non-original 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 consequential damage caused by natural disasters or other force majeure.
- Other faults not attributable to AUBO (Beijing) Intelligent Technology Co., Ltd.
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.
- The product is used in radioactive equipment, biological test equipment or other hazardous applications as judged 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 defects and flaws in products and parts sold to distributors.
Any other express or implied warranties or liabilities, including but not limited to any implied warranties of merchantability or fitness for a particular purpose, shall not be borne by AUBO (Beijing) Intelligent Technology Co., Ltd. In addition, AUBO (Beijing) Intelligent Technology Co., Ltd. shall not be liable for any indirect or consequential damages arising from the related products.
8 Appendix
8.1 Glossary
Category 0 stop: When the robot's power is cut off, the robot stops immediately. This is an uncontrolled stop. Since each joint brakes at the highest speed, the robot may deviate from the path set by the program. This protective stop may be used when the safety assessment limit is exceeded or when the safety-related part of the control system has an error. For more information, please refer to EN ISO13850:2008 or IEC60204-1:2006.
Category 1 stop: When the robot is powered to stop and then power is cut off after the robot has stopped. This is a controlled stop, and the robot follows the programmed path. Power is cut off after one second or once the robot has stopped. For more information, please refer to EN ISO13850:2008 or IEC60204-1:2006.
Category 2 stop: A controlled stop when the robot is energized. The robot stops all motion within one second. The operation of the safety-related control system allows the robot to remain in the stopped position. For more information, please refer to IEC60204-1:2006.
Integrator: The integrator is the organization that designs the final installation of the robot. The integrator is responsible for 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, please refer to ISO12100.
Performance Level: Performance Level (PL) is a discrete level used to indicate the ability of each safety-related part in the control system to perform safety functions under foreseeable conditions. PLd is the second-highest reliability classification, meaning that the safety function is highly reliable. For more information, please refer to EN ISO13849-1:2008.
8.2 Revision Records
| Version / Time | Description |
|---|---|
| v1.0.0*/20251013 | 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 Specification Summary
| Parameter | AUBO-iS3 | AUBO-iS7 | AUBO-iS10 | AUBO-iS20 | AUBO-iS20L | AUBO-iS25 | AUBO-iS35 |
|---|---|---|---|---|---|---|---|
| Degrees of freedom | 6 rotary joints | 6 rotary joints | 6 rotary joints | 6 rotary joints | 6 rotary joints | 6 rotary joints | 6 rotary joints |
| Weight | 16 kg | 21.5 kg | 36 kg | 64 kg | 65 kg | 73 kg | 156 kg |
| Payload | 3 kg | 7 kg | 12 kg | 20 kg | 20 kg | 25 kg | 35 kg |
| Maximum working radius | 625 mm | 886.5 mm | 1300 mm | 1647 mm | 2000 mm | 1700 mm | 2100 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: -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° | 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 | joint1/joint2: 113°/s joint3: 123°/s joint4/joint5/joint6: 237°/s |
| Tool speed | ≤ 2.5 m/s | ≤ 3.6 m/s | ≤ 4.0 m/s | ≤ 3.5 m/s | ≤ 3.5 m/s | ≤ 3.0 m/s | ≤ 4.0 m/s |
| Repeatability | ± 0.02 mm | ± 0.02 mm | ± 0.03 mm | ± 0.05 mm | ± 0.05 mm | ± 0.05 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 | The robot can operate within the temperature range of 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) | 90% relative humidity (non-condensing) |
| IP rating | IP67 | IP67 (up to IP68) | IP67 (up to IP68) | IP67 (up to IP68) | IP67 | IP67 (up to IP68) | IP67 |
| Average power | Approx. 150 W when running a typical program | Approx. 200 W when running a typical program | Approx. 500 W when running a typical program | Approx. 1000 W when running a typical program | Approx. 1000 W when running a typical program | Approx. 1000 W when running a typical program | Approx. 1200 W when running a typical program |
| Peak power | 1000 W | 2000 W | 2000 W | 3000 W | 3000 W | 3000 W | 6000 W |
| Mounting surface diameter | ⌀140 mm | ⌀170 mm | ⌀218 mm | ⌀255 mm | ⌀282 mm | ⌀282 mm | ⌀423.3 mm |
| General certification mark / organization | CE | CE, CR, REACH | CE, CR, REACH | CE, CR, REACH | CE, CR, REACH | CE, CR, REACH | CE, CR, REACH |