ELITE ROBOTS CS Series

CS625 User Manual

Suzhou Elite Robot Co., Ltd
2023-12-12
Version: 2.10.0
 Please read this manual carefully before use

Please carefully check the version informations in this

manual matches the corresponding software version of the
system, to ensure consistency.

This user manual shall be periodically checked and revised, and the renewed contents
will appear in the new version. The contents or information herein is subject to change
without prior notice.

ELITE ROBOT Co., Ltd. shall assume no liability for any errors which will occur in the
manual probably.

ELITE ROBOT Co., Ltd. shall assume no liability for the accident or indirect injury as a
result of using this manual and the product mentioned herein.

Please read this manual before installing and using the product.

Please keep this manual so that you can read and use it for reference at any time.

The pictures in the specification shall be used for reference only. The goods received shall
prevail.

Table 1 Version information

Name Version
Software version V2.10.0
Servo version V2.10.100
Terminal IO version V2.10.4
Mechanical version V1.1.1
Hardware version V2.32
Serive manual V2.10.0
Script manual V2.10.0

Copyright © 2023 ELITE ROBOTS. All rights reserved.

 Contents

Contents

Part I Robot General....................................................................................... 1

1 Safety ................................................................................................... 2

1.1 Introduction.......................................................................................... 2

1.2 Responsibilities and Specifications ...................................................... 2

1.3 Limitation of Liability............................................................................ 3

1.4 Warning Symbols .................................................................................. 3

1.5 Safety Precautions ................................................................................ 4

1.5.1 Summary ..................................................................................... 4

1.5.2 Instructions for Use ...................................................................... 5

1.5.3 Personnel Safety .......................................................................... 7

1.6 Intended Service ................................................................................... 8

1.7 Risk Assessment ................................................................................... 9

1.8 Emergency Handling........................................................................... 10

1.8.1 Emergency Stop Device .............................................................. 10

1.8.2 Recovery from Emergency ......................................................... 11

1.8.3 Emergency Forced Movement of Joints ..................................... 11

2 Safety Related Functions and Interfaces ................................................. 13

2.1 Introduction........................................................................................ 13

2.1.1 Stop Category ............................................................................ 14

2.1.2 Operation Mode and Safety Mode .............................................. 14

2.2 Safety Function Description ................................................................ 15

3 Transporting ....................................................................................... 22

4 Quick Start .......................................................................................... 23

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4.1 Robot System Introduction ................................................................. 23

4.2 Robot System Installation ................................................................... 24

4.2.1 Robot Arm Installation ............................................................... 24

4.2.2 Robot Controller and Teach Pendant Installation ...................... 25

4.3 Cable Connection ............................................................................... 26

4.3.1 Robot arm and Controller Connection ....................................... 26

4.3.2 Controller and Mains Supply Connection ................................... 27

4.4 Power on The Robot............................................................................ 28

4.4.1 Preparation before Power on ..................................................... 28

4.4.2 Switch Robot Arm ...................................................................... 29

4.5 First Task............................................................................................. 29

Part II Robot Hardware ................................................................................. 31

5 Mechanical Structure ........................................................................... 32

5.1 Introduction........................................................................................ 32

5.2 Robot Workspace ................................................................................ 32

5.2.1 Robot Mechanical Dimensions ................................................... 32

5.2.2 Robot Workspace ....................................................................... 33

5.2.3 DH Parameters ........................................................................... 33

5.3 Mounting ............................................................................................ 34

5.3.1 CS625 Robot Arm Mounting ....................................................... 35

5.3.2 End Effector Mounting ............................................................... 36

5.3.3 Controller and Teach Pendent Mounting.................................... 38

5.3.4 Electrical Specifications ............................................................. 38

6 Electrical Interface ............................................................................... 40

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6.1 Introduction........................................................................................ 40

6.2 Electrical Warnings and Precautions................................................... 40

6.3 Electrical Interface of Controller ......................................................... 42

6.3.1 External Electrical Interface ....................................................... 42

6.3.2 Internal Electrical Interface ........................................................ 43

6.4 Teach Pendant Electrical Interface...................................................... 60

6.5 Robot Arm Electrical Interface ............................................................ 60

6.5.1 Robot Arm Base Electrical Interface ........................................... 61

6.5.2 Robot Arm Tool End IO Interface ................................................ 61

Part III Robot Software Operation.................................................................. 72

7 Software Overview .............................................................................. 73

8 Status and Menu Bar ............................................................................ 76

8.1 Robot Status ....................................................................................... 76

8.1.1 Turn on Robot Power ................................................................. 76

8.1.2 Setting Payload .......................................................................... 78

8.2 Task and Profile Management ............................................................. 79

8.2.1 New ............................................................................................ 80

8.2.2 Open .......................................................................................... 82

8.2.3 Preservation............................................................................... 84

8.3 Menu Shortcut .................................................................................... 85

8.4 File Manager ....................................................................................... 86

9 System Configuration ........................................................................... 88

9.1 About .................................................................................................. 88

9.2 Setting ................................................................................................ 88

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9.2.1 Preferences ................................................................................ 88

9.2.2 Password.................................................................................... 89

9.2.3 System ....................................................................................... 92

9.3 Shut down ........................................................................................ 101

10 Run Tab .......................................................................................... 102

10.1 Log .................................................................................................. 102

10.2 Status .............................................................................................. 103

10.3 Variable ........................................................................................... 103

11 Configuration Tab ............................................................................ 105

11.1 General ........................................................................................... 105

11.1.1 Mounting ................................................................................ 105

11.1.2 TCP ......................................................................................... 106

11.1.3 Payload .................................................................................. 109

11.1.4 Global Variable ....................................................................... 111

11.1.5 Frame ..................................................................................... 112

11.1.6 IO ........................................................................................... 114

11.1.7 Home ..................................................................................... 119

11.1.8 Startup ................................................................................... 120

11.1.9 Tool IO .................................................................................... 122

11.1.10 Conveyor Tracking ............................................................... 126

11.1.11 Package Position .................................................................. 127

11.2 Safety .............................................................................................. 129

11.2.1 Safety Home ........................................................................... 129

11.2.2 Robot Limits ........................................................................... 131

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11.2.3 Joint Limits ............................................................................ 132

11.2.4 Safety I/O ............................................................................... 133

11.2.5 Safety Plane ........................................................................... 136

11.2.6 Safety Tool ............................................................................. 139

11.2.7 Three Position ........................................................................ 139

11.2.8 Hardware ............................................................................... 140

11.2.9 Safety Parameters .................................................................. 141

11.3 Communication .............................................................................. 142

11.3.1 Modbus .................................................................................. 142

11.3.2 Profinet .................................................................................. 144

11.3.3 Ethernet/IP ............................................................................. 144

11.4 Plugin.............................................................................................. 145

12 Task Tab .......................................................................................... 147

12.1 Task Tree ......................................................................................... 148

12.1.1 Task Tree Toolbar ................................................................... 149

12.1.2 Expression Editor ................................................................... 149

12.2 Instruction Tab ................................................................................ 150

12.3 Monitor Tab ..................................................................................... 152

12.4 Basic Task Node .............................................................................. 153

12.4.1 Move....................................................................................... 153

12.4.2 Waypoint ................................................................................ 158

12.4.3 Direction ................................................................................ 161

12.4.4 Wait ........................................................................................ 163

12.4.5 Set .......................................................................................... 164

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12.4.6 Popup..................................................................................... 165

12.4.7 Halt ........................................................................................ 167

12.4.8 Comment ............................................................................... 167

12.4.9 Folder ..................................................................................... 168

12.4.10 Set Payload .......................................................................... 169

12.5 Advanced Task Node ....................................................................... 170

12.5.1 Loop ....................................................................................... 170

12.5.2 Subtask .................................................................................. 171

12.5.3 Assignment ............................................................................ 174

12.5.4 If ............................................................................................. 176

12.5.5 Script...................................................................................... 177

12.5.6 Event ...................................................................................... 178

12.5.7 Thread .................................................................................... 178

12.5.8 Switch .................................................................................... 179

12.5.9 Timer...................................................................................... 180

12.5.10 Home.................................................................................... 181

12.6 Composite....................................................................................... 182

12.6.1 Palletizing .............................................................................. 182

12.6.2 Conveyor ................................................................................ 187

12.6.3 Trajectory Record ................................................................... 189

12.7 Plugin.............................................................................................. 190

12.8 Breakpoint debugging .................................................................... 191

12.9 Single-step function ........................................................................ 192

13 IO Tab ............................................................................................. 194

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13.1 Internal ........................................................................................... 194

13.1.1 Robot ..................................................................................... 194

13.1.2 Modbus Slave ......................................................................... 195

13.2 Modbus ........................................................................................... 196

14 Jog Tab ........................................................................................... 197

14.1 Robot .............................................................................................. 197

14.1.1 Tool and Frame ...................................................................... 197

14.1.2 Home, Drag, and Alignment ................................................... 198

14.2 Tool Position ................................................................................... 198

14.3 Joint Position.................................................................................. 199

14.3.1 TCP Translation or TCP Orientation ........................................ 200

14.4 Edit Pose Page................................................................................. 200

14.5 Move Interface ................................................................................ 201

15 Bus Protocol .................................................................................... 203

15.1 Introduction.................................................................................... 203

15.2 Modbus Protocol ............................................................................. 203

15.2.1 Introduction ........................................................................... 203

15.2.2 Working Principle ................................................................... 203

15.2.3 Register Description ............................................................... 204

15.2.4 Modbus Function Code........................................................... 204

15.2.5 Modbus Function Code........................................................... 205

15.2.6 Register Mapping Relationship and Configuration Instructions

......................................................................................................... 206

15.3 RTSI Protocol .................................................................................. 206

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15.3.1 Introduction ........................................................................... 206

15.4 Profinet Protocol ............................................................................. 207

15.4.1 Profinet Specification............................................................. 208

15.5 Ethernet/IP Protocol ....................................................................... 208

15.6 30001 Communication Interface Protocol ....................................... 209

15.6.1 Introduction ........................................................................... 209

15.6.2 Package Format ..................................................................... 209

15.6.3 Script Control and Rules......................................................... 210

15.7 29999 Communication Interface Protocol ....................................... 211

15.7.1 Introduction ........................................................................... 211

15.7.2 Connect EliRobot ................................................................... 211

15.7.3 Dashboard Shell Commands .................................................. 212

Part IV Maintenance and Quality ................................................................. 213

16 Maintenance and Disposal ................................................................ 214

16.1 Maintenance ................................................................................... 214

16.2 Disposal .......................................................................................... 215

16.3 Maintenance ................................................................................... 215

17 Quality Assurance ............................................................................ 216

17.1 Product Quality Assurance .............................................................. 216

17.2 Disclaimer ....................................................................................... 216

Part V Appendix ......................................................................................... 218

I Glossaries .......................................................................................... 219

II Technical Specifications ..................................................................... 220

III Application Standard ........................................................................ 222

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IV Certificate ........................................................................................ 224

V Alarm Information ............................................................................. 228

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 Part I Robot General

Part I Robot General

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1 Safety

1 Safety
1.1 Introduction
This chapter introduces the safety principles and specifications that should be followed
when operating the CS625 robot. The integrator and the user must read this manual carefully
and comply with all safety guidelines and warning labels. Users must fully understand the
inherent risks of operating the robot arm, and strictly comply with the requirements listed in
this manual. The user and the integrator must comply with ISO 10218 Industrial Robots -
Safety Specification.

1.2 Responsibilities and Specifications

The CS625 robot can be used together with other equipment. Therefore, the information
in this manual does not include how to comprehensively design, install and operate the robot
to be used together with other equipment, nor does it include the possibility that the above
use will affect the surrounding equipment. The safety of robot mounting depends on how the
robot is integrated. The integrator needs to follow the laws, regulations, safety specifications
and standards of the host country to conduct risk assessment on the design and mounting of
the system.

A risk assessment is the most important task that intergrators or operators must
complete. The intergrators may perform the risk assessment by using the following standards
for reference:

 ISO 12100:2010 Safety of machinery - General principles for design - Risk assessment
and risk reduction;
 ISO 10218-2:2011 Robots and robotic devices - Safety requirements for industrial
robots - Part 2: Industrial robot system and integration;
 RIA TR R15.306-2014 Technical report of industrial robots and robot systems - Safety
requirements and task-based risk assessment method;
 ANSI B11.0-2010 Safety of machinery – General requirements and risk assessment.

The ELITE Robot integrators should perform, but not limited to, the following
responsibilities:

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 Make a comprehensive risk assessment for the complete robot system;

 Confirm that the design and mounting of the robot and supporting equipment are
accurate;
 Provide training to users and staff;
 Create a complete system operation specification and clarify the use process
description;
 Establish appropriate safety measures;
 Use appropriate methods to eliminate dangers or minimize all dangers to an
acceptable level during final mounting;
 Communicating risks to end users;
 Mark the integrator's logo and contact information on the robot;
 Archive relevant technical documents.

For applicable standards and legal guidelines, please visit the website:

www.eliterobots.com .

1.3 Limitation of Liability

All safety information contained in this manual shall not be regarded as the guarantee of
Suzhou ELITE Robot Co., Ltd. even if all safety instructions are observed, personal injury or
equipment damage may still occur.

Suzhou ELITE Robot Co., Ltd. is committed to continuously improving the reliability and
performance of products, and therefore reserves the right to upgrade products without notice.
Suzhou ELITE Robot Co., Ltd. strives to ensure the accuracy and reliability of the contents of
this manual, but is not responsible for any errors or missing information.

1.4 Warning Symbols

The following warning symbols define the hazard level regulations contained in this
manual, please comply with these symbols.

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1 Safety

DANGER
This indicates a hazardous situation which, if not avoided, will result in
death or serious injury.

WARNING
This indicates a hazardous situation which, if not avoided, may result in
death or serious injury.

REMINDER
This indicates a hazardous situation, which, if not avoided, may result in
minor or moderate injury.

WARNING
This indicates a potentially hazardous electrical situation which, if not
avoided, could result in injury or major damage to the equipment.

WARNING
This indicates a potentially hazardous hot surface which, if not avoided,
may result in burns.

1.5 Safety Precautions

1.5.1 Summary

This manual contains methods to protect users and prevent machine damage. Users need
to read all relevant descriptions in the manual and be fully familiar with safety matters. This
manual covers various situations, but because there are too many possibilities, it is
impossible to record all of the potential hazards and countermeasures.

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 1 Safety

1.5.2 Instructions for Use

The following basic information needs to be understood and followed when starting the
robot or robot system for the first time. Other safety related information is introduced in
other parts of the manual. In practical application, specific problems need to be analyzed.

REMINDER 1. Please be sure to install the robot and all electrical equipment
according to the requirements and specifications in this manual.

2. Before using the robot for the first time and putting it into production,
it is necessary to conduct preliminary test and inspection on the robot
and its safeguard system.

3. Before the first time startup, it is necessary to check the system and
equipment are complete, operation is safe and no damage is detected.
The system and equipment must comply with the national or regional
effective safety production laws and regulations. All safety functions
must be tested.

4. The user must ensure all safety parameter and user tasks are correct, all
safety functions work normally. The person who checks each safety
function needs to be qualified to operate the robot. Only after passing
the comprehensive and careful safety test, the robot can be started.

REMINDER 1. The robot must be installed and debugged by professionals according

to the mounting standards.

2. Once the robot is installed, a comprehensive risk assessment shall be

conducted again and documented.
1.
3. Safety parameters must be configured by authorized personnel only.
Users can prevent unauthorized personnel from accessing
configurations by setting passwords. Every time the safety parameters
are modified, the relevant safety functions shall be analyzed by
professionals.

4. In case of accident or abnormal operation, the emergency stop switch

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1 Safety

can be pressed to stop the robot movement.

5. The CS625 joint module is equipped with a brake, which maintain the
posture when the robot is power off. Do not manually disconnect the
power supply system frequently. It is recommended to have a time
interval more than 10 seconds between each power on and off.

6. The CS625 has the collision detection. When the external force applied
on the robot arm exceeds the normal force range set by the user, the
robot will automatically stop to prevent personnel injury and equipment
damage. This function is specially set on CS625 for the safety of
man-machine cooperative work, but it requires the robot system to stay
in the normal operation range and use the Elite cooperative robot series
controllers. Otherwise the robot will not have the above functions and
the user will borne the dangerous consequences.

WARNING 1. The robot and the controller may generate heat during running. Please do
not operate or touch the robot when it is working or just after it has
stopped working.

2. Provide ample time for the robot to cool down after pausing operations.

3. Do not place hands near or around the heating part of the controller.

REMINDER 1. Ensure that the robot's arms and tools are correctly and safely installed in
place.

2. Ensure that the robot arm has enough space to move freely.

3. If the robot is damaged, do not use it.

4. Do not connect the safety equipment to the normal IO interface. Only the
safety IO interface can be used.

5. Ensure correct configuration (e.g. mounting angle of robot, load in TCP,

TCP offset, safety configuration). Save and load the user data into the
task.

6. Tools and obstacles shall not have sharp corners or twist points.

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7. Ensure that all operators are outside the reach of the robot.

8. Pay attention to the movement of the robot when using the teach
pendant.

9. Connecting different machines may aggravate the danger or cause new

danger. If the robot and supporting equipment need different safety and
emergency shutdown performance levels, a relatively higher performance
level shall be selected.

10. Read and understand the manual corresponding to the robot and
supporting equipment.

11. Do not change the hardware nor the system of the robot. Changes to the
robot may cause risks that cannot be predicted by the integrator. Robot
authorization and reorganization shall be in accordance with the latest
version of service manual and other maintenance manuals. If the robot is
modified in any other way, Suzhou ELITE Robot Co., Ltd. refuses to bear
all responsibilities.

12. Before transporting the robot, the user needs to check the insulation
and protective measures.

13. When handling the robot, observe the transportation requirements and
handle it carefully to avoid collision.

REMINDER 1. When the robot works with machinery that may cause damage to the
robot, please check the function and task of the robot separately.

2. Do not expose the robot to permanent magnetic field all the time. A
strong magnetic field can damage the robot.

3. Suzhou ELITE Robot Co., Ltd. shall not be liable for robot damage and
personal injury caused by task error or improper operation.

1.5.3 Personnel Safety

Before operating the robot, it's necessary to take appropriate measures to ensure the
safety of operators.

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1 Safety

Precautions are as follows:

1. The personnel operating the robot shall receive and pass the training course sponsored
by Suzhou ELITE Robot Co., Ltd. Users need to ensure that they fully grasp the safe and
standardized operation process and have robot operation qualification. For training
details, please contact our company at [email protected].

2. When operating the robot, please do not wear loose clothes or jewelry (such as
necklaces, bracelets, rings, earrings, etc.) and ensure the long hair is tied behind the
head.

3. During the operation of the equipment, even if the robot seems to have stopped, the
robot may be still in middle of an operation and just be waiting for a signal to start next
motion, which means robot could start moving at anytime. Therefore, the robot should
be regarded as moving unless the operation is stopped.

4. Draw lines on the floor to mark the action range of the robot, so that the operator can
understand the action range of the robot including holding tools (manipulator, tools,
etc.).

5. Establish protective measures for the operator (e.g. ropes) and people around the
robot operation area (e.g. to ensure safety). Locks shall be set as required so that no
one other than the operator can access the power supply of the robot.

6. When using the operation panel and teach pendant, operation errors may occur due to
wearing gloves. Be sure to take off the gloves before operation.

7. In emergency and abnormal situations such as people being clamped or surrounded by

the robot, the robot arm can be pushed or pulled by force (at least 700 N) to force the
joints to move. Forcing robot to move by hand without power is limited to emergency
and may damage robot joints.

1.6 Intended Service

The ELITE cooperative robot is limited to general industrial equipment, such as operating
or fixing tools and equipment, processing or transferring parts and products.

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 1 Safety

Elite cooperative robot has special safety level characteristics that allows cooperative
operations without peripheral safety safeguard devices or field sensing devices. However it
requires rigorous risk prediction to prevent unacceptable hazard including but not limited to
expected or accidental contact between staffs (or equipment, machines, devices, etc.) and
cobot (or its end effector) in the cooperative work area will not pose an unacceptable risk.

The robot controller and robot are only used for general industrial equipment and cannot
be used for applications contrary to the intended use. The prohibited uses include but are not
limited to the following situations:

 Used in flammable and explosive environment;

 A device used to move or carry people or other animals;
 Devices such as medical equipment for human life;
 Devices used to have a significant impact on sociality and publicity;
 Used in the vibration environment of vehicle and ship;
 Used for climbing tools.

1.7 Risk Assessment

The risk assessment shall consider all potential contact between the operator and the
robot during normal use and foreseeable misoperation. The neck, face and head of the
operator shall not be exposed to avoid touching. When using a robot without using peripheral
safety safeguard devices, it is necessary to conduct a risk assessment first to determine
whether the relevant hazards will constitute an unacceptable risk, such as:

 Danger may exist when sharp end effectors or tool connectors are used;
 Danger may exist when handling toxic or other hazardous substances;
 Danger of operator fingers being caught by robot base or joints;
 Danger of collision by robot;
 Danger that the robot or the tool connected to the end is not fixed in place;
 Danger caused by impact between robot payload and solid surface.

The integrators must measure such hazards and their related risk levels through risk
assessment, and determine and implement corresponding measures to reduce the risks to an
acceptable level. Please note that there may be other significant hazards associated with
certain robotic devices.

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1 Safety

By combining the inherent safety design measures applied by ELITE cooperative robots
with the safety specifications or risk assessment implemented by integrators and end users,
the risks related to CS625 cooperative operation are reduced to a reasonable and feasible
level as far as possible. Through this document, any residual risks of the robot before
mounting can be communicated to the integrator and the end user. If the integrators
determine the risks in the specific application my pose unacceptable hazards to users, the
integrators must take appropriate risk reduction measures to eliminate or minimize the risks
to an acceptable level. It is not safe to use the cobot without taking appropriate risk reduction
measures (if necessary).

If the robot is installed non cooperatively (e.g. when using dangerous tools), the risk
assessment may infer that the integrator needs to connect additional safety equipment (e.g.
safety start-up equipment) to ensure the safety of personnel and equipment during its
programming.

1.8 Emergency Handling

1.8.1 Emergency Stop Device

Pressing the emergency stop button will stop all movements of the robot. Emergency
shutdown can not be used as a risk reduction measure, but can be used as secondary
protection equipment. If more than one emergency stop button needs to be connected, it
must be included in the risk assessment of robot application. The emergency stop button
shall meet the requirements of IEC 60947-5-5.

The CS625 is equipped with an emergency stop button on the teach pendant. The button
on the teach pendant must be pressed in case of danger or emergency, as shown in Figure 1-1.
The controller is equipped with an external emergency stop button port, which can be used
by the integrator or user according to the actual situation.

Figure 1-1 Emergency stop button

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REMINDER If the tools or equipment connected to the end pose a potential threat, they
must be integrated into the emergency stop circuit of the system. Failure to
comply with this warning may lead to significant property damage, serious
personal injury or death.

1.8.2 Recovery from Emergency

All emergency stop devices in the form of keys have a "lock" function. This "lock" must be
opened to end the emergency stop of the equipment. The "lock" can be opened by rotating
the emergency stop button.

Recovering from emergency stop is a simple but very important step. This step can only
be operated after ensuring that the danger of the robot system is completely eliminated.

1.8.3 Emergency Forced Movement of Joints

In rare cases, it may be necessary to move one or more robot joints in an emergency
when the robot's power supply fails or is not intended to be used. The users can force the
robot joints to move by the following methods:

Forced backdrive: push or pull the robot arm with force (at least 700 N) to force the joints
to move.

Definition of backdrive function: The backdrive function can be used for the robot to
release the stuck state. When entering the backdrive mode, the robot can directly drag by
hand. When the force reaches a certain level, the servo will automatically release the holding
brake and be pushed.

Trigger condition: When the robot is in standby state, press the drag button and it will
enter the backdrive mode.

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1 Safety

REMINDER
Forcing robot to move by hand is limited to emergencies and may damage
joints.

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 2 Safety Related Functions and Interfaces

2 Safety Related Functions and Interfaces

2.1 Introduction
CS625 robot is equipped with a variety of built-in safety functions and electrical IO
interfaces include safety IO, digital and analog control signals, which are used to connect
other machines and additional protection devices. For the CS625 robot with a standard
controller, every safety function and every interface is monitored and designed according to
EN ISO13849-1:2015. Refer to Chapter 9 and 11 for the configuration of safety functions,
inputs and outputs in the user interface. Refer to Chapter 6 for the connection mode between
safety equipment and IO.

REMINDER 1. The use and configuration of safety functions and interfaces must follow
the risk assessment task of each robot application task (see section 1.7).

2. If the robot finds a fault or violation in the safety system (for example, the
emergency stop circuit is cut off or a safety limit violation occurs), it will
initiate a stop category 0.

3. The stop time should be considered as part of the application risk

assessment.

DANGER 1. When the safety configuration parameters used are different from those
determined by the risk assessment, it may lead to hazards that cannot be
reasonably eliminated or risks that cannot be fully reduced.

2. Make sure the tool and gripper are connected correctly to avoid danger in
case of power interruption.

3. If the attached equipment only is only configured to 12V, and the

operator mistakenly sets the voltage to 24V, the equipment may be
damaged.

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2 Safety Related Functions and Interfaces

2.1.1 Stop Category

Based on the definition of stop category in IEC 60204-1:2018, the stop category defined in
this product is shown in Table 2-1.

Table 2-1 Stop category

Stop Category Definition

Uncontrolled stop, by immediately cutting off the power to
Stop category 0
the actuator to stop the robot.
Controlled stop, the actuator brakes actively but does not
Stop category 1 ensure that the robot stops on the trajectory. When the
robot stops, cut off the power.
Controlled stop, the actuator actively brakes and ensures
Stop category 2 that the robot stops on the trajectory. After the robot stops,
the power supply is not cut off.

2.1.2 Operation Mode and Safety Mode

The operation mode and safety mode defined by this product are shown in Table 2-2 and
Table 2-3.

Table 2-2 Operation mode

Operation Mode Description

Automatic mode The robot automatically runs Python programs.
Manual mode Use the teach pendant to control the robot movement.
The remote controller is used to control the motion of the
Remote mode
robot.

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 2 Safety Related Functions and Interfaces

Table 2-3 Safety mode

Safety Mode Description

Normal mode Limit of safety parameters during normal operation of robot.
Safety parameter restrictions when the robot enters the
Reduced mode reduced area or uses the three position servo device for drag
teach.

2.2 Safety Function Description

The robot safety function is used to reduce the risk of the robot system determined by the
risk assessment. This product has 27 safety functions in total. According to the functional
purpose, these 27 safety functions can be divided into five categories: emergency stop
function (SF01-SF02), safety input (SF03-SF08), safety output (SF09-SF14), joint operation
control (SF15- SF16) and whole machine operation control (SF17-SF27), as shown in Table
2-4.

Table 2-4 Safety function list: function definition

Number Safety Function Function Definition

SF01 Emergency stop Press the emergency stop button of the teach pendant to
trigger the stop category 1. If the emergency stop function
failure, the stop timeout or the stop over distance are
detected, the stop category 0 will be triggered.
SF02 External Press the external emergency stop device to trigger the stop
emergency stop category 1 through safety IO or configurable IO. If the
external emergency stop function failure, the stop timeout or
the stop over distance are detected, the stop category 0 will
be triggered.
SF03 Safeguard stop The external safety safeguard device triggers the stop
category 2 through the safety IO or the configurable IO. If the
safety safeguard stop function failure, the stop timeout or
the stop over distance are detected, the stop category 0 will
be triggered.

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2 Safety Related Functions and Interfaces

SF04 Safeguard reset The external safety safeguard restart device releases the
robot from the safety safeguard state through the
configurable IO. If the failure of safety safeguard restart
function is detected, the stop category 0 will be triggered.
SF05 Automatic mode In automatic mode, the external safety safeguard device
safeguard stop triggers stop category 2 through the safety IO or the
configurable IO. If the safety safeguard stop function failure,
the stop timeout or the stop over distance are detected, the
stop category 0 will be triggered.
SF06 Automatic mode In the automatic mode, the external safety safeguard restart
safeguard restart device releases the safety safeguard state of the robot
through the configurable IO. If the failure of safety safeguard
restart function is detected, the stop category 0 will be
triggered.
SF07 3 position In manual mode, when the three position enabling device is
enabling device released or overloaded, the stop category 2 is triggered
input through the configurable IO. If the control function failure of
the three-position enabling device, the stop timeout or the
stop over distance are detected, the stop category 0 will be
triggered.
SF08 Emergency stop The robot safety controller outputs the emergency stop
output signal through the configurable IO. If a signal output failure
is detected, the stop category 0 will be triggered.
SF09 Operation mode The external safety equipment inputs the operation mode
input signal through the configurable IO, which enables the robot
to switch to the manual or automatic mode and triggers the
stop category 2. If a signal input failure or a mode switching
failure is detected, the stop category 0 will be triggered.
SF10 Reduced mode The external safety equipment inputs the reduced mode
input signal through the configurable IO, which enables the robot
to switch to the reduced mode. If a signal input failure or a
mode switching failure is detected, the stop category 0 will
be triggered.

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SF10 Robot motion When the robot is in the motion state (excluding the stop
state output process), the safety controller outputs the robot motion
state signal through the configurable IO. If a signal output
failure is detected, the stop category 0 will be triggered.
SF11 Robot non stop When the robot is in the non-stop state (including stop
state output process and motion process), the safety controller outputs
the robot non-stop state signal through the configurable IO.
If a signal output fault is detected, the stop category 0 will be
triggered.
SF12 Reduced mode When the robot enters the reduced mode, the robot safety
output controller outputs the reduction mode signal through the
configurable IO. If a signal output fault is detected, the stop
category 0 will be triggered.
SF13 Non reduced When the robot does not enter the reduced mode (including
mode output normal mode and switching process), the safety controller
outputs the non reduced mode signal through the
configurable IO. If a signal output fault is detected, the stop
category 0 will be triggered.
SF14 Safe Home When the robot TCP reaches the safe Home position, the
position output safety controller outputs the safe home position signal
through the configurable IO If a signal output fault is
detected, the stop category 0 will be triggered.
SF15 Joint position Set the upper and lower limits of the joint position. If it is
limit detected that the joint position is close to the limit, the stop
category 2 will be triggered; if the joint position overlimit,
the stop category 2 function failure, the stop timeout or the
stop over distance is detected, the stop category 0 will be
triggered.
SF16 Joint speed limit Sets the upper limit of the joint speed. If the monitored joint
speed exceeds the limit, the stop category 0 will be triggered.
SF17 Tool position Set the tool position range. If the monitored tool position is
limit close to the limit, the stop category 2 will be triggered. If the
tool position overlimit, the stop category 2 function failure,
the stop timeout or the stop over distance are detected, the
stop category 0 will be triggered.

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SF18 Tool speed limit Set the upper limit of the tool speed. If the tool speed
exceeds the limit, the stop category 0 will be triggered.
SF19 Tool force limit Set the upper limit of the tool force. If the tool force exceeds
the limit, the stop category 2 will be triggered. If the stop
category 2 function failure, the stop timeout or the stop over
distance are detected, the stop category 0 will be triggered.
SF20 Elbow speed Sets the upper limit of the elbow speed. If the elbow speed
limit exceeds the limit, the stop category 0 will be triggered.
SF21 Elbow force limit Sets the upper elbow force limit. If the elbow force exceeds
the limit, the stop category 2 will be triggered. If the stop
category 2 function failure, the stop timeout or the stop over
distance are detected, the stop category 0 will be triggered.
SF22 Collision power Set the upper limit of the collision power. If the collision
limit power overrun is detected, the stop category 2 will be
triggered. If the stop category 2 function failure, the stop
timeout or the stop overrun are detected, the stop category 0
will be triggered.
SF23 Collision Set the upper limit of collision momentum. If the collision
momentum limit momentum exceeds the limit, the stop category 2 will be
triggered. If the stop category 2 function failure, the stop
timeout or the stop over distance are detected, the stop
category 0 will be triggered.
SF24 Collision torque Set the upper limit of collision torque. If the collision torque
limit exceeds the limit, the stop category 2 will be triggered. If the
stop category 2 function failure, the stop timeout or the stop
over distance are detected, the stop category 0 will be
triggered.
SF25 Drag teach mode Switch the safety parameter limit from normal mode to drag
limit teach mode. If it is detected that the parameter is abnormal,
the corresponding stop category will be triggered (refer to
SF15-SF18, SF20). If the stop category 2 function failure, the
stop timeout or the stop over distance are detected, the stop
category 0 will be triggered.

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SF26 Reduced mode Switch the safety parameter limit from normal mode to
limit reduced mode. If it is detected that the parameter is
abnormal, the corresponding stop category will be triggered
(refer to SF15-SF25). If the stop category 2 function failure,
the stop timeout or the stop over distance are detected, the
stop category 0 will be triggered.
SF27 Safety plane Set the safety plane that limits the motion space of the
(space) robot. The safety plane divides the space into three areas:
safety area (the robot is in the normal mode), reduction area
(the robot enters the reduction mode), safeguard area (the
robot triggers stop category 2). If the function failure, the
stop timeout or the stop over distance are detected, the stop
category 0 will be triggered.

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The functional safety level and safety architecture are defined according to ISO
13849-1:2015, as shown in Table 2-5.

Table 2-5 List of safety functions: function attributes

Safety Safety Operation

Number Safety Function Safe State
Level Architecture Mode
SF01 Emergency stop PLd Cat.3 All mode Cat.1 Stop
External
SF02 PLd Cat.3 All mode Cat.1 Stop
emergency stop
SF03 Safeguard stop PLd Cat.3 All mode Cat.2 Stop
Release from the
SF04 Safeguard reset PLd Cat.3 All mode
safeguard
Automatic mode Automatic
SF05 PLd Cat.3 Cat.2 Stop
safeguard stop mode
Automatic mode Automatic Release from the
SF06 PLd Cat.3
safeguard restart mode safeguard
3 position
Manual
SF07 enabling device PLd Cat.3 Cat.2 Stop
mode
input
Emergency stop
SF08 PLd Cat.3 All mode Low-level output
output
Operation mode Manual
SF09 PLr d Cat.3 Cat.2 Stop
input mode
Reduced mode
SF10 PLr d Cat.3 All mode Reduced mode
input
Robot motion
SF11 PLr d Cat.3 All mode Low-level output
state output
Reduced mode
SF12 PLr d Cat.3 All mode Low-level output
output
Non-reduced
SF13 PLr d Cat.3 All mode Low-level output
mode output
Safe Home
SF14 PLr d Cat.3 All mode Low-level output
position output

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Joint position
SF15 PLr d Cat.3 All mode Cat.2 Stop
limit
SF16 Joint speed limit PLr d Cat.3 All mode Cat.0 Stop
Tool position
SF17 PLr d Cat.3 All mode Cat.2 Stop
limit
SF18 Tool speed limit PLr d Cat.3 All mode Cat.0 Stop
SF19 Tool force limit PLr d Cat.3 All mode Cat.2 Stop
Elbow speed
SF20 PLr d Cat.3 All mode Cat.0 Stop
limit
SF21 Elbow force limit PLr d Cat.3 All mode Cat.2 Stop
Collision power
SF22 PLr d Cat.3 All mode Cat.2 Stop
limit
Collision
SF23 PLr d Cat.3 All mode Cat.2 Stop
momentum limit
Collision torque
SF24 PLr d Cat.3 All mode Cat.2 Stop
limit
Drag teach mode Manual
SF25 PLr d Cat.3 Cat.2 Stop
limit mode
Reduced mode
SF26 PLr d Cat.3 All mode Cat.2 Stop
limit
Safety plane
SF27 PLr d Cat.3 All mode Cat.2 Stop
(space)

Note：PL (Performance Level) discrete level used to specify the ability of safety-related
parts of control systems to perform a safety function under foreseeabel conditions. PLr
(Required Performance Level) performance level (PL) applied in order to achieve the required
risk reduction for each safety function.

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3 Transporting

3 Transporting
When the robot is hoisted, appropriate measures shall be taken to locate the moving
parts, so as not to cause accidental movement and harm in the process of hoisting and
transportation. During packaging and transportation, the packaging shall be carried out
according to the packaging standard, and the required marks shall be marked on the outside
of the packaging box.

During transportation, it is necessary to ensure that the robot is stable and fixed in a
proper position.

The controller shall be lifted with a handle.

When the robot is moved to the mounting position from the packaging material, hold the
robot until all the screws of the robot base are fastened.

After fixing, power on the robot, and adjust the robot posture to the appropriate position
by using the robot drag teach function.

An original package should be kept upon completion of the mounting. The packaging
material should stay dry, in case of repackaging the robot in the future.

REMINDER 1. When lifting the robot, please make sure to keep back or shoulder away
from overloaded.

2. All regional and national guidelines should be followed. Suzhou ELITE

Robot Co., Ltd. is not responsible for the damage caused during the
transportation of the equipment.

3. Make sure that the robot is installed in accordance with the mounting
instructions.

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4 Quick Start
4.1 Robot System Introduction
The CS625 robot system is mainly composed of robot arm (hereinafter referred to as:
arm), robot ERB1C4k0 controller (hereinafter referred to as: controller) and robot teach
pendant (hereinafter referred to as: teach pendant), as shown in Figure 4-1.

Figure 4-1 CS625 System

The arm is the main part of the robot system. It is composed of link and joints. Users can
use teach pendant to coordinate the actions of these joints.

 Base: perform arm rotary motion;

 Shoulder and elbow: perform extensive work;
 Wrist 1 and wrist 2: perform finer work;
 Wrist 3: Perform the rotation action of the end tool.

The controller is the control part of the robot system, which control the robot movement
position, velocity, acceleration, attitude and the equipment connected with the input and
output terminals.

Teach pendant is the display and can also be used to operate the robot. The teach
pendant mainly includes: a 12.1-inch LCD touch screen, a power switch, an emergency stop
button, a drag switch and a connector socket of the teach pendant. LCD touch screen not only
show the details of robot motion to the user, including position and attitude parameters, but

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4 Quick Start

also facilitate the user's operation. All operations can be completed by directly clicking on the
screen.

The design of the teach pendant shell has both aesthetics and ergonomics. Behind it is a
nylon rope and two hanging rings. The former is used to hold the teach pendant, and the
latter can be used to hang the teach pendant on the controller.

The CS625 robot can be started quickly by referring to the following process:

1. Open the box and take out the robot arm, controller, teach pendant and related cables;

2. Install the robot arm;

3. Install the robot controller and teach pendant;

4. Connect cables;

5. Power on the robot;

6. Write programs to operate robots.

4.2 Robot System Installation

4.2.1 Robot Arm Installation

The installation steps of the robot arm are as follows:

 Unpack and take out the robot arm and controller;

 Install the robot arm on the base.

When installing on the base, use six M10 screws with grade 8.8 strength and six 10.5 mm
mounting holes at the bottom. It is recommended to tighten these screws with a torque of
40Nm. If the robot arm mounting position need to be very accurate, drilling two Ø8 pin holes
and fix them with pins can help guiding. Figure 4-2 shows the drilling position and screw
installation position for arm installation. Install the robot on a firm, vibration free surface that
is sufficient to withstand at least 10 times the maximum overturning moment of the base
joint and at least 5 times the weight of the robot arm. See 5.3.1 for the installation dimensions
of robot base.

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Figure 4-2 Arm installation

4.2.2 Robot Controller and Teach Pendant Installation

The controller can be hung on the wall or placed on the ground. The teach pendant can
be hung on the wall or controller. After installing the robot arm and controller, the user can
start using the teach pendant.

REMINDER The controller shall be placed vertically or horizontally on the ground.

50mm gap shall be reserved on each side of the controller to ensure
smooth air circulation.

DANGER 1. Ensure that the controller, teach pendant and cable are not in contact
with liquid. Wet controllers can cause casualties.

2. The controller and teach pendant shall not be exposed to dust or damp
environment exceeding IP54 level. Pay close attention to the
environment with conductive dust.

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4 Quick Start

4.3 Cable Connection

There are two socket connectionets at the bottom of the controller. Before use, insert the
corresponding cable into the socket, as shown in Figure 4-3.

Figure 4-3 CS controller bottom plug

4.3.1 Robot arm and Controller Connection

There is a plug at the end of the cable of the robot arm. Insert the plug into the connector
at the bottom of the controller and pay attention to the insertion direction, as shown in Figure
4-4 (a); After that, rotate the whole connector to realize further locking, as shown in Figure 4-4
(b).

（a)

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 4 Quick Start

（b)

Figure 4-4 Whole machine installation-(a) arm cable not connected;(b) arm cable locking

4.3.2 Controller and Mains Supply Connection

There is a socket at the end of the mains cable in the controller to connect the local
dedicated mains cable to the socket. Pay attention to the insertion direction, as shown in
Figure 4-5.

Figure 4-5 Power interface of CS controller

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4 Quick Start

DANGER 1. Please ensure that the robot is grounded in the correct way (electrical
grounding). The grounding connector shall have at least the rated current
of the highest current in the system.

2. Please ensure that all cables are correctly connected before the controller
is powered on. Always use the original power cord correctly.

WARNING
1. Do not disconnect the robot cable when the robot arm is turned on.

2. Do not extend or modify the original cable.

4.4 Power on The Robot

4.4.1 Preparation before Power on

The preparation of the CS625 robot before power on is as follows：

 Check whether the robot is well connected with the controller;

 Check whether the connection between the teach pendant and the controller is
intact;
 Check whether the power cable of the controller is well connected;
 The main power switch of the controller is off when the power is not connected;
 The emergency stop switch of the teach pendant is in the pop-up state;
 Ensure that the robot will not touch the surrounding personnel or equipment.

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4.4.2 Switch Robot Arm

Click the robot status icon at the top left of the screen to enter the "Robot Status"
interface.

First click "Power On", the robot is in the ready state; Click "Brakes Release" again, brakes
released, the robot can operate. Click "Exit" in the lower right corner to exit the current page,
as shown.

REMINDER
When the holding brakes are released, the robot arm starts, accompanied
by sound and slight movement.

4.5 First Task

Users can create tasks and operate the robot by inserting task nodes to the task tree. For
most tasks, the whole programming process can be completed using the teach pendant.

After completing the preparations according to section 4.4, power on the controller first

and then power on the teach pendant. Click in the upper left corner of the status and

menu bar. Click "Power On" under "Robot Status", then "Brake Release". After Robot in
"Normal" mode is checked, click "Exit" at the bottom left to exit the current page. Payload
settings need to be configurated based on the actual robot status under "Config" tab. If the
arm is not mounted on the floor horizontally, mounting settings need to be configurated as
well under "Config" tab.

Click on the right of the status and menu bar, choose "Settings > Password >

Safety", and set a safety password to unlock safety configuration parameters.

Note: The "Current password" does not need to be entered only when the safety
password is set for the first time.

The user can use the operation tab (see Chapter 14) to move the robot arm to the desired
position, or press and hold the free drive button on the back of the teach pendant to drag the
robot arm to the teach position.

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The following is a simple task that allows the robot arm to move between two waypoints.

1. Click "New" in the upper right corner of the screen and select "Task".

2. Select "Task > Basic > Waypoint" and add the waypoint to the task tree. At the same
time, the default MoveJ is also added to the task tree.

3. Select the created waypoint and click "Set Waypoint" in the "Instruction" interface on
the left.

4. Set waypoints. For details, please refer to Chapter 14. The user can also press and hold
the free drive button and drag the robot arm to the desired position.

5. If the robot arm is in place, press the "Accept" key, and the new waypoint will be
displayed as waypoint_ 1.

6. Follow steps 2 to 5 to create waypoints_ 2.

7. Stand in a safe position, the arm moves to the starting point, click to run the
current task in the control bar, and the robot moves at the waypoint_1 and
waypoints_2.

TIPS 1. Do not let the robot collide with itself or other objects, which will cause
damage to the robot.

2. This is just a quick start guide for CS625 robot with basic introduction.
Please do not increase the speed or acceleration above the default value.
Risk assessment should always be carried out before operating the robot.

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Part II Robot Hardware

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5 Mechanical Structure

5 Mechanical Structure
5.1 Introduction
This chapter describes the basic precautions when installing the CS625 robot and its
system components.

5.2 Robot Workspace

5.2.1 Robot Mechanical Dimensions

The mechanical dimensions of the CS625 robot are shown in Figure 5-1.

Figure 5-1 Mechanical dimensions of the CS625 robot, with unit of mm

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5.2.2 Robot Workspace

The working space of the CS625 robot is shown in Figure 5-2. When the robot moves, the
tool center can move within the maximum working range, but try to make the tool center
move within the recommended working range as much as possible.

Figure 5-2 Workspace of the CS625 robot, with unit of mm

5.2.3 DH Parameters
Denavit-Hartenberg parameters, or DH parameters, are the tradition way of representing
the forward kinematics of robotic arms. They are used to express the position of the tool
center point, or TCP, in the base coordinate system given the joint angles of the robot arm, as
shown in Figure 5-3.

Figure 5-3 Robot DH diagram

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5 Mechanical Structure

The DH parameters of the CS625 are given in table Table 5-1.

Table 5-1 CS625 DH parameters

Joint theta[rad] a[m] d[m] alpha[rad]

Joint 1 0 0 0.235 0
Joint 2 0 0 0 π/2
Joint 3 0 -0.750 0 0
Joint 4 0 -0.622 0.1725 0
Joint 5 0 0 0.128 π/2
Joint 6 0 0 0.125 -π/2

5.3 Mounting
When designing and installing the CS625 robot, please be sure to follow the following
warnings and precautions. These warnings and precautions should also be followed when
carrying out maintenance work.

DANGER 1. Do not connect the safety signal to the non-safety IO with improper safety
level. Failure to comply with this warning may result in serious casualties
due to the failure of a safety stop function. Be sure to separate the safety
interface signal from the ordinary IO interface signal.

2. All safety signals have redundancy (two independent channels). Keeping

the two channels independent ensures that the safety function will not be
lost in the event of a single failure.

3. Some IO inside the controller can be configured as ordinary IO or safe IO.

Please read through section 6.3.

WARNING 1. Please make sure the equipment that is not contaminated with water
stays dry. If water enters the product, please cut off the power supply and
contact the supplier.

2. Only use the original cable of the robot. Please do not use the robot in

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those applications where the cable needs to be bent. If longer cables or

flexible cables are needed, please contact the supplier.

3. The negative connector is the grounding "GND" connector, which is

connected with the protective cover of the robot and the controller. All
GND connectors mentioned in this article are only applicable to power
supply and signal transmission. For protective grounding (PE), please use
the special socket for power supply of the controller to provide reliable
grounding for the controller.

4. Be careful when installing the interface cable to the IO of the robot. The
metal plate on the side of the cabinet is used for interface cables and
connectors. Please remove this metal plate before drilling. Before
reinstalling the metal plate, make sure that all rough surfaces have been
removed. Remember to use the correct size gland.

REMINDER 1. The robot has passed the electromagnetic compatibility test specified in
the international IEC standard. Interference signals higher than the level
specified in IEC standards will cause abnormal behavior of the robot.
Extremely high signal level or over exposure will cause permanent
damage to the robot. EMC problems usually occur during welding and are
usually prompted by error messages in the log. Suzhou ELITE Robot Co.,
Ltd.(ELITE) is not responsible for any loss caused by EMC problems
exceeding the certification standard.

2. The length of IO cable used to connect the controller with other

mechanical and plant equipment shall not exceed 10m, unless it is
feasible after extension test.

5.3.1 CS625 Robot Arm Mounting

Using six M10 screws of grade 8.8 to mount the robot arm through the six 10.5 mm

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5 Mechanical Structure

through holes on the robot base. It is recommended to tighten these bolts with a torque of
40Nm. If the robot arm mounting position need to be very accurate, drilling two Ø8 pin holes
and fix them with pins can help guiding. It is also possible to purchase an accurate base
counterpart to install the robot. Figure 5-4 shows the mounting dimensions of CS625 robot
base.

Install the robot on a firm, vibration free surface. The surface must be sufficient to
withstand at least 10 times the maximum overturning moment of the base joint and at least 5
times the weight of the robot arm. If the robot is mounted on a linear axis or on a movable
platform, the acceleration of the movable mounting base should be very low. High
acceleration of the base joint would trigger.

Figure 5-4 Mounting dimension drawing of the CS625 robot base, with unit of mm

5.3.2 End Effector Mounting

The robot end flange has six M6 threaded holes to mount the end effector. When screws
are installed in these threaded holes, the screws need to be tightened with a torque of 8Nm
and its strength grade is 8.8. If the robot arm mounting position need to be very accurate,
please use the guiding pin that fits with the Ø6 hole.

Figure 5-5 shows the mounting dimension drawing of the CS625 robot tool flange. It is
recommended to use radial slotted holes for pins to avoid excessive restraint while
maintaining accurate position. The screw depth of the mounting tool shall not exceed 8mm.

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Figure 5-5 Mounting dimension drawing of the CS625 robot tool flange, with unit of mm

DANGER 1. Make sure the tool is properly and securely bolted in place.

2. Make sure the structure of the tools are safe, avoiding the protential of
parts falling accident.

3. Installing a tool on the robot that screws in more than 8mm M8 screws
may cause irreparable damage to the tool flange, resulting in the
replacement of the tool flange.

The max payload diagram is shown in Figure 5-6. This diagram is to show how large a
payload the robot can handle based on how far the center of gravity of the tool is from the
center of the tool flange.

Figure 5-6 Payload diagram

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5 Mechanical Structure

The horizontal axis represents how far the center of gravity of the tool is from the center
of the tool flange. The vertical axis represents the max allowed payload. The farther the
center of gravity of the payload is from the center of the tool flange, the smaller the allowed
payload becomes.

REMINDER 1. The payload shown in the diagram indicates a maximum payload. It must
not be exceeded under any circumstance.

2. The robot may be damaged if the payload exceeds the allowable value.

5.3.3 Controller and Teach Pendent Mounting

The controller can be hung on the wall or placed on the ground. 50mm gap shall be
reserved on each side of the controller to ensure smooth air circulation.

The teach pendant can be hung on the wall or controller. Confirm that the cable will not
cause tripping hazard.

Note: Additional brackets for installing the controller and teach pendant are purchasable.

DANGER 1. Make sure that the controller, teach pendant and cable are not in contact
with liquid. A damp controller can cause fatal injury.

2. Place the teach pendant (IP54) and controller (IP54) in an environment

suitable for IP level.

5.3.4 Electrical Specifications

The power supply shall be equipped with the following accessories:

1. Ground connection;

2. Mains fuse.

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Table 5-2 Electrical specifications of the mains connection

Parameter Min. Typ. Max. Unit

Input voltage (Normal version,
90 - 264 VAC
AC OEM controller)
External mains fuse (when the
- 15 - A
voltage is 90-130V)
External mains fuse (when the
- 15 - A
voltage is 200-240V)
Input frequency 47 - 63 Hz

DANGER 1. Please make sure that the robot is grounded correctly (electrical
connection to ground). The grounding conductor should have at least the
rated current of the max. system current.

2. The lockout and tagout should be implemented for all power supplies
when the robot maintenance is required. The robot I/O should not be
powered by other equipment when the system is being repaired.

3. Please make sure that all cables are connected correctly before the
controller is powered on. Always use the original power cord.

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6 Electrical Interface

6 Electrical Interface
6.1 Introduction
This chapter describes all electrical interfaces of Elite CS series collaborative robot, these
interfaces are mainly distributed in the robot controller, teach pendant and arm. All electrical
interfaces will be introduced in detail below, and provide application examples of some
interface.

6.2 Electrical Warnings and Precautions

Follow the warnings and precautions below when designing and installing the robot
application. These warnings and precautions are also followed for performing maintenance
operations.

DANGER 1. Do not connect the safety signals to the non-safety IO with inappropriate
safety level. Failure to comply with the warning may cause serious
casualties due to the failure of a safety stop function. Be sure to separate
the safety interface signal from the normal IO interface signal.

2. All safety signals are redundancy (two separate channels). Keep the two
channels separate to ensure that security is not lost in case of a single
failure.

3. Some IO inside the controller can be configured as normal IO or safe IO.

Please read through section 6.3.

WARNING 1. Please make sure that all equipment not contaminated with water is
kept dry. If water enters the product, please cut off the power supply
and contact the supplier.

2. Use only the original cable of the robot. Please do not use the robot in
those applications where the cable needs to be bent. If longer cables or
flexible cables are needed, please contact the supplier.

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3. The negative connector is the grounding "GND" connector, which is

connected with the protective cover of the robot and the controller. All
GND connectors mentioned in this article are only applicable to power
supply and signal transmission. For protective grounding (PE), please
use the special socket for power supply of the controller to provide
reliable grounding for the controller.

4. Be careful when installing the interface cable to the IO of the robot. The
metal plate on the side of the cabinet is used for interface cables and
connectors. Please remove this metal plate before drilling. Before
reinstalling the metal plate, make sure that all rough surfaces have
been removed. Remember to use the correct size gland.

REMINDER 1. The robot has passed the electromagnetic compatibility test specified in
the international IEC standard. Interference signals higher than the level
specified in IEC standards will cause abnormal behavior of the robot.
Extremely high signal level or over exposure will cause permanent
damage to the robot. EMC problems usually occur during welding and are
usually prompted by error messages in the log. Suzhou ELITE Robot Co.,
Ltd (ELITE) is not responsible for any loss caused by EMC problems.

2. The length of IO cable used to connect the controller with other

mechanical and plant equipment shall not exceed 10m, unless it is
feasible after extension test.

TIPS

All voltages and currents are DC (direct current) unless specified.

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6.3 Electrical Interface of Controller

This section mainly describes all the electrical interfaces of the CS controller, including
the external and internal electrical interfaces of the controller. The external electrical
interface of the controller includes the cable interface between the controller and the AC
power supply and robot arm; The internal electrical interface includes safety IO, remote
switch, IO power supply, configurable IO, digital IO and analog IO.

6.3.1 External Electrical Interface

6.3.1.1 AC Power Interface

The robot AC power interface is located at the bottom of the controller. As shown in
Figure 6-1 below, the power cord jack must be connected with standard plug (as shown in
Figure 6-2 below). After the main power cable is correctly connected, the power on operation
of the controller can be completed through the power switch.

6.3.1.2 Robot arm Cable Interface

The robot cable must be inserted into the connector at the bottom of the controller, as
shown in Figure 6-3. Before powering on the robot, be sure to properly lock the connector.
When disconnecting the robot cable, the power supply of the robot must be cut off to avoid
injury to equipment or people.

Figure 6-1 Power input Figure 6-2 Standard power Figure 6-3 Robot arm cable
socket plug connector

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REMINDER
1. Do not disconnect the robot cable when the robot arm is turned on.

2. Do not extend or modify the original cable.

6.3.2 Internal Electrical Interface

The description of internal electrical interface of the CS controller is shown in Figure 6-4.

Figure 6-4 Schematic diagram of the internal electrical interface of the CS controller

Users can perform serial communication from the controller by connecting an RS485
device to the connector as shown in Figure 6-5. To set up the RS485 connector in the
controller, please disassemble the serial port connector and weld the RS485 wires to the
metal contacts on the back of the black connector (see Figure 6-6).

The front and back sides of the black plastic device are marked with PIN “1 3 5” and “2
4 6” respectively. PIN3 should be soldered to RS485B and PIN4 should be soldered to RS485A.
The maximum supported baud rate of this interface is 500Kbps.

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Figure 6-5 CS controller RS485 connector

Figure 6-6 Black device

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Table 6-1 Definition of the electrical interface area A inside the controller

Number Definition Function

FB1 Gigabit Network For connecting to the peripheral device, 10M / 100M /
A1
Port 1000M ethernet transmission
A2 SD Card Slot For the reading of the SD card
A3 Teach Pendant Interface For connecting to the robot teach pendant device
A4 USB 2.0 Interface For system backup, program upload and download
A5 USB 3.0 Interface For system backup, program upload and download
A6 Mini DP Interface For connecting to the teach pendant
FB2 100 Megabit For connection to the peripheral device, the 10M /
A7
Network Port 100M Ethernet transmission
FB3 100 Megabit For connection to the peripheral device, the 10M /
A8
Network Port 100M Ethernet transmission
For connecting devices supporting the RS-485 protocol
A9 RS-485 Interface
with a maximum baud rate of 500 Kbps
System Upgrade Button
A10 For system upgrades
for Emergency Cases

Table 6-2 Color identification of internal interface area B of controller

Background Color Text Color Functional Differentiation

Yellow Red Special Safety IO
Yellow Black Configurable Safety IO
Gray Black General Digital IO
Green Black General Analog IO

Table 6-3 Definition of the electrical interface area B inside the controller

Number Name Terminal Function

24V When the external emergency stop switch is required,
EI0 the external emergency stop switch can be connected
to this terminal.
B1 Safety IO
24V When it is not necessary to access the external
EI1 emergency stop switch, the jumper wiring shall be
installed.

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Opening and closing of the 24VDC

24V When access to the peripheral safeguard devices is
SI0 required, the external safeguard devices can be
connected to this terminal.
When it is not necessary to access the peripheral
24V
protective equipment, the jumper wiring shall be
SI1
installed.
Opening and closing of the 24VDC
12V auxiliary power supply "+", 12V voltage constant
12V
supply
12V auxiliary power supply "—", 12V voltage constant
GND
Remote supply
B2
ON/OFF Open the "48V" power supply input terminal of the
ON
controller, and the activation time is: 200ms-600ms
Close the "48V" power input terminal of the controller,
OFF
which can be normally closed
PWR 24VDC output, internal power supply output terminal,
GND power supply is grounded
24V 24VDC input, IO power supply input terminal, which is
B3 IO Power connected to the power supply output terminal
(internal power supply) by default. If more current is
0V
required, the terminal can be connected to an external
regulated power supply
0V 24VDC input, high-speed digital input port power
24V supply terminal
High Speed DI16 High speed digital input 1
B4
Digital Input DI17 High speed digital input 2
DI18 High speed digital input 3
DI19 High speed digital input 4
24V
CI0
Configable secure input connection 1
Configurable 24V
B5
Input/Output CI1
24V
Configable secure input connection 2
CI2

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24V
CI3
24V
CI4
Configable secure input connection 3
24V
CI5
24V
CI6
Configable secure input connection 4
24V
CI7
0V voltage power supply output terminal, the terminal
0V
has been short circuited internally
CO0 Configurable safety output of 0
CO1 Configurable safety output of 1
CO2 Configurable safety output of 2
CO3 Configurable safety output of 3
CO4 Configurable safety output of 4
CO5 Configurable safety output of 5
CO6 Configurable safety output of 6
CO7 Configurable safety output of 7
24V voltage power supply output terminal, the
24V
terminal has been short circuited internally
Digital input 0, MOSFET, PNP (active with high signal),
DI0
24VDC
Digital input 1, MOSFET, PNP (active with high signal),
DI1
24VDC
Digital input 2, MOSFET, PNP (active with high signal),
Digital DI2
B6 24VDC
Input/Output
Digital input 3, MOSFET, PNP (active with high signal),
DI3
24VDC
Digital input 4, MOSFET, PNP (active with high signal),
DI4
24VDC
Digital input 5, MOSFET, PNP (active with high signal),
DI5
24VDC
DI6 Digital input 6, MOSFET, PNP (active with high signal),

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24VDC
Digital input 7, MOSFET, PNP (active with high signal),
DI7
24VDC
Digital input 8, MOSFET, PNP (active with high signal),
DI8
24VDC
Digital input 9, MOSFET, PNP (active with high signal),
DI9
24VDC
Digital input 10, MOSFET, PNP (active with high signal),
DI10
24VDC
Digital input 11, MOSFET, PNP (active with high signal),
DI11
24VDC
Digital input 12, MOSFET, PNP (active with high signal),
DI12
24VDC
Digital input 13, MOSFET, PNP (active with high signal),
DI13
24VDC
Digital input 14, MOSFET, PNP (active with high signal),
DI14
24VDC
Digital input 15, MOSFET, PNP (active with high signal),
DI15
24VDC
0V voltage power supply output terminal, the terminal
0V
has been short circuited internally
DO0 Digital output 0, MOSFET, output is high, 24VDC
DO1 Digital output 1, MOSFET, output is high, 24VDC
DO2 Digital output 2, MOSFET, output is high, 24VDC
DO3 Digital output 3, MOSFET, output is high, 24VDC
DO4 Digital output 4, MOSFET, output is high, 24VDC
DO5 Digital output 5, MOSFET, output is high, 24VDC
DO6 Digital output 6, MOSFET, output is high, 24VDC
DO7 Digital output 7, MOSFET, output is high, 24VDC
DO8 Digital output 8, MOSFET, output is high, 24VDC
DO9 Digital output 9, MOSFET, output is high, 24VDC
DO10 Digital output 10, MOSFET, output is high, 24VDC
DO11 Digital output 11, MOSFET, output is high, 24VDC
DO12 Digital output 12, MOSFET, output is high, 24VDC

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DO13 Digital output 13, MOSFET, output is high, 24VDC

DO14 Digital output 14, MOSFET, output is high, 24VDC
DO15 Digital output 15, MOSFET, output is high, 24VDC
Analog power supply A_GND, the terminal has been
AG
short circuited internally
Analog input 0, voltage 0~10V, current 4~20mA,
AI0
resolution 12bit
Analog input 1, voltage 0~10V, current 4~20mA,
B7 Analog IO AI1
resolution 12bit
Analog output 0, voltage 0~10V, current 4~20mA,
AO0
resolution 12bit
Analog output 1, voltage 0~10V, current 4~20mA,
AO1
resolution 12bit

6.3.2.1 Safety IO

1. Use of Safety IO

Safety devices and equipment must be installed in accordance with safety instructions
and risk assessment, see Chapter 1. All safety IO exist in pairs (redundant) and must be
retained as two independent branches. A single failure will not result in loss of safety function.
There are two fixed inputs: emergency stop and protective stop. The emergency stop input is
only used for emergency stop equipment. The safeguard stop input can be used for all types
of safety protection equipment. The functional differences are shown in Table 6-4. The user
can also use the configurable IO to set other safety IO functions such as emergency stop
output.

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Table 6-4 Difference between emergency stop and protective stop

Emergency Stop Safeguard Stop

The robot stops moving Yes Yes
Task execution Stop Pause
Robot power supply Close Open
Resetting Manual Automatic or manual
Operating frequency Not often used No more than once per run cycle
Downtime category (IEC 60204) 1 2
Performance level (ISO 13849-1) PLd PLd

DANGER 1. Do not connect the safety signal to the non-safety IO with improper safety
level. Failure to comply with this warning may result in serious injury or
even death due to the failure of a safety stop function. Be sure to separate
the safety interface signal from the ordinary IO interface signal.

2. All safe IO have redundancy (two independent channels). Keeping the

two channels independent ensures that the safety function will not be
lost in the event of a single failure.

3. Before putting the robot into use, be sure to check the safety function.
Safety functions must be tested regularly.

2. Default safety IO Configuration

The safety IO is connected by default in the controller, which can be operated without any
additional safety equipment (the emergency stop button of the teach pendant remains valid).
The wiring is shown in Figure 6-6 below.

3. Connect the External Emergency Stop Button

When one or more external emergency stop buttons are required, all emergency stop
buttons can be connected in series, as shown in Figure 6-7.

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Figure 6-6 Safety IO Connection for Default Figure 6-7 Connection for External
Configuration Emergency Stop Buttons

4. Connection for Safeguard Stop

The safeguard stop only takes effect in PLAY mode. The robot safeguard stop mode can
be configured according to the characteristics of the safeguard device (whether it can be
automatically restored): automatic recovery mode and safeguard reset mode.

（a）Automatic Recovery Mode

When it is necessary to connect an automatically recoverable safeguard stop, the wiring

method is shown in Figure 6-8 below. Take the safety door lock as an example. When the door
is opened, the door lock signal is always disconnected until the safety door is closed again
and the safety door lock signal is restored. When the safety door lock is opened, the robot will
also stop moving. After ensuring that the operator has left the safety safeguard area, reclose
the safety door lock, and the robot can automatically resume its movement.

DANGER When the safeguard signal is restored, the robot automatically resumes its
motion. Do not use this configuration if the signal can be restored inside the
safety zone.

（b）Safeguard Reset Mode

Using the safety light curtain as an example, the light curtain broken signal is generated
only when an object passes through, the robot safeguard signal disconnects accordingly. After

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the object passing through, the light curtain automatically recovers, the broken signal
disappears, the robot safeguard signal is restored. Therefore, it is necessary to configure the
safeguard reset mode to ensure that the personnel have left the safeguard area and reset the
robot system outside the area to restore the robot movement.

When using the safety light curtain, it is necessary to convert the digital signal of the light
curtain into a double normally closed circuit and then connect it to the safety IO terminal. Its
connection mode is shown in Figure 6-8. The reset of the system after preventing the
reconstruction of the stop signal can be realized by the button, but the reset button must be
dual channel type, and its connection mode is shown in Figure 6-9.

Figure 6-8 Connection of protective stop device Figure 6-9 Reset button connection

6.3.2.2 Remote Switch

Remote switch enables power on and off the robot controller without teach pendant. It is
usually used for the following situation:

 The teach pendant is inaccessible;

 The PLC system implements the full control;
 Multiple robots must be turned on or off simultaneously.

The remote ON / OFF functional terminal provides a 12V auxiliary power supply. The 12V
auxiliary power terminal of the functional terminal will remain charged when the main power
is on and the controller is off.

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The remote ON input is only for short activation and works in the same way as the POWER
button. Hold down the OFF input if necessary.

Note: There are functions in the software to automatically load and start tasks for user to
use.

2. Remote Switch Electrical Specifications

Table 6-5 Remote switch electrical specifications

Terminal Parameter Minimum Value Typical Value Maximum Value

Voltage 10V 12V 13V
12V-GND
Electric current - - 100mA
Passive voltage 0V - 0.5V
Active voltage 5V - 12V
ON/OFF
Input current - 1mA -
Activation time 200ms - 600ms

3. Romote ON/OFF Wiring

Figure 6-10 Romote ON/OFF wiring

DANGER
The OFF input must be used for remote shutdown control because this
signal allows the controller to save open files and close them normally.

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6.3.2.3 IO Power Supply

The digital IO of CS Series controller can be powered by internal 24V power supply or by
external power supply through the configuration of power terminal.

Use internal power supply, refer to Figure 6-11 terminal connection mode.

For external power supply, refer to Figure 6-12 terminal connection mode.

Where "PWR" is the 24V positive pole of internal power supply, "GND" is the negative
pole of internal power supply, "24V" is the positive pole of all general digital IO, "0V" is the
negative pole of all digital IO. The default configuration of CS series controller is internal
power supply.

Figure 6-11 Use internal power wiring mode Figure 6-12 Use external power wiring mode

The electrical specifications of IO power supply are shown in Table 6-6 below.

Table 6-6 IO power electrical specifications

Terminal Parameter Minimum Value Typical Value Maximum Value

Built-in Power Voltage 22.8V 24V 25.2V
Supply Electric current 0A - 3A
External Power Voltage 20V 24V 30V
Supply Electric current 0A - 6A

6.3.2.4 Configure IO

The CS Series controller includes 8 groups of configurable inputs and 8 groups of

configurable outputs, as shown in area B5 in Figure 6-4 above. Users can define the functions
of configurable IO through the teach pendant.

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1. Configure IO Setting

Configurable input can be set to: start task, stop task, pause task and drag mode.

Configurable output can be set to: minimum when not running, maximum when not
running, maximum when running - minimum when stopping and continuous pulse when
running.

2. Configure IO Electrical Specifications

Table 6-7 Configure IO electrical specifications

Terminal Parameter Minimum Value Typical Value Maximum Value

Output voltage -1V 24V 30V
Load capacity 0A - 1.4A
Configurable Pressure
- 75mV -
Output drop(0.5A)
Leakage current 0mA - 0.1mA
IEC 61131-2 - TYPE 3 -
Input voltage -0.3V 24V 30V
OFF area -2V - 2V
Configurable
ON area 8V 24V 30V
Input
Electric curren 2mA - 8.5mA
OEC 61131-2 - TYPE 3 -

3. Configure IO Wiring Mode

Figure 6-13 Configure input wiring mode Figure 6-14 Configure output wiring mode

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6.3.2.5 Digital IO

The CS Series controller supports 16 digital inputs and 16 digital outputs. It can be used
to input or output digital signals, as shown in B6 area of Figure 6-4.

1. Digital IO Electrical Specifications

Table 6-8 Digital IO electrical specifications

Terminal Parameter Minimum Value Typical Value Maximum Value

Maximum Load
Current of Single - - 1.4A
Output Port
Digital output Total Maximum Load
Current of Output - - 3A
Port
Output Voltage 22.8V 24V 25.2V
Input Voltage -3V 24V 30V
OFF Area -2V - 2V
Digital input
ON Area 8V 24V 30V
Electric Current 2mA - 8.5mA

2. Wiring Instructions for Using Internal Power Supply

1）Digital input wiring mode

Figure 6-15 Digital input wiring mode

2）Digital output wiring mode

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Figure 6-16 Digital output wiring mode

3. Use external regulated power supply for power supply and digital input and output wiring
mode

Figure 6-17 Digital I/O connection mode

REMIBDER The input device used to start automatic operation must be installed
outside the safe space.

All 24V and 0V terminals have been short circuited internally and can be
used arbitrarily.

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6.3.2.6 Analog IO

The analog IO interface can be used to receive / send analog signals (voltage (0V ~ 10V) or
current (4mA ~ 20mA)). For high accuracy, the following instructions are recommended:

• Use the "GNDPA" terminal closest to this IO. Ensure that the signal terminal and
terminal share the same filter;
• The equipment and controller use the same grounding (0V). There is no potential
isolation between analog IO and controller;
• Use shielded cable or twisted pair. Connect the shielded wire to the "GNDP" terminal
on the "Power" terminal.

1. Analog IO Electrical Specifications

Table 6-9 Analog IO electrical specifications

Terminal Parameter Minimum Value Typical Value Maximum

Value
Current Mode: Electric Current 4mA - 20mA
Analog Input Resistance - 20kΩ -
AIx - AG Resolution - 12bit -
Voltage Mode: Voltage 0 - 10V
Analog Input Resistance - 10kΩ -
Aix - AG Resolution - 12bit -
Current Mode: Electric Current 4mA - 20mA
Analog Output Voltage 0V - 24V
AOx - AG Resolution - 12bit -
Voltage 0V - 10V
Voltage Mode:
Electric Current 4mA - 20mA
Analog Output
Resistance - 1Ω -
AOx - AG
Resolution - 12bit -

2. Analog IO Connection Mode

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Figure 6-18 Analog input connection mode Figure 6-19 Analog output connection mode

6.3.2.7 Mini DP Interface

The Mini DP interface is a kind of DP interface. Both of them have the same function and
are used for data transmission, but the Mini DP interface is smaller. Mini DP interface can be
externally connected to display screen, computer, projector and other equipment, and
supports hot plugging during use, as shown in Figure 6-20.

Figure 6-20 Mini DP Interface

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6.4 Teach Pendant Electrical Interface

Figure 6-21 Teach pendant electrical interface

Table 6-10 Digital definition of teach pendant electrical interface

Number Interface Function

1 Emergency Stop The default safety configuration is valid
Button
2 Start Button Press to start the controller, long press to forcibly shut
down
3 Enable Button Drag the teach enable button
4 USB Interface USB3.0 interface

6.5 Robot Arm Electrical Interface

This section mainly introduces the electrical interface contained in the CS robot arm,
which includes the cable of the arm and terminal IO.

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6.5.1 Robot Arm Base Electrical Interface

On the cable of the robot arm, there is a plug at the end. Please plug it into the robot
controller. Be careful about the direction of the connector, and lock connector properly after
plugging in, as shown in Figure 6-22.

Figure 6-22 The robot cable is connected to the controller

6.5.2 Robot Arm Tool End IO Interface

There is a cylindrical metal knob cover next to the tool flange at the end of the robot.
Remove the cover on the tool flange to see the 8-pin IO port, which can provide power and
control signals for the gripper, sensor and other devices connected to the robot terminal IO,
as shown in Figure 6-23. The aviation plug of IO interface at the robot tool end is shown in
Figure 6-24, and the aviation plug welding wire of the user is shown in Figure 6-25. The
definition and function of IO pin at the tool end are shown in Table 6-11.

Figure 6-24 Robot terminal IO aerial plug-in

Figure 6-23 Robot terminal IO
interfaces

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Figure 6-25 The user aviation plug welding wires

Table 6-11 Terminal IO definition

Pin Cable
Signal Name Signal Description
Number Color
1 White AI2/ RS485+ Analog input 2 or RS485+
2 Brown AO2/RS485− Analog output 2 or RS485−
3 Green TI3/TO3/PWR2 Digital input 3 or digital output 3 or 0V/12V/24V
4 Yellow TI2/TO2/GND2 Digital input 2 or digital output 2 or ground
5 Gray POWER 0V/12V/24V
6 Pink TI0/TO0/GND1 Digital input 0 or digital output 0 or ground
7 Blue TI1/TO1/PWR1 Digital input 1 or digital output 1 or 0V/12V/24V
8 Red GND Ground wire

Table 6-12 Terminal IO 2 definition

Pin Cable
Signal Name Signal Description
Number Color
1 Brown POWER 24V
2 Green GND 0V
3 Red CAN_L CAN communication : CAN_L
4 Black CAN_H CAN communication : CAN_H

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6.5.2.1 Tool Power Supply

The tool IO interface 1 can provide 0V, 12V or 24V power supply to external tools and the
tool IO interface 2 can provide 24V power supply, which can be set in the IO tab of the user
interface of the teaching pendant. The detailed electrical specifications are shown in Table
6-13.

Table 6-13 Tool power electrical specifications

Tool IO interface 1
Parameter Min. value Typical value Max. value
24V mode 22.8V 24V 25.2V
Supply voltage
12V mode 11.4V 12V 12.6V
Single pin - 1000mA 2000mA
Supply current Dual pin - 2000mA 2000mA
Three pin - 3000mA 3000mA
Supply power capacitive load - - 800μF
Tool IO interface 2
Parameter Min. value Typical value Max. value
Supply voltage 24V mode 22.8V 24V 25.2V
Supply current - - - 5A
Supply power capacitive load* - - 800μF

*Note: For the supply power capacitive load, the tool IO 2 does not allow the user to make any
hotplug actions.

1. Single pin power mode

The configuration method is as follows:

1) Under the condition that the current meets the demand, the single pin power supply
mode can be selected to avoid occupying other IO interfaces and increase the number of
controllable external components

2) Wiring method: as shown in Figure 6-26.

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Figure 6-26 Single pin power mode wiring

2. Dual pin power mode 1

The configuration method is as follows:

1) System configuration: select "Config > General > Tool IO", and select "Dual Pin Mode 1".

2) Wiring method: as shown in Figure 6-27 below, connect the power cable (5 gray) with
TI3/TO3/PWR2 cable (3 green), and the grounding cable (8 red) with TI2/TO2/GND2 cable (4
yellow).

3. Dual pin power mode 2

The configuration method is as follows:

1) System configuration: select "Config > General > Tool IO", and select "Dual Pin Mode 2".

2) Wiring method: as shown in Figure 6-28, connect the power cable (5 gray) to the
TI1/TO1/PWR1 cable (7 blue), and the ground cable (8 red) to the TI0/TO0/GND1 cable (6
pink).

Figure 6-27 Dual pin mode 1 connection Figure 6-28 Dual pin mode 2 connection

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REMINDER 1. When using inductive loads, freewheeling diodes are recommended.

2. Under the dual pin power supply mode, the maximum current is
2000mA, the maximum duration is 1s, and the maximum duty cycle is
10%. The average current shall not exceed 1000mA.

4. Three pin power mode

In three pin power mode, refer to Table 6-13 for the electrical specifications. The
configuration is as follows:

1. System configuration: select "Config > General > Tool IO", select "Three Pin Mode", and
in the three digit enable mode;

2. Wiring method: as shown in Figure 6-29, connect the power cable (5 gray) with
TI1/TO1/PWR1 cable (7 blue) and TI3/TO3/PWR2 cable (3 green), and the grounding cable (8
red) with TI0/TO0/GND1 cable (6 pink) and TI2/TO2/GND2 cable (4 yellow).

Figure 6-29 Three pin power mode

6.5.2.2 Tool Digital Output

Digital output supports three different modes, as shown in Table 6-14:

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Table 6-14 Three modes of digital output

Mode Trigger Mode Inactive

NPN(sinking) Low level High resistance grounding
PNP(pure source) High level High resistance grounding
Push / pull High level High resistance grounding

Schematic diagram of digital output port circuit

1. NPN mode

The output interface is NPN type output and supports 1000mA current inflow. The wiring
mode is shown in Figure 6-30 NPN mode (single pin power supply mode).

Figure 6-30 NPN mode

Suggestion: use protective diode for inductive load, otherwise the port may be
damaged.

2. PNP mode

The output interface is PNP type output and supports 1000mA current outflow. The
wiring mode is shown in Figure 6-31 PNP mode (single pin power supply mode).

Figure 6-31 PNP mode

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3. Push / pull mode

The output interface can be connected according to PNP type output wiring, as shown in
Figure 6-32, or NPN type wiring, as shown in Figure 6-33, supporting 1000mA current outflow
(PNP) or inflow (NPN).

Figure 6-32 PNP mode wiring Figure 6-33 NPN mode wiring

6.5.2.3 Tool Digital Input

The digital input is implemented in the form of a PNP with a weak pull-down resistor. This
means that the reading of the floating input is always low. The electrical specifications are
shown in Table 6-15, and the wiring method is shown in Figure 6-34.

Table 6-15 Tool digital input electrical specifications

Parameter Minimum Value Typical Value Maximum Value

Input voltage -0.5V - 26V
Logic low level - - 2V
Logic high level 5.5V - -
Input impedance 47kΩ - -

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Figure 6-34 Tool digital input wiring method

6.5.2.4 Tool Analog Input

Table 6-16 Tool analog input electrical specifications

Parameter Minimum Value Typical Value Maximum Value

Input voltage -0.5V - 26V
Voltage
0-10V input resistance - - 10.7kΩ
mode
Resolution - 12bit -
Input voltage -0.5V - 5V
Current Input current -2.5mA - 25mA
mode 4-20mA input resistance - 182Ω 188Ω
Electric resolution - 12bit -

1. Tool analog input (non-differential)

The voltage range of analog input is (0-10V) and the current range is (4-20mA). The wiring
method is shown in Figure 6-35 below. As long as the input mode setting of the analog input is
the same as that in the IO tab, the output of the sensor can be set to current mode or voltage
mode.

2. Tool analog input (differential)

This example illustrates an analog sensor connection with a differential output. Connect
the negative output terminal to GND (0V) to work like a non differential sensor. The wiring
method is shown in Figure 6-36.

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Figure 6-35 Analog input (non-differential) Figure 6-36 Analog input (differential)
connection connection

6.5.2.5 Tool Analog Output

The tool analog output is non-differential output. The electrical specifications are shown
in Table 6-17.

Table 6-17 Tool analog output electrical specifications

Parameter Minimum Value Typical Value Maximum Value

Output current 4mA - 20mA
Current
Output voltage 0 - 12V
mode
Resolution - 12bit -
Output voltage 0V - 10V
Output current -20mA - 20mA
Voltage
Output
mode - 1Ω -
resistance
Resolution - 12bit -

The following is an example of how to use analog output: use tool analog output. This
example illustrates the analog signal connection method with non differential output, as
shown in Figure 6-37.

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Figure 6-37 Analog output (non-differential) connection

6.5.2.6 Tool Communication IO

To use the RS485 port at the end to communicate with the actuator, it needs to be
configured in the teach pendant Tool IO interface. Under Tool Analog IO section, choose
USART Mode for Work Mode, and set parameters such as the baud rate based on the actual
actuator parameters.

There is a delay around 2ms to 4ms between writing the data on the robot controller and
sending data with RS485. The delay between receiving the data with RS485 and processing on
robot controller is around 2ms to 4ms as well.

6.5.2.7 Running Status Light

The end of the robot is equipped with multi-color status lights, and different signal lights
represent different modes and states. The specific description of light band control is shown
in Table 6-18 below.

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Table 6-18 Definition of light band control

Operation State Mode Signal Lamp 1 Signal Lamp2

Drag mode - Blue always bright -
Normal Green always on -
Manual mode
Reduce Green always on Blue flashing
Normal Green always on -
Run
Reduce Green always on Blue flashing
Task status
Pause - Green flash -
Stop - Green slow flash -
Protective stop - Yellow always bright -
Emergency stop - Red always bright -
Error Alarm status - Red flash -

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Part III Robot Software

Operation

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7 Software Overview
Elite robot provides convenient programming methods, users only need a small amount
of programming knowledge to program CS series of robots. CS robot software is using python
based scripting language. With the workflow graphical interface, users can build task based
on modular programming tree, which greatly improve programming efficiency.

Note: The pictures of the following settings are for reference only.

Users can use the teach pendant to operate robots and perform tasks. The main functions
of the teach pendant are shown in Figure 7-1.

Figure 7-1 Screen division diagram

• Status and Menu Bar: users can view the current mode of the robot and manage tasks
and configuration files;
• Navigation Bar: the user can choose to open the robot configuration, operation, IO
and other tabs;
• Control Bar: the user can control the operation status, speed and mode of the current
task of the robot;
• Home View: the user can view the robot status and operate the robot.

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The following is a brief description of each function column of the teach pendant:

1. Status and Menu Bar

Displays the current mode of the robot.

Manage task files and profiles.

System menu, view robot information, configure system parameters and shut

down.

2. Navigation Bar

Configure robot parameters, including general parameters, safety parameters,

bus communication functions and configuration plugins.

Insert task nodes into the task tree to create and manage tasks, including basic

nodes, advanced nodes and task plugin nodes.

Control the robot to carry out joint motion or tool translation and rotation motion

in the specified frame, and view the robot's pose.

View the real-time status of IO and modify the status of output io.

Check the status and log of the robot and monitor the global variables in the

current running task.

Using the menu bar plugin.

3. Control Bar

Manual or automatic mode. To switch to manual mode, the user needs to

enter the mode password.

Single or cyclic mode, click to switch mode.

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Display and adjust the running speed percentage of the robot in real time.

Start or pause the currently running task of the robot.

Step through the current task.

Stop the currently running task of the robot.

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8 Status and Menu Bar

This chapter mainly describes the CS625 robot state, task and configuration manager
general operation instructions. This includes how to power on the robot, set up the payload,
and how to create, open, and save tasks and configuration files.

8.1 Robot Status

The upper left corner of the status and menu bar indicates the status of the robot.
Common robot states are as follows:

 Normal or reduced: the robot is in normal or reduced mode.

 Protective stop: the robot is in a protective stop state.
 Alarm: when the robot system fails.
 Starting: in the process of releasing the holding brakes.
 No controller: when eliserver service is not detected.
 Power off or power on: turn off or turn on the power of the robot.
 Idle: when the power is turned on but the holding brakes are not released.
 Running: when the robot is moving.
 Paused: when the robot task is paused.
 Free drag: press and hold the free drive button on the back of the teach pendant or
click "drag" on the operation tab.
 Servo alarm: when servo communication fails.

8.1.1 Turn on Robot Power

The steps to turn on the power of the robot are as follows:

1. Click in the upper left corner of the status and menu bar to enter the "Robot

Status" page.

2. Click "Power On", the robot will be standby.

3. Click "Brakes Release" to enable operating the robot.

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Note: When the joints are not in precise (to be calibrated), the joint calibration page will
appear. In the page, the user can view which joints are not in precise. Click the "Auto
Calibration" button and the joints that are not in precise will be automatically calibrated. The
user can also calibrate those joints by clicking the left and right arrows. Once all joint
calibrations are complete, click the "Exit" button below the "Auto Calibration" button to exit
the current joint calibration page, as shown in Figure 8-1.

Figure 8-1 Joint calibration page

TIPS 1. The joint calibration page will not appear when the robot is in

the remote or reset mode and the joints are not in precise. The
system will automatically calibrate the joints.

2. Click Settings -> General Config and select "Open" or "Close" to

enable or disable the joint auto-calibration function. The default is
"Open". The user can select "Close" in accordance with the scenarios
for purpose of decreasing the amplitude of the robot when releasing
the brake.

4. Click "Exit" at the bottom left to exit the current page, as shown in Figure 8-2.

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Figure 8-2 Exit the page

8.1.2 Setting Payload

The user can set the payload actually used by the robot under "Robot Configuration", as
shown in Figure 8-3.

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Figure 8-3 Setting payload

Note: The active payload refers to the load actually used by the robot when the task is
running.

8.2 Task and Profile Management

There are tasks and configuration manager on the status and menu bar, as shown in
Figure 8-4.

"Task" and "Configuration" on the left side of the manager show the name of the
currently loaded task file and the name of the configuration file. If a * sign appears at the top
right of the task name or configuration name, it indicates that the current task or
configuration file has been modified but not saved.

The right side of the manager contains three icons: "New", "Open" and "Save".

When a new task file or configuration file is created or opened, the file name changes.
When new task is created, the task uses the currently opened configuration file.

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Figure 8-4 Task and configuration manager

8.2.1 New

Users can create new task files or configuration files.

The steps for creating a new task file are as follows:

1. In task and configuration manager, click "New", and then select "Task", as shown in
Figure 8-5.

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Figure 8-5 New task

2. In "Task" tab, configure new tasks as needed.

3. In task and configuration manager, click "Save".

4. Select "Save All" or "Save Task As" to save the task file.

5. In the "Task" on the left side of the manager, the name of the currently created task file
will be displayed.

The steps for creating a new profile are as follows:

1. In task and configuration manager, click "New" and then select "Configuration", as
shown in Figure 8-6.

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Figure 8-6 New profile

2. In "Configuration" tab, set a new configuration as needed.

3. In task and configuration manager, click "Save".

4. Select "Save All" or "Save Config As" to save the configuration file.

5. In "Configuration" on the left side of the manager, the name of the currently created
configuration file will be displayed.

REMINDER When creating a new configuration file, the new configuration file will be
opened directly and a pop-up box will appear. For details, see section
8.2.2.

8.2.2 Open

The user can click "Open" to open the task file or configuration file.

Open the task file as follows:

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1. In task and configuration manager, click "Open" and then select "Task", as shown in
Figure 8-7.

Figure 8-7 Open task

2. After selecting a task and opening it, the interface will automatically jump to the "Task"
tab.

3. In the "Task" on the left side of the manager, the name of the currently opened task file
will be displayed, and the configuration file used will be opened automatically.

The steps to open the configuration file are as follows:

1. In task and configuration manager, click "Open" and then select "Configuration", as
shown in Figure 8-8.

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Figure 8-8 Open profile

2. Select the configuration file and open it. If the selected configuration file is inconsistent
with the configuration file used by the current task, the following pop-up box will appear:

Update task: the current task uses the configuration file to be opened.

Not updated: do not change the configuration file used by the current task.

3. Click "Update task" or "Not updated" to jump to the configuration tab.

4. In "Configuration" on the left side of the manager, the name of the currently open
configuration file will be displayed.

8.2.3 Preservation

The user saves the open or newly created task file and configuration file as follows:

 Save all: save the current task and configuration immediately;

 Modify only task files: save only task files. If it is a new file, it needs the file name
to be entered before saving;

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 Modify only configuration file: save only configuration file;

 Modify both: save task file and configuration file.
 Save task as: after saving and renaming the currently open task file, open the saved
task file;
 Save configuration as: after saving and renaming the currently open configuration
file, open the saved configuration file.

8.3 Menu Shortcut

There is a menu shortcut ( ) at the bottom of the status bar. Click the icon and a dialog
will pop up, as shown in Figure 8-9.

Figure 8-9 Open the menu shortcut

The collision detection can be enabled or disabled by clicking the button in the left. The
user can drag the progress bar in the right to select the collision sensitivity as required. The
data will not be updated in real time when dragging. Once the user releases the progress bar,
the newly set collision sensitivity will display.

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8.4 File Manager

The user can click the file manager at the bottom of the status bar for some operations as
required. The details are presented as follows.

 Insert the USB disk into the USB ports on the teach pendant or the controller. The
icon color of the USB disk at the bottom of the status bar will changed from grey to
blue. Click the blue icon to enter the file manager. An icon of the USB disk will appear
in the top right-hand corner of the display. Click the icon to switch to the directory of
the USB disk;

 In the directory below, click and it will go back to the directory above；

 In the subdirectory, click and it will enter the home page;

 Click and a new folder will be created;

 Select the file to be copied and click , the file will be copied；

 Click and paste the copied file. Note that please choose the directory that the
user wants to paste the file first. For instance, the user expects to paste the file from
the USB disk to the local. Please click the path bar to switch to the local after the
copy and paste the copied file in the local directory. If the user wants to paste the file
in the specified file folder, please click the specified file folder first and then paste the
copied file, as shown in Figure 8-10;

 Select the file to be deleted and click , the file will be deleted;

 Select the file the user wants to rename and click , the file will be renamed；

 Select the main file folder where the user wants to create a sub file folder and
click , a new sub file folder will be created;

 Click and the current page will be refreshed.

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Figure 8-10 File manager

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9 System Configuration
This chapter mainly describes the operation instructions of relevant configuration of the
CS625 robot system, including querying relevant version/copyright information. Users can set
language, time, password, etc. in the system menu, and perform system backup, recovery
and update.

9.1 About
Users can query software / hardware version information, copyright information, etc.

1. Click on the right side of the status and menu bar.

2. Click "About" to view version or legal information.

3. Click "Shut down" to return to the screen.

9.2 Setting

Click on the right side of the status and menu bar, and click "Setting" to enter the

"Setting" page.

9.2.1 Preferences

9.2.1.1 Language and Time

Users can set the language or current time and date as needed.

1. Click on the right side of the status and menu bar.

2. Select "Settings > Preferred item > Language & Time".

3. View or adjust the language and time as needed.

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4. Click "Apply and restart" to apply the changes.

Note:

a. If it is the first time to power on the robot, a dialog box with the message "Language
Setting" will pop up. The default is Chinese. Click the drop-down list in the right of the
text to select other languages. Chinese, Janpenese and English are now available.
Click "OK" and the robot will automatically restart;

b. If "English programming" is checked, the task bar and task tree on the right side of
the "Task" tab will display English.

9.2.1.2 Run Screen

Speed slider will be enabled in automatic mode and allows for the speed of a running task
to be changed.

9.2.2 Password

The user can set the operation mode password and safety password as required.

9.2.2.1 Mode

The robot can operate in manual mode or automatic mode. The user can set the mode
password on the interface, as shown in Figure 9-1.

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Figure 9-1 Mode password

When setting the operation mode password, the task or configuration can only be created
and opened in manual mode. Whenever the user enters the manual mode, the user needs to
enter the mode password set on the current page.

9.2.2.2 Safety

The safety password can prevent unauthorized changes to the safety parameter
configuration.

DANGER Before configuring the robot safety settings, the user must perform a risk
assessment to ensure the safety of personnel and equipment around the
robot. Risk assessment is the assessment of all work tasks during the
whole life of the robot. The risk assessment is performed to apply the
correct safety configuration settings. Risk assessment must be carried out
and the following settings must be made:

1. The user must prevent unauthorized personnel from changing the

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security configuration, such as security password protection.

2. Understand the application scenario of the robot and its corresponding

safety function parameter configuration.

3. Configure the safety parameters of the teaching pendant before the

robot body is powered on for the first time.

4. The user must ensure that all changes to the security configuration
comply with the risk assessment.

(a) Set Safety Password

The user must set a password to unlock all safety configurations in "Config > Safety".

Note: If the safety password is not configured yet, the user will be notified to set a
password.

1. Click on the right side of the status and menu bar .

2. Select "Settings > Password > Safety" to enter the "Safety" page, as shown in Figure
9-2.

Figure 9-2 Safety password

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3. Enter the current password and new password, then enter the same password as the
new password in "Confirm new password".

Note: The "Current password" does not need to be entered only when the safety
password is set for the first time.

4. Click "Apply" to complete the safety password configuration.

(b)Access Safety Configuration

The operation steps of accessing safety configuration are as follows:

1. In the navigation bar, click "Configuration" tab.

2. Click "Safety" to access the safety configuration.

REMINDE The safety configuration is password protected. The safety configuration

only can be changed after password is set.

After modifying the safety configuration, click "Apply" or "Lock" to save

the modification.

9.2.3 System

9.2.3.1 ELITECOs

Users can click to install plugins, as shown in Figure 9-3. Users can put the
plugin on the USB flash drive, and then install the plugin on the USB flash drive by installing
the plugin function.

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Figure 9-3 Plugins management

After the plugin is installed, click "Restart" to load the plugin; Click "Unintall" to delete
selected plugin.

Note: If the plugin is not loaded or is not successfully loaded, it can be viewed on the
"Inactivation" page.

9.2.3.2 Remote Control

When disabled, click the switch button to enable the remote mode.

Remote control allows the user to control the robot via external sources, such as
controller interface and IO, as shown in Figure 9-4.

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Figure 9-4 Remote control

WARNING
To ensure safety, the robot can be in "Remote Control" mode or "External"
mode. In "Local" mode, any command sent to the controller from an
external source will be rejected.

9.2.3.3 Network

FB1 is the network setting for communication with EliRobot, and FB2 is the network
setting for communication with EliServer. Users can configure the network according to their
actual needs.

The networking methods:

 DHCP;
 Static address;
 Disable network (the robot is not connected to the network).

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After modifying the network configuration, click "Apply" to save the modification, as
shown in Figure 9-5.

Routing Mode:

 Network port mapping is a specific routing mode provided for EliRobot to access the
FB2 devices through the network.
 Configuration requirements: (when the routing mode is enabled)
• FB1 network cannot be in the same network segment as FB2 network.
• The external device network settings should be in the same network segment as
FB2.
• The default gateway of the external device must be the IP address of FB2.
 Note: It is valid only for EliRobot to access the external devices.

Figure 9-5 Network

9.2.3.4 Backup

Users can back up tasks and configuration files to USB flash disk to counter accidents
such like unintentional files removal.

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1. Click on the right side of the status and menu bar.

2. Select "Settings > System > Backup", as shown in Figure 9-6.

Figure 9-6 Backup

3. Click "Select Path" and select the location where the file is stored for backup.

4. Click "Start Backup".

9.2.3.5 Restore

The user can restore the tasks and configuration files under the USB flash disk to the
system.

1. Click on the right side of the status and menu bar.

2. Select "Settings > System > Restore", as shown in Figure 9-7.

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Figure 9-7 Restore

3. Click "Select file" and select the task and configuration file to be imported.

4. Click "Start Restore".

5. On the pop up window, press "OK" to confirm.

9.2.3.6 Update

Users can update applications, drivers or systems.

1. Click on the right side of the status and menu bar.

2. Select "Settings > System > Update", as shown in Figure 9-8.

3. Put the upgrade package into the USB flash disk and insert it into the USB flash disk.

4. Updated content:

System Update: click "Update" and "OK" under the system, as shown in Figure 9-9. Click
the "start" button in the interface, and then select upgrade package with the suffix. eru to

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upgrade the system. After the upgrade is successful, the system will restart automatically to
complete the system update;

Application Update: click "Search" to search for a one-stop upgrade package with the
suffix. eup, as shown in Figure 9-10. Click "Update" to select the upgraded modules as
required, or click to select all modules, as shown in Figure 9-11 and Figure 9-12, and then click
"OK" to update, as shown in Figure 9-13.

Figure 9-8 Update

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Figure 9-9 System update

Figure 9-10 Application update

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Figure 9-11 Select module

Figure 9-12 Select all modules

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Figure 9-13 Application updating

9.3 Shut down

Turn off the robot button to power off or restart the robot. The operation steps are as
follows:

1. Click on the right side of the status and menu bar.

2. Select "Settings > System > Shut down".

3. Click "Shut down" or "Restart" to shut down or restart the robot.

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10 Run Tab
This chapter mainly describes the options in the operation of the CS625 robot, including
log, robot status and variable.

Users can query logs and robot status and monitor variables, as shown in Figure 10-1.

Figure 10-1 Run

10.1 Log
The log records the prompts, warnings and error messages generated during the
operation of the robot.

Users can sift logs by checking or unchecking the check box.

The first column of the log is classified according to the severity of the log record. The
second column shows the arrival time of the message. The last column shows the specific
information of the log. Click "Clear" to clear the current log list.

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10.2 Status
The user can view the robot status in the status interface, including running time, joint
temperature, joint current and other parameters, as shown in Figure 10-2.

Figure 10-2 Status

10.3 Variable
The user can monitor variables on the current page, as shown in Figure 10-3, see section
12.3 for details.

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Figure 10-3 Variable

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11 Configuration Tab
This chapter mainly describes the options and operation instructions in the configuration
of the CS625 robot, including general, safety, communication, plugin and other options. Users
can carry out robot arm mounting, TCP, payload, frame, force control and other operations in
general. The configuration of security parameters includes robot limit, joint limit, safety
planes, safety I/O and three position. Users can use Modbus client IO signal and plugin
configuration.

11.1 General

11.1.1 Mounting

The mounting of the specified robot arm has two purposes:

1. Correctly display the manipulator on the screen.

2. Inform the controller of the gravity direction.

WARNING
If the mounting posture of the robot arm is not set correctly, it will lead to
unexpected movement when the robot arm is in free dragging mode.

If the robot arm is mounted on a smooth surface or floor, no changes need to be made to
this screen. However, if the robot arm is mounted on a ceiling, wall, or at a certain Angle, the
mounting posture must be correctly set, as shown in Figure 11-1.

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Figure 11-1 Mounting

The three "Presets" buttons represent three mounting methods: floor, wall, ceiling
mounting. "Rotate around Base Z axis" is used to rotate the mounting angle of the robot arm,
which should be consistent with the actual mounting angle as far as possible. The "Tilt"
button sets the plane angle.

11.1.2 TCP

In order to ensure that the robot can correctly perform the operations of moveL, moveJ,
moveP and other motion types, the accurate size information of the tool must be recorded,
and the position of the tool center point (TCP) must be defined.

After modifying the TCP, the robot will move to the Cartesian attitude saved in the
waypoint with the new TCP.

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11.1.2.1 Position
The X, Y, and Z coordinates specify the TCP location. When all values (including direction)
are zero, TCP coincides with the center point of the tool output flange.

11.1.2.2 Pose
The RX, RY, and RZ frames specify the TCP direction. Pose Format can be chosen between
degrees or radians from the drop-down menu.

11.1.2.3 Other
 Copy：click ,copy a TCP;
 Add: click to create a new TCP;
 Rename: select the TCP to rename and click ;
 Delete: select the TCP to delete and click ;
Note: The last TCP cannot be deleted.
 ：is the currently activated TCP.

Figure 11-2 Other functions

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11.1.2.4 Teach Position

TCP position coordinates can be calculated automatically through the following steps:

1. Click "Teach Position > Set point 1", as shown in Figure 11-3.

Figure 11-3 Set point 1

2. Set a fixed point in the robot workspace. Use the position arrow on the right side of the
screen to move TCP from at least three different angles.

3. Click "Set" in the lower left corner of the page.

4. Click "Set point 2", "Set point 3" and "Set point 4" to set the point.

5. Click "Set" to apply the verified coordinates to the appropriate TCP.

The attitude of the four points from point 1 to point 4 should be as different as possible to
ensure the correct calculation results. If the difference between them is small, the status LED
above the button will turn red.

Even though three locations are usually enough to determine TCP, the fourth location is
still needed to further verify that the calculation result is correct.

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11.1.2.5 Teach Pose

TCP direction can be calculated automatically through the following steps:

1. Click "Teach Pose", as shown in Figure 11-4.

Figure 11-4 Teach Pose

2. Select a frame from the drop-down list.

3. Click "Set point" to ensure that the direction of the tool and the corresponding TCP
coincide with the selected frame.

4. Verify the calculated TCP direction, click "Set" and reference it to the selected TCP.

11.1.3 Payload
The user can specify the weight of the payload and define the center of gravity, and can
add, rename, delete, copy and other operations on the payload, as shown in Figure 11-5.

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11.1.3.1 Add Payload

The operation steps are as follows:

1. Click to create a new payload.

2. Set the "Mass" and "Center of Gravity(CoG)" of the payload.

3. To customize the inertia matrix, check "Custom" and enter the calculated inertia value.

11.1.3.2 Other Operations

 Copy：click ,copy a payload;
 Rename: select the payload to rename and click ;
 Delete: select the payload to delete and click ;
Note: The last payload cannot be deleted.
 : the payload that takes effect in the task when the task is running;
 Immediate setting: click "Set Now", a black check mark will appear, indicating that
the payload is activated immediately, as shown in Figure 11-5.

Figure 11-5 Set payload now

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11.1.4 Global Variable

Users can create global variables in “Config > General > Global Variables", which can be
used in tasks.

TIPS
The global variable is used in the task, and the value of the variable
changes when the task runs, and the value in the “Config" will also be
updated.

The value of the global variable will be saved to the system in real time. In other words,
even if the task stops running, or the robot arm and controller are powered off and restarted,
the data of global variables will remain unchanged.

The user can perform the following operations on the interface, as shown in Figure 11-6.

Figure 11-6 Global variables

New variable: click "Neue Variable" and set the variable name and value. The variable
type supports int, float, boolean, string and vector with length of 6. After setting, click "OK" to
complete the variable creation.

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Record pose: click "Record Pose" to record the data for current pose (rounded to 5
decimal places).

Record joint: click "Record Joint" to record the data for current joint (rounded to 5
decimal places).

Modify variable value: click the variable to be modified and the button "OK" becomes
"Edit". Then modify it in the related textbox and click "OK" to complete variable modification.

Delete variable: select the variable to be deleted and click .

Copy variable: select the variable to be copied and click .

11.1.5 Frame
The user can input the frame value manually, or operate the robot to teach three points
to configure the frame.

11.1.5.1 Add Frame

The operation steps of adding frame are as follows:

1. Click “Config > General > Frame", click , as show in Figure 11-7.

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Figure 11-7 Add frame

2. Click "Teach Frame > Origin > Set Point", as shown in Figure 11-8.

Figure 11-8 Set point

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3. Set point, click "Accept" at the lower left.

4. Click "Positive in X-axis" and "Positive in XY Plane" in proper order to set the points.

5. Verify the calculated frame, click "Apply Teach Result" and apply in selected frame.

The user can click "Move Here" to check the three teach points. If points setting is
unreasonable among three points, the user can click "Change Point" to re-teach the points.

TIPS

No modification on "Tool" frame.

11.1.5.2 Other
 Copy: Click , copy tool or custom frame;
 Rename: Select frame, click to rename;
 Delete: select the coordinate to be deleted, click ;
 Modify: Click "Modify" to re-teach points or update the defined frame value directly;
 Reset: Roll back to original data before modification.

11.1.6 IO

The user can configure all IO signals, including name, configuration IO tab control and
operation when triggered, as shown in Figure 11-9.

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Figure 11-9 IO set

Caution: Tool analog input will be unavailable when Tool Communication Interface(TCI)
start.

Types of IO signal are shown as below:

 Digital, configurable and tool;

 Analog;
 Modbus;
 General register (boolean, integer and float).

11.1.6.1 Configure IO Signal Type

The user can select "Input" or "Output" signals, and select the IO signal type to find the
signal that needs modification, as shown in Figure 11-10.

Besides, Input signals and General Registers do not support configurations about I/O tab
control.

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Figure 11-10 IO signal type

11.1.6.2 Configure IO Type as Digital, Configurable or Tool Input Signal

The user can modify the name of the input IO and set the operation of the robot when the
signal is high, as shown in Figure 11-11.

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Figure 11-11 Digital input signal

The robot operation including:

 None: the robot has no operation;

 Run task: run current task upon a valid signal goes high;
 Stop task: stop currently running task upon a valid signal goes high;
 Pause task: pause currently running task upon a valid signal goes high;
 Free Drive: drive the robot upon a valid signal goes high.

Note: Modified name applies in task, it's recommended to relate the names to IO signals.

11.1.6.3 Configure IO Type as Digital, Configurable or Tool Output

Signal

As show in Figure 11-12, the user can modify the name of the IO, status of IO and "IO Tab
Control" when task is running.

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Figure 11-12 Digital output signal

"IO Tab Control" is divided into:

 Enable: under the IO tab, the status of the current output signal can be modified.
 Disable: under the IO tab, the status of the current output signal cannot be modified.
 Manual mode only: the current output signal can be controlled only in manual mode.

The operation of the robot including:

 Low when not running: when the task is not running, the output signal is low.
 High when not running: when the task is not running, the output signal is high.
 High when running-low when stopped: when the task is running, the output signal is
high; when the task is not running, the output signal is low.
 Periodic pulse when running: the time length of high and low can be configurable.

11.1.6.4 Configure IO Type as Analog Output Signal

Compare to digital, configurable and tool output signals, Analog Output signals have
different robot operation options, as shown in Figure 11-13.

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Figure 11-13 Analog output signal

Robot operation including:

 Min when not running: when the task is not running and in current mode, it is 4mA; In
voltage mode, the value is 0V;
 Max when not running: when the task is not running and in current mode, it is 20mA;
In voltage mode, the value is 10V;
 Max when running-min when stopped: the task is at high when running and low
when stopping.

11.1.7 Home
The home is a reference point related to the robot operation. Theoretically, the home
position can be set to any point inside the operation range of the robot, the home position
must be at a point that never cause the robot to interfere with the fixture and workpiece, so
the normal operation of the robot is not affected. The default joint coordinate for home
position of CS robot is (0, -90, 0, -90, 90, 0). The home configuration is shown as Figure 11-14.

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Figure 11-14 Home set

The operation steps of adding the home are as follows:

1. Click "Configure > General > Home".

2. Click .

3. To configure the points, please refer to Chapter 14 for details.

4. Click "Accept" at the bottom left to add the home.

TIPS

Changing "Home_Offset" is not available.

11.1.8 Startup

Startup refers to the setting of automatic add-on, including starting the default task and
automatically initializing the robot arm when starting, as shown in Figure 11-15.

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Figure 11-15 Startup

WARNING 1. When Auto Load and Rlease The Brake Automatically are enabled, as the
input signal matches the selected signal value, the robot will run the
tasks immediately after powering on controller.

2. Please be careful when the signal is set to low. When the input signal is
set to low as default, the tasks will run automatically and ignore the
external control.

3. Before running the tasks that enabled Auto Load or Auto Initialize, the
robot must be in "Remote Control Mode".

 Auto load task:

Check "Automatically load task file at startup (Available in default.configuration) ",

set trigger conditions, that is, set "Digital Input" and "Value", and add a task by clicking
the box in the right side of "Auto load task" after the robot startup.

After the robot starts, it will automatically load the set tasks. When the digital input
changes and meets the input conditions, the robot will automatically execute the task.

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Note: If the selected startup task file disappears for some reason, the checkbox will
turn yellow after start.

 Auto initialize:

After setting "Digital Input" and "Value", when the digital input meets the input
conditions, the robot will automatically release the holding brakes, and the user can
move the robot.

11.1.9 Tool IO

The user can configure the working mode of tool IO, as shown in Figure 11-16. For details
of tool IO, please refer to section 6.5.

Figure 11-16 Tool IO

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11.1.9.1 Tool Analog IO

Communication Interface:

The tool connector provides a serial interface for communicating with the tool using
RS485 protocol. Once the tool communication interface is enabled, the tool analog input and
analog output are unavailable.

Configure Tool Communication Interface(TCI):

1. Click “Config > General > Tool IO" to enter the "Tool Analog IO" interface, as shown in
Figure 11-17.

Figure 11-17 Tool analog IO

2. Click "USART Mode" to set TCI.

When TCI is enabled, tool analog input is not available for configuration in “Config >
General > Tool IO"and does not appear in the input list.

3. Click the desired value from the drop-down menu of the communication interface.

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The user can select and set baud rate, parity, stop bits and other values from the
drop-down menu of the communication interface. Any change in the value is immediately
sent to the tool. If it is different from the value used by the tool, a warning message will
appear.

4. Select the desired mode from the drop-down list on the right side of the “Usage
Mode”.

The user can select “Script Mode” or “Daemon Mode”as required. Once the
“Daemon Mode” is selected, the interface ttyTCI0 will be enabled to help the user to visit
the device via the plugin.

Note: If Modbus RTU mode is not checked, RS 485 mode is selected by default; If checked,
it becomes Modbus RTU mode.

11.1.9.2 Tool Digital IO

The tool IO can provide 0V, 12V or 24V power supply to the external tool, which means the
tool output voltage can be selected from 0V, 12V or 24V. The working mode can choose from
Single Pin Mode, Dual Pin Mode 1, Dual Pin Mode 2 or Three Pin Mode. The tool
communication interface can set 4 digital IO separately as shown in Figure 11-18.

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Figure 11-18 Tool digital IO

Besides, the digital output has the following options:

 Sinking NPN: sets the pins to NPN mode. When the output is off, the pin allows
current to flow to the ground. When used in combination with PWR pins, a complete
circuit can be created;
 Sourcing PNP: sets the pins to PNP mode. When the output is on, the pin provides a
positive voltage source (Chapter 13 covers configuration). When combined with GND
pin, a complete circuit can be created;
 Push / pull: when the output is on, the pin provides a positive voltage source
(Chapter 13 covers configuration). When combined with GND pin, a complete circuit
can be created. When the output is off, the pin allows current to flow to the ground.

Note: After modifying the output configuration, the modification takes effect
immediately.

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11.1.10 Conveyor Tracking

Conveyor tracking supports up to two conveyors at the same time.

Configure the conveyor tracking parameters as follows:

1. Click “Config > General > Conveyor Tracking" to enter the "Conveyor Tracking Setup"
interface.

2. Click "Enable conveyor tracking" in the upper right corner.

3. Set "Encoder Type" as "Absolute".

4. Select "Variable encoder count" as the Modbus slave connected in "General >
Communication > Modbus", as shown in Figure 11-19.

Figure 11-19 Conveyor tracking

5. Set "Tracking Parameters" and select "Conveyor type" as "Linear" or "Circular", as

shown in Figure 11-20.

 Linear：
 "Ticks per inch" is determined by external hardware equipment;

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 Click "Frame" as the frame taught by “Config > General > Frame" and specify
which direction to run in (determined by axes X, Y, Z and whether to reverse).
 Circular：
 Ticks per inch" is determined by external hardware equipment;
 Click "Frame" as the frame taught through “Config > General > Frame". By
default, it rotates in a positive direction around the Z axis of the frame.
 Check "Rotate tool and conveyor", that is, rotate the end tool to follow the target
conveyor and keep the object's grasping position unchanged.

Figure 11-20 Set tracking parameters

11.1.11 Package Position

Click “Config > General > Package Position" to enter the settings, as shown in Figure
11-21.

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Figure 11-21 Settings

Figure 11-22 Package mode

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Click “Move To Default Package Position”to enter the auto move interface. The robot
will move to the package position. The user can enable the package mode when the robot
cannot reach the package position due to the safety plane, the joint range and other data
settings. In the package mode, the safety plane and the joint range will not restrict on the
robot movement. The robot can move to the package position which is out of the joint range.
After exiting from the package position page, the system will automatically exit from the
package mode.

11.2 Safety
This section describes the configuration of robot safety parameters and precautions.

Click on the right of the status and menu bar, choose "Settings > Password >

Safety", and set a safety password to unlock safety configuration parameters.

TIPS
Before modifying the safety configuration, the user needs to enter the
safety password to unlock the safety configuration.

11.2.1 Safety Home

The safety home is a user-defined home position, as shown in Figure 11-23. User can
select the reference home to set the safety home parameters, as shown in Figure 11-24.

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Figure 11-23 Safety home

Figure 11-24 Reference home

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11.2.2 Robot Limits

Robot limits are used to limit robot related safety parameters. The robot limit screen has
five configuration options: Least Restricted, 2nd Least Restricted, 2nd Most Restricted, Most
Restricted and Custom Restricted. Only the "Custom Restricted " option allows the user to
modify the limit parameter of the robot. Parameters are shown in Figure 11-25.

Figure 11-25 Robot limits

The parameter setting description is as follows:

 Stopping Time: limits the maximum time that takes robot to stop from moving;
 Stopping Distance: limits the maximum distance that the robot tool can move before
stopping;
 Tool Speed: limits the maximum speed that the robot tool moves;
 Elbow Speed: limits the maximum speed that robot elbow moves.

Note: When setting the robot limit parameters, the values in the normal mode is larger
than the values in the reduced mode.

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11.2.3 Joint Limits

Joint limits are used to limit the range of motion and the maximum angle of each robot in
joint space.

In the "Joint limits" interface, there are two joint limiting options: position range and
maximum speed, as shown in Figure 11-26.

 Position range defines the position range of each joint;

 Maximum speed defines the maximum angular speed of each joint.

Note: When setting the position range, the difference between the maximum and
minimum values should be at least 7°, and the range value in reduced mode must not exceed
the range value in normal mode.

REMINDE If there is no safety plane that triggers the reduced mode, that is, the
"Limit" in the safety plane is not configured as "Trigger Reduced Mode",
or there is no configurable input IO configured as " Reduced Mode" in the
"Safety IO", the parameters of the reduced mode cannot be modified.

Figure 11-26 Joint limits

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11.2.4 Safety I/O

The IO between the input and output terminals are separated and appear in pairs, as
shown in Figure 11-27.

Figure 11-27 Safety IO

11.2.4.1 Input Signal

As shown in Figure 11-28, the following safety functions can be used with input signals:

 Emergency Stop:
Select the input signals as "Emergency Stop", which will be active on low. When input
signals are low, the robot enters "Emergency Stop" state; when the input signals are the
combination of a high signal and a low signal, the robot gives an alarm; when both
signals are high, the robot operates normally.

 Safeguard Reset：
Safeguard Reset is used for the user to manually release the safeguard stop state.
After releasing, the running task suspended by safeguard stop will be resumed.

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 Reduced Mode:
Select the input signals as "Reduced Mode", which will be active on low. When the
input signals are low, the robot enters "Reduced Mode"; when the input signals are the
combination of a high signal and a low signal, the robot gives an alarm; when both
signals are high, the robot operates in "Normal Mode".

 3-Position Switch:
This tab configures the controller with external three-position switch through
configurable safety IO and implements the function of the three-position switch.
Note:
1. The three- position switch function is valid only in manual mode.
2. When the three-position switch is not enabled, the robot will be in the safeguard
stop state.
3. After setting the three-position switch, the manual high-speed function can be
turned on to realize the real-time adjustment of speed limit when the program is
running in manual mode.
4. After the three-position switch is configured, the manual mode and automatic
mode switchover functions are automatically enabled. If a password is set for
mode switchover, the user needs to enter the password. If no password is set for
mode switchover, the user doesn't need to enter the password for mode
switchover.
5. In manual mode, before entering the jog page to teach the robot, the
three-position switch needs to be pressed first.

 Operation Mode:
This tab is used for switching the system between manual mode and automatic mode.
The user can use the safety IO to switch the mode with external selective switch.
Note:
1. After the operation mode input is configured in the safety IO, the system enters the
automatic mode immediately because the safety IO input is low by default.
2. The automatic mode triggered by safety IO no longer supports manual
modification through the interface. The manual and automatic mode is switched
through the safety IO, and the mode password is no longer required.
3. In the simulation environment, if the user set the operation mode to stuck in auto
mode by mistake, restart the simulation software is a solution. When the software

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is powered on for the first time, if the safety IO operation mode is set to manual
mode by default (even if the current safety IO input is low), the user can remove the
safety IO operation mode.

Figure 11-28 Input signal

11.2.4.2 Output Signal

As shown in Figure 11-29, the following safety functions can be applied to the output
signal. After the state that triggers signal to be high had ended, the signal return to low status.

 System Emergency Stop：

When the robot is in the emergency stop state (only when the emergency stop button
is pressed), the low-level signal will be triggered, and the high level signal will be
triggered in other cases (even if the emergency stop of the system is triggered through
the safety IO).
 Robot Moving：
Low signals are given as long as the robot arm is in the moving state, and high signals
are given when the robot arm is in a fixed position.

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 Reduced Mode：
When the robot body is in reduced mode, or the safety input is configured with
"reduced mode" input and the current signal is low, the low signal will be sent. Otherwise,
the signal is high
 Non-reduced Mode：
Contrary to the above reduced mode.

Figure 11-29 Output signal

11.2.5 Safety Plane

REMINDE
The safety plane is configured based on the frame. Before configuring the
safety plane, we recommend the user to create all frames.

The safety plane limits the workspace of the robot. Users can define up to eight safety
planes to limit robot tools and elbows.

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WARNING
The safety plane only limits the tools and elbows of the robot arm, and
has no impact on the overall limit of the robot arm.

11.2.5.1 Modes

Users can use the following icons to configure restrictions for each plane.

11.2.5.2 Configuration Safety Planes

1. Select “Config > Safety > Safety Planes" and click , as shown in Figure 11-30.

Figure 11-30 Safety planes

2. In the attribute field at the lower right corner of the screen, set reference frame,
displacement，and restrictions.

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 Reference Frame: users can select the base and the frame defined in
“Config >General > Frame", It's recommended to create Frame first, then use the
Frame to configure Safety Planes.
 Displacement: If the user enters a number in "Displacement", it indicates the moving
distance relative to the Z axis of the selected frame. For example, if the frame is
selected as "Base", and the displacement is 200, then the coordination of safety
plane is the frame that moved 200mm on Z axis from the base frame.
 Restrictions: the user can configure restrictions for each safety plane.
 Disabled: in this state, the safety plane is never activated;
 Normal mode valid: when the robot is in "Normal" mode, the safety plane takes
effect. When the robot tool or elbow contacts or exceeds the safety plane, the
robot stops protectively;
 Reduced mode valid: when the robot is in "Reduced" mode, the safety plane
takes effect. When the robot tool or elbow contacts or exceeds the safety plane,
the robot stops protectively;
 Normal & Reduced mode valid: when select "Both", the safety plane takes effect
when the robot is in "Normal" mode or "Reduced" mode. When the robot tool or
elbow contacts or exceeds the safety plane, the robot stops protectively;
 Trigger Reduced mode: when the robot tool or elbow contacts or exceeds the
safety plane, the system switches to reduced mode.

Note: If "Restrict Elbow" is checked, the safety plane will limit the elbow of the robot arm.

Under "Frame", if the frame defined in “Config > General > Frame" is modified, the
warning icon appears to the left of the "Frame" text. However, the frame of the safety plane is
still the frame before modification and will not be modified synchronously.

11.2.5.3 Other
 Add: Click to create a new safety plane;
 Copy: Click to copy the selected safety plane;
 Rename: select the safety plane to rename and click ;
 Delete: select the safety plane to delete and click .

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11.2.6 Safety Tool

In the safety tool, you can add, copy, and delete safety tool items, as shown in Figure
11-31. One of the tool flanges is inoperable by default, and the default radius of the tool
flange and TCP position are 0.
You can choose TCP in the general configuration as the basis for defining the location of
the new safety tool. Properties at the bottom right of the interface are based on the select TCP.
When the value in the edit location field is changed on this basis, the TCP name appearing in
the drop-down menu will change to custom tool, indicating that there is a difference between
the copied TCP and the actual limit input. The visualization of the safety tool will also display
the status attributes of the corresponding tool.

Figure 11-31 Safety tool

11.2.7 Three Position

Set whether the three position switch allows manual high speed, as shown in Figure
11-32.

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Figure 11-32 Three position

11.2.8 Hardware

In the hardware settings, the user can select "None" or "Standard Teach Pendant" from
the drop-down list, as shown in Figure 11-33.

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Figure 11-33 Hardware settings

The selected teach pendant mode must be same as what is used actually. Otherwise, it
will trigger an alarm. If the user selects "None" and a teach pendant is connected, the alarm
E9S3 will be sent out. The prompt that the current safety hardware config prohibits
connecting to the teach pendant appears. Instead, it will trigger the alarm E9S1 and prompt
that the teach pendant is disconnected.

11.2.9 Safety Parameters

The values of the safety parameters can be set in "Config > Safety". Safety parameters
include: safety home, robot limits, joint position, joint speed, safety I/O, safety planes, and
three position.

Click "safety check code" button, such as "38EB" in Figure 11-34 to display the safety
parameter window for data viewing.

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Figure 11-34 Safety parameters

11.3 Communication

11.3.1 Modbus

This section describes how to set the Modbus client IO signal.

1. Click “Config > Communication > Modbus" to enter the "MODBUS Client IO Setup"
interface, as shown in Figure 11-35.

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Figure 11-35 Modbus

2. Click "Add MODBUS Unit".

3. Set the "IP address", "Name", "Address", "Type" of the device and so on.

4. Click "Add New Signal" to set a new value to return to "Type".

5. Repeat steps 2-4 to continue adding.

The "Expand/Collapse" button at the bottom of the page can expand or collapse all nodes
with one click. "Refresh List" allows the client to obtain the information of the server
immediately, and does not follow the limit of refresh frequency

When the Modbus device is added, the corresponding IP address can be seen in "IO >
Modbus" and the status information can be viewed conveniently.

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11.3.2 Profinet

Click "Config > Communication > Profinet" to enter the Profinet interface, as shown in
Figure 11-36. The Profinet interface includes the Profinet status bar, notification bar, robot I/O
module, and register module insertion status.

In Notice block at the top right, the LED indications are explained. The status of Robot IO
module and Register Modules are not inserted, the running program will trigger the
corresponding action. There are three states under each module: 0 (none), 1 (pause) and 2
(stop).

Figure 11-36 Profinet

11.3.3 Ethernet/IP

Click "Config > Communication > Ethernet/IP" to enter the Ethernet/IP interface, as
shown in Figure 11-37. The Ethernet/IP interface includes the Ethernet/IP status bar,
notification bar and the settings.

The status bar shows the current running status of the Ethernet/IP bus.

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In Notice block at the top right, the LED indications are explained. Different colors mean
different running status of the Ethernet/IP.

The settings are used to enable or disable the Ethernet/IP function. When the Ethernet/IP
scanner is disconnected, the running program will trigger the corresponding action: None,
Pause and Stop.

Figure 11-37 Ethernet/IP

11.4 Plugin
Plugin is used to display user-defined configuration plugin, as shown in Figure 11-38.

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Figure 11-38 Plugin

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12 Task Tab
This chapter mainly describes the options and operation instructions in CS625 robot task
setting, including Task Tree, Instruction, Monitor, Basic Task Point, Advanced Task Point,
Plugin and other options. In the basic task point, the users can perform basic level operations
like Move, Waypoint, Direction, Wait. In the advance task point, users can perform operations
like task loop, setting subtasks, assignment, etc.; In the plugin option, users can perform
palletizing, conveyor belt and other more specific operations.

The tasks tab displays the tasks that are currently being edited, as shown in Figure12-1.

The examples of task nodes in this manual are for reference only. Please edit tasks
according to actual needs.

Figure 12-1 Task tab

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12.1 Task Tree

The user can add a task node in the task tree, and select the required task node in the
command bar on the right side of the page, as shown in Figure12-2.

Figure12-2 Task tree

The user cannot run a blank task tree or a task tree contains an incorrect task node.

If the task node is not defined, the node will display an orange icon.

If there is search content in the task node, the task node will be highlighted in yellow.

If there is an error when the task is running, an exception message will pop up.

The exception information prompt box displays the error information of the task node,
including the error type, current error code lines, etc., and supports the following operations:

1. OK: if there is only one error message, click "OK" to clear the abnormal message and
alarm; If there are multiple error messages, click "OK" and the next error message will be
displayed on the page.

2. Close all: clear all abnormal information and alarms.

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3. Go to task view: clear all abnormal information and alarms, jump to the "Task" tab,
and display the currently running task. The wrong node in the task tree is marked in red.

Note: In case of non UI operation, the exception information prompt box only displays the
error description.

In the task tree, a blue arrow to the right indicates the button which tracks the
running status of the current task. Click the blue arrow and it will be hidden. If the user
expects not to track the status, just click any task node in the task tree and the blue arrow will
reappear on the display.

12.1.1 Task Tree Toolbar

The user can modify the task tree using the toolbar at the top of the task tree.

 Search: Click , enter the search content in the search box and click "Enter" to
complete the search;
 Undo / restore: Click and , undo and redo modified commands;
 Move up / down: Click and , change the node position up and down.
Moving nodes only support the position exchange of peer nodes;
Note: If node moves, its paired else if and else nodes move together.
 Cut: Click , cut a node and allow it to be used for other operations;
 Copy: Click , copy a node and allow it to be used for other operations;
 Paste: Click , paste copied or cut nodes;
 Delete: Click , delete node from task tree;
 Compress: Click , compress the nodes in the task tree. After compression, all
relevant nodes will be skipped.

12.1.2 Expression Editor

The user can use the expression editor to edit text and expressions, as shown in
Figure12-3.

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Figure 12-3 Expression editor

The expression editor provides input and output names, variable, pose/joint positions
and functions, and can also insert special symbols in the expression, such as whether it is
equal to "? =" symbol.

All defined variables can be selected in the "Variable" drop-down box, and the available
input and output ports can be selected in the "Input" and "Output" drop-down boxes. Special
functions can be selected from the "Function" drop-down box. The user can also cite the
coordinates, tool, waypoint pose, joint coordinates and other data from the drop-down list of
"Pose/Joint Positions". Please note that what cited here are the the pose/joint data of
somewhere the waypoint can reach (The attainable pose/joint data is subject to the
contextual settings).

Use the "ABC" button in the lower right corner of the screen to switch to text editing
mode.

Click ,the system will save the expression.Click to leave this screen and discard
all changes.

12.2 Instruction Tab

The robot task node includes three check boxes that control the overall behavior of the
task, as shown in Figure 12-4.

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Figure 12-4 Instruction interface

 Add Before Start Sequence

Check or uncheck the check box to add or delete the "BeforeStart" node before the
main task. The node under "BeforeStart" will be executed earlier than the robot's main
task and will only be executed once. The single or cyclic operation of the robot refers to
the single or cyclic operation of the main task of the robot.

Note: A "BeforeStart" node can only be added by checking this box. "BeforeStart"
node can be removed by unchecking the "Add Before Start Sequence" or clicking in
the task tree.

 Set Initial Variable Values

Check this box to add an initialization variable node.

The initialization variable node collects the task variables created and used in the
task, and supports renaming and initialization of these task variables an so on.

At the same time, if "Keep Value From Previous Run" is checked in the lower left
corner, the variable can keep the running value. Run the task again without shutting

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down, clearing the variable value or deleting the initialization node, and the variable will
keep the last value.

1. The user can select a variable from the "Variable" drop-down list or from Initial
Variable Values selector box, as shown in Figure 12-5.

Figure 12-5 Select initial variable interface

2. Enter an expression for the variable. This expression is used to declare and
initialize the variable value when the task starts.

Note: The variables created by the assignment instruction are local variables. The
function of initializing variables is only applicable to local variables, not global variables.

 Task Always Loops

Check this box to keep the main task running over and over again.

12.3 Monitor Tab

The monitor tab monitors variables and robot views.

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Besides, when the task is running, the variables tab displays the real-time variable values.
When stopping, if the data is not cleared, the variable value at the moment when the task
stops will be maintained.

If "Show Waypoint" is checked, the pose information of waypoints in the current task will
be displayed in waypoints, as shown in Figure 12-6.

Figure 12-6 Monitor interface

12.4 Basic Task Node

12.4.1 Move

The movement command controls the movement of the robot through the basic
waypoint. Waypoints must be placed under the motion command. The move command
defines the type of movement of the robot between waypoints.

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12.4.1.1 Movement Type

The user can select from the following three movement types: MoveJ、MoveL and MoveP,
operation steps are shown in Figure 12-7.

Figure 12-7 Select movement type

 MoveJ：Joint movement. Move in the space of the robot arm;

Control the joints to complete the movement of the robot. This movement type
provides a curve path for the tool. The common parameters of MoveJ are joint velocity (°/
s) and joint acceleration (°/s2). If the operation needs the robot to move fast between
waypoint, regardless of the movement track of the tool between these waypoints, MoveJ
is the option to choose.

"Waypoint" node can be added under MoveJ node. For details, see section 12.4.2.

 MoveL：Linear movement. Make the tool center point (TCP) move in a straight line
between waypoints;

The common parameters of MoveL are tool speed, tool acceleration and frame. The
first two units are expressed in mm/s or mm/s2.

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"Waypoint" node can be added under MoveL node. For details, see subsection 12.4.2;
"Direction" node can also be added, see section 12.4.3 for details.

 MoveP：Craft movement. Make TCP move in an arc at a constant speed.

By default, all waypoints under MoveP node use the transition radius of 25mm. The
smaller the transfer radius value is, the larger the path angle is. On the contrary, the
larger the value is, the smaller the path angle is.

“Waypoint" node can be added under the MoveP node. Please read section 12.4.2
for details. "Direction" node can also be added. Please read section 12.4.3 for details. The
circular motion can be added to the MoveP node to make the robot do an arc motion. The
arc path is calculated by a starting point (the current point), a passing point (ViaPoint)
and an ending point (EndPoint).

Add arc motion:

1. Click "Task > Basic > Move" to add a move node.

2. Select movement type as "MoveP".

3. Click , add an arc motion, as shown in Figure 12-8.

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Figure 12-8 Circular motion

4. Select the mode of circular motion: fixed or unconstrained.

 Fixed: when the robot passes through points A, B and C, the tangent angle
between the robot pose and the corresponding point shall be consistent;
 Unconstrained: when the robot passes through points A, B and C, the tangent
angle between the robot pose and the corresponding point shall be subject to
the actual needs, which is not consistent.

5. Set "Via Point" and "End Point", see section 12.4.2 for details.

12.4.1.2 Set TCP

After setting, TCP is used to mark the tool attitude data when setting the attitude of the
waypoint. After switching TCP or changing TCP, the end tool can still reach the target pose.

There are three drop-down menu options：

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 Ignore active TCP: Regardless of the existence of the tool, when the robot moves, the
center point of the tool flange reaches the target pose;
 Use active TCP: use TCP as the currently activated TCP in “Config > General > TCP".
As long as the robot runs, use the currently active TCP to do relevant calculations;
 Customized TCP: the user can select the customized TCP in “Config > General > TCP".
Whether activated or not, the selected TCP will be used for relevant calculations.

12.4.1.3 Frame

After setting the frame, the selected frame will become the reference frame of the robot.

Selected frame will affect the actual operation effect of sub nodes such as "Waypoint" or
"Direction". For details, please refer to subsections 12.4.2 and 12.4.3. If the frame changes, it
will affect the actual target pose of the robot.

 Base: the base frame is used as the reference frame for robot motion;
 Custom frame: use the custom frame in “Config > General > Frame" as the reference
frame.

12.4.1.4 Use Joint Angle

This function is only available when the joint type is "MoveJ". After "Use joint angle" is
checked, the "Tool" and "Frame" options will be disabled, and the waypoints under this joint
type will inherit the parameter "Use joint angle" when running.

Note: If checked, when the waypoint under this motion type moves, the pose will no
longer be considered, but the joint angle at the time of recording will be taken as the motion
target.

12.4.1.5 Reset

The user can restore all parameters modified by the current joint to the default values.

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12.4.2 Waypoint

The waypoints are the core element of the robot task, since they are used to record the
target points on the path for the robot to reach. The Waypoint can be insert as shown in
Figure 12-9.

Figure 12-9 Waypoint

12.4.2.1 Waypoint Type

There are three types of waypoints: fixed position, relative position and variable position.

 Fixed position waypoint: after teaching, the robot arm moves with the taught point
position data;
 Relative position waypoint: after teaching two waypoints and calculating the pose
difference between the two waypoints, the robot will use the current pose plus the
calculated pose difference to move;
 Variable position waypoint: variable waypoint refers to the location of the waypoint
given by the variable. For the variable waypoint in the MoveJ instruction, it will run

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as the joint position. For the variable waypoint in the MoveL and MoveP instructions,
it will run as the pose. Therefore, please make sure that the variable data matches
the motion type. Otherwise, the unexpected problems may occur in the movement.

12.4.2.2 Rename

The Renaming button as shown in Figure 12-10 allows the user to rename waypoint_1,
etc. to something else.

Figure 12-10 Rename

12.4.2.3 Teach Waypoint

The user can teach the fixed position waypoint through "Set Waypoint" or "Edit Pose";
the relative position for a waypoint can be taught by "Set Point". Please read Chapter 14 for
details.

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12.4.2.4 Transition Radius

If the transition radius is set, the robot will transition to next waypoint before reaching
the current waypoint. The transition radius cannot overlap. Therefore, when setting the
transfer radius of a waypoint, it cannot overlap with the transfer radius of the previous
waypoint or the next waypoint.

There are three modes of transition radius:

 Stop (no transition radius): When the motion type is "MoveJ" or "MoveL", the
waypoint parameter can be set to "Stop at this point". After setting, when the robot
passes through the waypoint, it will stop first and then move to the next waypoint;
 Custom: for waypoint under all joints, the user can customize the transition radius;
 Inheritance: when the joint type is "MoveP", the waypoint parameter can be set to
"Use inherited transition radius". In this case, the transition radius of the waypoint
will be same as the configuration under the "MoveP" node.

12.4.2.5 Add Until

Under the "Waypoint" node, click to add the "Until" node. Multiple stop
conditions can be added. The "Until" node sets the stop condition for the motion. When the
stop condition is reached, the robot stops moving.

In the task tree, the user can add the "Until" node under the "Waypoint" node or the
"direction" node.

The user can add multiple stop condition for single movement.

When the stop condition of the first "Until" is met, the robot stops moving.

Click the "Until" node, and the user can set the following stop conditions:

 Expression: Custom task expression. The user can use IO, variables, pose or script
functions to specify the stop condition;

If "Use Inherited Deceleration" is checked, the deceleration of the waypoint will be

same as the configuration under the waypoint node.

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If "Use Custom Deceleration" is checked, the robot will decelerate at the customized
deceleration when the conditions are met.

 Waypoint reached: The robot runs to the waypoint;

 IO input: Control the robot to stop movement through digital input signal or analog
input signal.

12.4.2.6 Add Action

After "Add Action" is enabled, under the "Until" node, the user can add other actions to
be executed when the stop conditions are met. If this function is disabled, the defined actions
under the "Until" node will be deleted.

12.4.2.7 Insert Waypoint

The operation steps of inserting waypoints are as follows:

1. Insert a "Move" node in the "Task" tab.

2. Click "Waypoint".

3. Select "MoveJ" node, set movement type.

4. Set "Waypoint type" and configure the parameters of waypoints.

5. After setting, the waypoint node is displayed in blue, as shown in Figure 12-9.

12.4.3 Direction

The task specifies that the robot moves in a specific direction. The robot moves linearly in
the direction of the selected frame until it is stopped by the "Until" condition.

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12.4.3.1 Add Directional Movement

1. Select "Task > Basic > Direction".

2. Under "Frame", define linear movement, as shown in Figure 12-11.

Figure 12-11 Add directional movement

12.4.3.2 Add Until

Under "Direction", an Until expression will be automatically generated. To add more Until,
click "Add Until" button at the lower left corner, click "Until Expression" in the task tree to
add stop conditions, as shown in Figure 12-12.

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Figure 12-12 Stop directional movement

The stop conditions that can be defined are as follows:

 Distance: The robot stops moving in the direction after moving a certain distance;
If "Stop at this point" is checked, the robot moves the specified distance and the
speed decreases to 0.
If "Transition radius" is checked, when the robot is about to reach the specified
distance, the speed will gradually decrease and move with arc transition.
 Expression: Custom task expression. The user can use IO, variable, pose or script
function to specify the stop condition. For details, see section 12.4.2.5;
 IO input: Control the robot to stop movement through digital input signal or analog
input signal. See section 12.4.2.5 for details.

12.4.4 Wait

The user can set the conditions to stop waiting in the "Wait" node. When the conditions
are met, end the waiting and continue to run the task, as shown in Figure 12-13.

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Figure 12-13 Wait

Wait condition including:

 No Wait;
 Specific Time;
 Digital Input Signal;
 Analog Input Signal;
 Expression.

Note: If the tool communication interface is enabled, the waiting condition cannot select
the analog input signal AI [2].

12.4.5 Set

The user can set the trigger action in the "Set" node, as shown in Figure 12-14.

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Figure 12-14 Set

Trigger actions include:

 No Action;
 Set the digital output signal, the value type is high or low (True or False);
 Set analog output signal: the value is current or voltage, depending on the type of
analog output in the "IO" tab;
 Set general signals, including digital, analog, configurable, tools and Modbus output
signals: the value is an expression;
 Set the single pulse of digital, configurable, tool and Modbus output signal, that is,
first set the corresponding signal to high (True), and then set the corresponding
signal to low (False) after a specified time;
 Set configuration variable increment 1: the selected configuration variable is
incremented by 1.

12.4.6 Popup

The "Popup" node can set text or variables. When the task runs to this node, the message
or text will be displayed on the screen, as shown in Figure 12-15.

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Figure 12-15 Popup

The user can select the type of pop-up message as information, warning or error.

There are two kinds of pop-up contents:

 Text: when running program reached the pop-up node, a text message entered by the
user will pop up;

Click "Preview Popup" to preview the popup window information.

 Variable: if "variable" is selected, when running program reached the pop-up node,
the current value of the variable will pop up.

After the pop-up window showing up, the robot will wait for the user to press the "OK"
button in the window and continue to run the task. If "Stop Task" is pressed, the task stops
running.

If "Halt task execution at this popup" is checked, the robot task will stop running when
the message window pops up.

Note: The message can contain up to 255 characters.

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12.4.7 Halt

The task will stop running at this point, as shown in Figure 12-16.

Figure 12-16 Halt

12.4.8 Comment

This command allows the user to add a line of text to the task to explain the task. When
the task is running, this line of text will not perform any operation, as shown in Figure 12-17.

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Figure 12-17 Comment

12.4.9 Folder

As shown in Figure 12-18, the folder command is used to organize tasks and label specific
task parts, which will make the task tree easier for users to read and modify.

Folders have no effect on tasks execution.

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Figure 12-18 Folder

12.4.10 Set Payload

The "Set Payload" node allows the user to customize the payload by editing the Mass
(unit: kg) and Center of Gravity (unit: mm). Click the "Set Now" button and the custom
settings will take effect. The user can also click the drop-down list in the right of the "Custom
Payload Config" to switch over to the payload previously set at the runtime, as shown in
Figure 12-19.

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Figure 12-19 Set Payload

12.5 Advanced Task Node

12.5.1 Loop

The "Loop" node can configure the looping method of its child node tasks, as shown in
Figure 12-20.

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Figure 12-20 Loop

Loop mode including:

 Loop Always : The task loops all the time;

 Loop N Times: Defines the loop times;
When the specified number of loops is run, the task will create a special loop variable,
which is used to count the number of loops.
 Loop When the expression is True: when the expression is true, the tasks of the child
nodes will be executed in a loop all the time.
Note: If "Check expression continuously" is checked, during the loop, as long as the
expression is not true, it will immediately jump out of the loop and execute down.

12.5.2 Subtask

Under the "Subtask" node, the subtask can be directly edited or loaded with existing task
file. After subtask node is created, it can be called under the main task node.

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When a subtask node loads a task file, only the nodes under the main task will be added
to the subtask node.

REMINDER 1. The sub task nodes cannot exist in the loaded task file. If there are sub

task nodes, the task file loading will fail. Then the system will notify the

user to remove all the sub task nodes in the task file for loading. After

the modifications are saved, the user can try to re-add the sub task.

2. There can be multiple subtask nodes in the same task file, but the files

loaded by the subtask nodes cannot be the same.

12.5.2.1 Create Subtasks

Create subtasks as follows:

 Select the "Robot Main Task" node or the subsequent peer node, and then click
"Advanced > Subtask" to insert the subtask node;
 At any node in the main task, click "Advanced > Subtask" and select "New" under the
"Call" node.

12.5.2.2 Edit Subtasks

The user can edit child nodes directly or load existing task files.

The operation steps of loading task file are as follows:

1. Click "Load File" and select the task file in the pop-up window.

2. Make the following edits:

Save subtask: save the modified subtask file.

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Clear subtask: delete the loaded task file and delete the corresponding node under the
subtask.

Note: "Clear Subtask" is valid only when the task file is loaded.

If "Keep Subtask File Update with this Task" is checked, the loaded subtask files will also
be updated when the main task is saved.

REMINDER
"Keep Subtask File Update with this Task" is valid only when the task file

is loaded.

If "Hide Subtask Tree" is checked, the nodes under subtasks will not be displayed.

12.5.2.3 Call Subtasks

In the task tree, users can call subtasks. The called subtask can be saved or directly
created.

1. Under any node under the main task, select "Task > Advanced > Subtask".

2. Click "Call" in the task tree, click "New" or select an existing subtask file, as shown in
Figure 12-21.

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Figure 12-21 Call subtask

3. Click the subtask node to edit the subtask.

Upon executing the "Call" node, the controller will jump to the corresponding subtask
node. After completing the subtask the robot will continue to run the main task.

12.5.3 Assignment

The process of assigning a value to a variable is called assignment. As shown in Figure

12-22. The variables created by the assignment instruction are local variables, which can be
initialized.

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Figure 12-22 Assignment

The user can select a variable from the drop-down list. To rename the variable, click
and enter a new name in the text keyboard (note: the text keyboard supports for typing
Chinese). To cancel the input, click the "ESC" key on the upper right to cancel the input. In the
display, the user can select the checkbox in front of "Make a deep copy of the reference object
in the expression" and when selected, the new copy of the node will not change with the
source data. If not selected, the user makes a shallow copy of the node and the changes of the
newly copied node will be subject to the source content.

The statement that assigns a certain value to a variable is called an assignment

statement.

The source of assignment statement is:

 Expression: Custom assignment statement can be specified by IO, variable, pose or

script function;
 Operator: After the user needs to operate in the pop-up window, the task will
continue to run.
 Yes or No: Select Yes or no in the pop-up window or "Cancel" twice to cancel the
entry;

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 A decimal integer: Enter an integer or click twice to cancel input;

 A decimal fraction: Enter a decimal number or click twice to cancel input;

 A text string: Enter a string or click "ESC" twice on the upper right to cancel the
input.

12.5.4 If

If and If...Else statement structure can execute corresponding branches according to the
expression.

1. Select "Task > Advanced > If".

2. Click "If" in the task tree to modify the expression, as shown in Figure 12-23.

Figure 12-23 If

3. On the empty node, edit the node in If node.

If the expression is true, the node in If will be executed. An If statement can have at most
one else statement.

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Use "Add ElseIf" and "Remove ElseIf" to add or remove Elself expression.

If "Check expression continuously" is checked, it will always check whether the

expression meets the trigger conditions when running the sub node of if. When the expression
is not satisfied, the program will immediately jump out of the current If branch and continue
to run the follow-up task.

12.5.5 Script

The drop-down list of "Script" provides the following options, as shown in Figure 12-24.

 "Line" allows users to write single line code using the expression editor;
 "File" allows users to load local existing script files; Or edit the script content directly
and save it.

Please refer to the script manual for details about the script file.

Figure 12-24 Script

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12.5.6 Event

The "Event" node can be used to monitor the expression. When the expression is true,
the child nodes in the "Event" will be executed. Expressions usually can include signals, task
variables, etc. Therefore, the "Event" node is often used to monitor input signals or variables
and execute child nodes when conditions are met. As shown in Figure 12-25.

Figure 12-25 Event

12.5.7 Thread

Thread is a parallel task running together with the main task. It is a parallel process of
robot task. It is mainly used to control external machines and is not recommended to control
the movement of robot arm. Therefore, the "Thread" node is mainly used to execute IO
actions, wait for signals and set variables, as shown in Figure 12-26.

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Figure 12-26 Thread

12.5.8 Switch

Each "Switch" node can contain multiple "Case" nodes and one "Default Case" node.

When running to the "Switch" node, the task judges the value of the expression first. If it
matches the case value, the corresponding case node will be executed. If it does not match,
the default case will be executed or none will be executed, as shown in Figure 12-27.

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Figure 12-27 Switch

The user can fill in the value of the situation first, then add "Case" node.

12.5.9 Timer

A timer is used to measure time. The measured time appears in the variable, as shown in
Figure 12-28.

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Figure 12-28 Timer

The timer nodes include:

 Start: the timer starts counting;

 Stop: the timer stops. The measured time can be viewed through the "monitoring >
variables" interface;
 Reset: resets the variable value of the current timer.

12.5.10 Home

The user can run the robot to the home position defined in "Config > General > Home"
and select "Active Home" or "Safety Home" from the drop-down list of the source, as shown
in Figure 12-29. Please refer to section 11.2.1 for the details about the safety home, the
section 11.2.4 for the details about the I/O settings and the section 12.4.2 for details about
movement mode.

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Figure 12-29 Home

12.6 Composite

12.6.1 Palletizing

Palletizing supports user-defined layout type, number of layers, reference points, etc. to
write palletizing and depalletizing tasks.

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12.6.1.1 Create Palletizing Task

The steps are as follows:

1. Choose "Task > Composite > Palletizing".

2. Set the palletizing task name, frame, and cargo height, as shown in Figure 12-30.

Figure 12-30 Set palletizing task parameters

 Frame: supports base and user-defined frame;

 Cargo height: the height of palletizing cargo;
 Cargo counter: Define a variable to calculate the number of palletized cargo. When
the task is running, the user can view the variable value in "Monitor";
 Add action before palletizing: After checking, insert the "Palletize Before Action"
node under the palletizing task, then the user can add actions based on the needs;
If unchecked, the node will be deleted directly.
 Add action after palletizing: After checking, insert the "Palletize After Action" node
under the palletizing task, then the user can add actions based on the needs.
If unchecked, the node will be deleted directly.

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3. Click the "Layout type" node in the task tree, then the user can set it to "Line", "Matrix"
or "Custom", as shown in Figure 12-31.

Figure 12-31 Set layout type

 Line layout: click the line layout node to access configuration window in Instruction
tab. Line node can be renamed and set number of the workpiece;

Click the "Workpiece" nodes (named "LineItem_#" by default) to set the start
position and end position of layout.

 Matrix layout: click the matrix layout node to access configuration window in
Instruction tab. Matrix node can be renamed and set number of the rows and
columns of the workpiece;

Click the four sub "Workpiece" nodes (named "MatrixItem_#" by default) under
layout type to set the start position and end position of layout.

 Custom layout: configuration window in Instruction tab. Custom node can be

renamed. "Workpiece" node can be added or delete;

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Note: The "Workpiece" node of linear layout and Matrix layout cannot be deleted;
The "Workpiece" node of custom layout can be deleted through the delete button on the
"Instruction" tab.

 Isolation layer: isolator is the object that is sandwiched between two workpieces. After
check "Isolator" under Layout type, "IsolatePoint" node will be insert under "Layout
Type", and "Isolator action" node will be added to task tree. Then the user can add
actions based on the needs. If unchecked, "IsolatePoint" node and "Isolator action" node
will be deleted directly.

4. Click the "Layer" node in the task tree and click "Add layer" to set the number of layers
of the pallet, the layout type of each layer, and whether to include the isolation layer, as
shown in Figure 12-32.

Figure 12-32 Set layer

5. Click the node "At each workpiece" in the task tree, and the user can set reference
points and generate movement.

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Figure 12-33 Set workpiece parameters

The reference point is generally the position of the first workpiece on the first layer. The
user can directly select the "Workpiece" node in the drop-down list as the reference point, as
shown in Figure 12-33.

Under the "Generated move" node, set the approach point, tool action point, tool action
and departure point.

After setting, the tool will repeat these actions for each workpiece.

 Approach Point: approach the reference point without collision;

 Tool Action Point: The default is the reference point, which can be modified
according to actual needs;
 Tool Action: under the "Tool Action" node, add the corresponding tool action;
 Exit Point: leave the reference point without collision.

6. Under the "Isolator action" node, click "Generate isolation action".

The user can set the "pickup isolator" node and set the approach point, isolator action,
tool action and exit point.

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12.6.2 Conveyor

The conveyor function uses Modbus as a communication means to obtain the real-time
operation data of the external drive belt and realize the tracking of the conveyor.

12.6.2.1 Configure Modbus Client

1. Click “Config > Communication > Modbus" to enter the "Modbus client IO setting"
interface.

2. Click "Add Modbus device".

3. Set the "IP address", "Name", "Address", and "Type" of the device.

Note: The type must be set to "Register Input".

12.6.2.2 Configure Conveyor Parameters

1. Click “Config > General > Conveyor Tracking" to enter the "Conveyor Tracking Setup"
interface.

2. Check "Enable conveyor tracking" in the upper right corner.

3. Set "Encoder type" to "Absolute".

4. Select "Encoder count variable" as the "Modbus" setting, as shown in Figure 12-34.

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Figure 12-34 Configure conveyor parameters

5. Set "Tracking Parameters" and select "Conveyor type" as "Linear" or "Circular".

 Linear:
 "Ticks per inch" is determined by external hardware equipment;
 Select frame as the frame taught by “Config > General > Frame" and specify the
running direction (determined by axes: x, y, z and whether to reverse).
 Circular：
 "Ticks per revolution" is determined by external hardware equipment;
 Select "frame" as the frame taught through “Config > General > Frame". By
default, it rotates in a positive direction around the Z axis of the frame;
 Check "Rotate tool and conveyor" to allow the end effector to rotate and track
the target conveyor.

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12.6.2.3 Select Conveyor

Select "Task > Composite > Conveyor Tracking" and select the conveyort type, as shown
in Figure 12-35. The robot main task is under the node of conveyor tracking, and the fixed
plane is stationary relative to the conveyor.

Figure 12-35 Conveyor

12.6.3 Trajectory Record

The function allows the user to record the robot trajectory over a period of time and to
reproduce it.

The steps are as follows:

1. Click "Task > Composite > Trajectory Record" and enter the trajectory recording
display.

2. Click "Start Record", the robot will record the path automatically and the grey icon (Not
recorded) will turn to orange (Recording).

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3. Click "Stop Record", the robot will stop recording the path. After the record, the orange
icon (Recording) will turn to green (Recorded).

4. Click "Stop Re-record", the robot will start to make a record again and the previous
path will be overwritten, as shown in Figure 12-36.

To restore the path which has already been recorded previously, the user must save that
task file first before the version update and load the previously saved trajectory file then.

Figure 12-36 Recording the trajectory

12.7 Plugin
The user can install some plugins as required for greater functionality. Click "Task >
Plugin" to find the task plugin nodes that have already been installed.

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12.8 Breakpoint debugging

The function allows the user to set the breakpoint before or after the node. It is
composed of a red spot and a red line. The red spot means that the program will stop at the
point. The red line indicates when the function will be triggered.

 If the red line is above the red spot, it indicates that the function will be triggered
before running the node;
 If the red line is below the red spot, it indicates that the function will be triggered
before running the next node;
 When the red spot turns dark, it indicates that the function has already been
triggered and the task is paused.

The user can set the breakpoint by clicking the line number of the node. To cancel the
breakpoint, the user can click the line number again.

In addition, the user can also set and delete the breakpoints dynamically when the task is
running. The changes will take effect when running the same task next time.

Please note that it is impossible to set the breakpoints in some nodes, i.e. the
compressed node, the place-holder node, the thread node and other nodes in the plugin that
do not allow the users to insert from the command line (e.g. the layer node and the layout
node in the palletizing). For the line of nodes, the color of the line number is lighter.

 If these nodes are selected, the line number goes to light blue (see the line number
“5” in Figure 12-37);
 If they are not selected, the line number is marked as light gret (see the line number
“3” in Figure 12-37).

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Figure 12-37 Breakpoint

12.9 Single-step function

The function allows the users to run a node in the single-step mode, incl. the movement
nodes and the thread nodes. The currently running task can be paused by clicking the
“Pause” button in the right side of the menu. After the pause, the single-step button will be
highlighted. Click the button and the node will run. The user can dynamically switch over
between the running states in the single-step mode and non single-step mode. This will not
stop the proceedings of the current running task. Here are the notes:

 Please set a breakpoint in the main task of the program if the user expects to execute
the single-step function from the first node. After the program starts, the task will be
paused and the single-step function can be carried on then;
 The next node of the single-step function is namely the next thread node where is set
a breakpoint. If other threads are set the breakpoints, then it will switch over to the
other threads;
 The motion node of the operation in the single-step mode will go directly to the
target point;

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 If the user executes the single-step function after clicking the “Pause”button in the
process of moving the waypoints, the next task node will be paused. The user will not
enter the single-step mode until the next task node is triggered.

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13 IO Tab
This chapter mainly describes the options and operation instructions in the IO setting of
CS625 robot, including robot, Modbus and other options. The user can monitor and set the
real-time IO signals sent and received by the robot.

13.1 Internal

13.1.1 Robot

On the screen, in the "IO" tab, the user can monitor and set the real-time IO signals sent
and received by the robot.

This page displays the current status of IO, including IO status during task running. When
the task stops running, all output signals will remain in their state, as shown in Figure 13-1.

Figure 13-1 IO current status

Note: If the signals change too fast, then their status may not be displayed correctly.

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Configurable IO can be modified under “Config > General > IO" or “Config > Safety >
Safety IO". After configuration, the IO table will display the function name instead of default
name or user-defined name; and the corresponding configurable output cannot be switched.

Analog input / output setting: analog output can be set with current of 4-20mA or voltage
of 0-10V. Analog input can view the specific value of current or voltage.

When the tool communication interface is activated, the tool analog input and output will
not be available. See section 11.1.9 for details.

13.1.2 Modbus Slave

When Elite robot controller is used as a Modbus slave, it shows the slave status and slave
protocol. The functions, meanings and configuration descriptions of various registers of
Modbus Server are shown in Figure 13-2.

Figure 13-2 Modbus Slave

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13.2 Modbus
This section shows the Modbus client IO signals added in “Config > Communication >
Modbus".

If the number of settings is more than one, use the drop-down menu at the top of the
page to change the displayed content according to the signal type. Each signal in the list
contains the connection status, value and address, as shown in Figure 13-3.

If the connection succeeded and the "I/O tab control" of “Config > General > IO"
configuration output Modbus is "Enabled", the user can set the output signal.

Figure 13-3 Modbus

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14 Jog Tab
This chapter mainly describes the options and instructions under Jog Tab for CS625,
including robot, tool position, joint position, editing pose page, move interface, etc. The user
can set the tool and frame setting in the robot, carry out origin, drag and operation, and carry
out tool translation or tool orientation in the joint position.

As shown in Figure 14-1, the user can operate the robot motion by translating, rotating
the robot tool or moving the robot joints one by one.

Figure 14-1 Jog the robot

14.1 Robot

14.1.1 Tool and Frame

TCP: the currently active TCP. To switch, go to the “Config > General > TCP" interface. For
details, see section 11.1.2.3.

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Frame: coordination of the robot, the frame can set as observation, base, tool or
user-defined frame.

The difference of frame is as follows:

 View: keep the view pose consistent with the robot pose currently observed by the
user. Always keep the x-axis of the frame facing itself and the z-axis upward. Under
the observation frame, the pose data under the tool position has no practical
significance;
 Tool: The currently active TCP;
 Robot: base frame;
 Custom frame: Frame added by the user under "Config> General > Frame".

Note: To facilitate the movement of robot arm, the user can observe the frame, then use
"TCP Translation" and "TCP Orientation" to move then robot.

14.1.2 Home, Drag, and Alignment

The user can also perform the following operations:

 Home: The robot returns to the currently active origin set in "Cconfiguration >
General > Home";
 Drag: Hold "Drag" to drag the robot;
 Alignment: Keep TCP and the currently selected frame parallel in XOY plane.

14.2 Tool Position

The tool position displays the coordinate value of the currently active TCP relative to the
selected frame. X, Y, Z coordinates specify the tool location. RX, RY, RZ coordinates specify the
direction.

The user needs to select the representation form of the direction in the drop-down menu
of "Pose Format":

 RPY[rad]：Roll, pitch and yaw angles expressed in radians;

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 RPY[◦]：Roll, pitch and yaw angles expressed in degrees.

14.3 Joint Position

Specify the position of each joint directly. Limits of the joints can be set in "General >
Safety >Robot limits".

The user can perform the following operations:

 Click the input box to enter the desired angle. See section 14.4 for details;
 Click the arrow buttons to increase or decrease the current value.
 Click the "Stepping" icon in the bottom of the menu to switch on or off the stepping
mode, as shown in Figure 14-2.

Figure 14-2 Stepping mode

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14.3.1 TCP Translation or TCP Orientation

Under the selected frame, press and hold the "TCP Translation" or "TCP Orientation"
arrow to move the robot arm in a specific direction.

14.4 Edit Pose Page

The user can also click the input boxes of the "Tool Position" or "Joint Positions" to enter
the "Edit Pose" page, as shown in Figure 14-3.

Figure 14-3 Edit pose

On the "Edit Pose" page, the value of joint position or tool position can be directly
entered. After input, a transparent image of the target pose will appear in the view.

When the left arrow is hold: the number in the input box will reduce the value. The
transparent robot image previewing the target pose will update synchronously;

When the right arrow: the number in the input box will increase the value. The
transparent robot image previewing the target pose will update synchronously;

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When the left arrow is tapped: an input keyboard will pop out. After inputting the value
with the keyboard, the number in the input box will subtract the value inputted with the
keyboard, and the transparent robot image previewing the target pose will update instantly.

When the right arrow is tapped: an input keyboard will pop out. After inputting the value
with the keyboard, the number in the input box will add the value inputted with the keyboard,
and the transparent robot image previewing the target pose will update instantly.

Once the value adjustment is done, press "Accept" button, then the screen will enter
Move Interface.

14.5 Move Interface

After editting pose completed, the screen will automatically jump into Move Interface as
Figure 14-4.

Figure 14-4 Move Interface

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The user can select "Manual Move" or "Auto Move" to move the robot to the target pose.
After selecting the check-box "Auto Move By Line" and long press "Auto Move", the robot will
be moved in a straight line (MoveL) to the target position.

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15 Bus Protocol
15.1 Introduction
The CS625 robot supports Modbus, RTSI, Profinet, 30001, 29999, and other bus protocols.

15.2 Modbus Protocol

15.2.1 Introduction

Modbus is a serial communication protocol, which was published by Modicon (now

Schneider Electric) in 1979 for the use of Programmable Logic Controller (PLC)
communication. Modbus has become the industry standard (Defacto) of the communication
protocol in the industrial field, and is now a common connection method between industrial
electronic devices.

The Elite CS series supports obtaining or modifying the internal data of the robot through
the standard Modbus TCP protocol. It can be used as a master station to access other slave
devices that support the Modbus protocol; it can also be used as a slave station to accept
access requests from other Modbus master stations. This article mainly introduces some of its
characteristics as a slave.

15.2.2 Working Principle

The Modbus TCP protocol works at the application layer of the OSI network model, and
uses TCP for data transmission. When the controller acts as a server, the client establishes a
connection with it via TCP port (502), and uses standard format application layer messages
for data communication. The slave station can be accessed by multiple master stations at the
same time.

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TIPS
The Modbus slave device is always the requested station, so it is also
called Modbus Server, and the master device is also called client.

15.2.3 Register Description

The data types supported by the CS series that can be read and written using the Modbus
protocol are boolean and unsigned short integers (16 bits). Each type contains a set of input
and a set of output registers, so there are 4 sets of registers in Modbus that can be accessed by
the master station. Among them, the input type register only allows the read operation, the
output type register is readable and writable. For detailed description of register protocol
interface, please visit the website: www.eliterobots.com .

1. Boolean register (8 bits): mainly used to manipulate digital IO, the effective address
range of the digital IO register currently accessible by the CS series is 0-63, although the value
type is bool, each IO still occupies one byte of space, so digital IO occupies a total of 2*64
bytes.

2. Unsigned short integer (16 bits): used to save and modify the robot version, TCP,
system status and other information; also used to map digital IO. The effective address range
of the input/output registers currently accessible by the CS series is 0-415.

15.2.4 Modbus Function Code

The Modbus master device can read/write slave registers through the following function
codes:

1. 0x01: read one or more output digital signals (read output bits)

2. 0x02: read one or more input digital signals (read input bits)

3. 0x03: read one or more output registers (read output registers)

4. 0x04: read one or more input registers (read input registers)

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5. 0x05: write a single output digital signal (write output bit)

6. 0x06: write a single output register (write output register)

7. 0x0F: write multiple output digital signals continuously (write multiple output bits)

8. 0x10: write multiple output registers continuously (write multiple output registers)

15.2.5 Modbus Function Code

Exception codes and meanings are as follows:

-2：Disconnect.

-1：Connecting.

1：The signal type is incorrect.

2：The slave register (coil) address is incorrect.

3：The value is incorrect.

4：Slave exception.

5：The master station received a message that the slave station might time out.

6：The slave station is busy.

8：The slave parity check error.

10：The gateway is misconfigured or overloaded.

11：The failure to receive a response from the slave usually means that the slave is not in
the network.

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15.2.6 Register Mapping Relationship and Configuration

Instructions

15.2.6.1 Digital IO and Register Mapping

In the CS series of equipment, there are 64 operable digital IO. The first 32 IO addresses
are closely related to the general IO on the motherboard of the controller. The remaining 32
addresses are reserved for subsequent development.

Therefore, the digital IO is currently mapped to the Modbus register. The specific
mapping relationship is:

Standard digital input ————> Register address: 0

Configurable digital input and tool IO ————> Register address: 1

Standard digital output ————> Register address: 2

Configurable digital output and tool IO ————> Register address: 3

The mapping above shows the unsigned IO register is 16 bits per register address. The
value of each bit from low to high represents the state of a digital IO signal. For example, on
the unsigned register address 0, if the register value is 0x2 (the first bit is set to 1), it means
the value on the digital input bit address 0 is set to 0; the value on the bit address 1 is set to 1;
and the values on the bit addresses from 2 to 15 are all set to 0.

15.3 RTSI Protocol

15.3.1 Introduction

RTSI (Real-time Sychronization Interface) provides a standard TCP/IP connection for

real-time data interaction with external programs.

Interactive data content such as:

 Output: the robot outputs values of integer registers, terminal load, etc;
 Input: status settings for the robot float input register and digital input IO.

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RTSI consists of three steps: protocol check, setting, and synchronization. Because the
protocol will be updated iteratively, when the RTSI client is connected, the protocol version
needs to be verified first to determine whether the communication can continue. Note：The
protocol is version 1. When the version verification is able to communicate, the subscribe
variables need to be configured. After verification and configuration are completed, send the
start signal to start communication.

When linked to the RTSI server, the client is responsible for setting the variables to
subscribe to. The clients can subscribe to any combination of input or output subscriptable
items. To do this, the client needs to send the server the variable names to subscribe to,
which must be the names listed in the "Subscription Items" section below. Upon receiving the
subscription request sent by the client, the server replies with a list of variable types. When
the setup is complete, send the start signal and the server will start the synchronization cycle.
When the synchronization cycle needs to be paused, send the pause signal.

After starting the synchronization cycle, the server will send data in the order requested
by the client. If the value needs to be changed, the client will send the data after binary
serialization according to the order of subscription.

All data packets have a uniform structure in the form of message header + message
content (some data packets do not need message content). In the two steps of "Protocol
Check" and "Setting", there is a reply message, but there is no reply message in the step of
"Synchronization Cycle". Note that "Message Packets" can be sent and received at any time in
all packets. The network port of the RTSI is 30004.

Instructions of RTSI，please visit the website: www.eliterobots.com .

15.4 Profinet Protocol

Profinet communication protocol is a new generation of automation bus standard based
on industrial Ethernet technology. Data is transmitted through network cables. Profinet
provides a complete network solution for the automation communication field, covering
current hot topics in the automation field such as real-time Ethernet, motion control,
distributed automation, fault safety and network safety.

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15.4.1 Profinet Specification

1. Slot:

The PROFINET IO device has a total of 10 slots, and each slot corresponds to a module. A
brief description of the 10 modules is as follows：

 R2P_State：Robot sends status data to PLC；

 R2P_IO：Robot sends IO data to PLC；
 R2P_Joints：Robot sends joint data to PLC；
 R2P_TCP：Robot sends TCP data to PLC；
 R2P_BIT_REG：Robot sends output boolean register data to PLC（0-63）
；
 R2P_INT_REG：Robot sends output integer register data to PLC（0-23）
；
 R2P_FLOAT_REG：Robot sends output float register data to PLC（0-23）
；
 P2R_IO：PLC sets robot IO；
 P2R_REG1：PLC sets the robot input register；
 P2R_REG2：PLC sets the robot input register.

Profinet sends and receives data in byte stream mode, so it defines A set of data format
for each module. For the data format, please visit the website: www.eliterobots.com .

2. User defined data types：

For PLC S7-1200 and S7-1500 (PLC firmware 4.0 or later) : Elite_datastruct.udt (can be
imported into TIA portal), please visit the website: www.eliterobots.com .

3. GSD file：

For GSDML-V1.00-ELITE-CS-20220620.xml (thumbnail: ELITE-ProfinetSlave.bmp), please

visit the website: www.eliterobots.com .

15.5 Ethernet/IP Protocol

Ethernet/IP (Industrial Protocol) is an extended TCP/IP network protocol for real-time
control that combined with the Common Industrial Protocol (CIP). It will better help the users
to obtain more open, integrated industrial automation and information-based solution.

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CS series products support the Ethernet/IP slave applications. Users do not need to
reconfigure when the controller is used as the salve station. The communication between the
master-slave stations is established through a RJ 45 twisted-pair cable. The master station
will make a connection request and give the feedback of the connection status.

Please note that here the FB1 network port is used.

For more details, please visit the website: www.eliterobots.com .

15.6 30001 Communication Interface Protocol

15.6.1 Introduction

The controller is always providing data representing the robot's state, such as positions,
temperatures. The data transmitted from each server socket. This port is "Primary Port" and
it send data of robot's state.

15.6.2 Package Format

The protocol port is 30001, the frequency is 10HZ, and the package format is shown in
Table 15-1.

Table 15-1 Package format

Bytes Content
4

Length of whole package

1 Type of package = MESSAGE_TYPE_ROBOT_STATE = 16

4

Length of sub-package

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1 Type of sub-package
n Sub-package data
4

Length of sub-package

1 Type of sub-package
n Sub-package data
……

Robot's state package includes package header, robot mode sub-package, joint
sub-package, cartesian sub-package, robot configure sub-package, robot motherboard
sub-package, robot additional information sub-package, robot tool data sub-package, robot
satety mode sub-package, robot communication sub-package, and ELITE internal use
sub-package. Detailed description of robot's state package and analysis example and

description of 30001, please visit the website: www.eliterobots.com .

15.6.3 Script Control and Rules

1. Script Control

Port 30001 receives and executes the correct script.

2. Script Rules

* Scripts are classified into def script and sec script：

* def script, this script is the script generated when the task is running, can be called the
main script, its running status is consistent with the task control button on the interface,
when the def script is executing, if the new def script is received again, the previous def script
will be stopped.

* sec script, this script can be executed at the same time as the def script, will not stop the
current running def script, this script is mainly used to control IO state and other operations,
can not run motion script.

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* The script needs to start with "def script():\n" or "sec script():\n" and end with "\nend",
where "script" is the script name and '\n' is the escape character, which defines an executable
script. The contents of the script must conform to python's programming rules.

For example:

```

def HelloWorld():

count = 0

for i in range(10):

count = i

popup("Hello World %d" % count)

end

```

15.7 29999 Communication Interface Protocol

15.7.1 Introduction

EliRobot has enabled Dashboard functions: Connect to EliRobot 29999 port through
TcpSocket and send commands to control EliRobot.

15.7.2 Connect EliRobot

To connect to the dashboard shell remotely, use the TcpSocket tool, telnet command line,
and development code to bind the robot IP address and dashboard shell port 29999. As
shown in Figure 15-12, the TcpSocket client is created.

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Figure 15-12 Connect to the EliRobot dashboard server

After the TcpSocket client is created and connected to the dashboard shell, the system
receives the text shown in Figure 15-13, prompting the client or developer to run the help or
usage command to query commands supported by the dashboard shell and their usage
descriptions.

Figure 15-13 EliRobot dashboard server connection succeeded

It should be noted that dashboard shell commands need to end input with "\n" by default.
Therefore, when sending commands, end with "\n". Otherwise, the input will be considered
incomplete and will not be responded to.

15.7.3 Dashboard Shell Commands

EliRobot dashboard shell provides a number of commands to interact with the EliRobot
platform. Dashboard shell commands include basic commands and functional commands.
The basic commands have a low correlation with the robot functions, while the functional
commands have a high correlation with the robot functions. For a quick survey and detailed
explanation of basic commands and functional commands, as well as common errors in using
the dashboard shell, please visit the website: www.eliterobots.com .

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 Part IV Maintenance and Quality

Part IV Maintenance and

Quality

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16 Maintenance and Disposal

16 Maintenance and Disposal

16.1 Maintenance
The maintenance and repair work must be implemented in strictly accordance with all
safety instructions in this manual.

The maintenance, calibration and repair work must be operated in accordance with the
latest service manual which can be found at: www.eliterobots.com . All dealers of Suzhou
ELITE Robot Co., Ltd. can visit this website.

After changing the control system, the robot joints or the tool, the robot and the tool zero
should be re-calibrated on the spot, and the calibration operation and the result judgment
method are introduced in the specification of check for zero. In addition, the parameter
settings should be checked. If the parameters are backed up, the backup parameters may be
imported; if the parameters are not backed up, the parameters should be set again. If the
robot joints or the tool needs to be replaced, the dynamics of the robot needs to be reentry.

Maintenance must be performed by an authorized system integrator, distributor, or ELITE

ROBOT Co.,Ltd. When the parts are returned to ELITE ROBOT Co.,Ltd., disassembly and
packaging should be performed in accordance with the instructions listed in the service
manual.

The safety level stipulated by the maintenance and repair work must be ensured, the
effective national or regional working safety regulations must be followed, and all safety
functions run normally must be tested. The purpose of maintenance is to ensure the system
operate properly. Repairment helps the robot to recover to normal state from system failure.
Maintenance includes fault diagnosis and actual maintenance.

In order to avoid damage to the robot arm or the controller, the following safety
procedure and cautions must be followed:

Safety procedure:

1. Unplug the main power cable from the back of the controller to ensure the robot is
completely powered off. Take necessary precautions to prevent other persons from

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re-energizing the system during the repair period. After all process are done, the user must
double check the system again to ensure it has been completely powered down.

2. Please check the earth connection before re-starting the system.

3. Please comply with the electrostatic discharge (ESD) regulations when disassembling
the robot arm or the controller.

4. Avoid disassembling the power supply system of the controller. The high voltage can be
remained inside the power supply system for several hours after the controller is switched off.

5. Prevent water or dust from entering into the robot arm or the controller.

Cautions:

1. Replace faulty parts with the identical part number or the corresponding parts
approved by ELITE ROBOT Co.,Ltd.

2. Reactivate all safety measures immediately upon completion of the work.

3. Record all maintenance operations in written form and save these records in the
relevant technical documents for the whole robot system.

4. The controller cannot be repaired by end-users. If maintenance or repair services are

needed, please contact the supplier or ELITE ROBOT Co.,Ltd

16.2 Disposal
The CS625 robot must be disposed of in accordance with the local and national laws,
regulations, and standards

16.3 Maintenance
The safety function of the robot must be tested at least once a year to ensure function still
proper.

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17 Quality Assurance

17 Quality Assurance
17.1 Product Quality Assurance
Suzhou ELITE Robot Co., Ltd. should provide the necessary spare parts to replace or
repair relevant parts if the new equipment and its components are defective resulting from
manufacturing and/or poor materials.

Suzhou ELITE Robot Co., Ltd. shall possess the ownership of the equipment or
components replaced or returned to ELITE ROBOT Co.,Ltd.

If the product is no longer under warranty, Suzhou ELITE Robot Co., Ltd. shall reserve the
right of charging the customer for replacement or repair.

In case of defects of equipment that is out of warranty, Suzhou ELITE Robot Co., Ltd. shall
not be responsible for any damage or loss caused therefrom, such as loss of production or
damage due to other production equipment.

17.2 Disclaimer
If the equipment defect is caused by improper disposal or falling to comply with the
relevant information stated in the user manual, the "Product Quality Assurance" will be
invalid.

The warranty shall not cover the failure caused by the following circumstances:

1. Mounting, wiring and connection to other control equipment are not in line with the
industrial standards or not implemented in accordance with the requirements of the user
manual.

2. When the CS625 is used outside the specification or standards shown in this user
manual.

3. This product is applied to the non-designated purposes.

4. The storage mode and operating environment are outside the specified scope (such as
pollution, salt damage and dewing) of the user manual.

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5. The product is damaged as a result of improper transportation.

6. Damage due to accident or impact.

7. When non-original parts and accessories are installed.

8. Damage as a result of modification, debugging or repair of the original parts by the

third party outside ELITE ROBOT Co.,Ltd.

9. Natural disasters, such as fire, earthquake, tsunamis, lightning strikes, wind and flood.

10. Failure outside the above mentioned circumstances and not caused by ELITE ROBOT
Co.,Ltd.

The following circumstances will not be covered by warranty:

1. The date of production or the start date of the warranty cannot be identified.

2. Alteration of the software or internal data.

3. The failure cannot be reproduced, or ELITE ROBOT Co.,Ltd. cannot identify the failure.

4. This product is used near or around radioactive equipment, biological test equipment,
or in environments deemed hazardous by ELITE ROBOT Co.,Ltd.

In accordance with the product quality assurance agreement, ELITE ROBOT Co.,Ltd. shall
be responsible for making the commitment of quality guarantee for the defects or
deficiencies occurring in the products and parts sold to the dealers.

As for any other explicit or implied warranties or liabilities including, but not limited to,
any implied warranty for marketability or specific use, ELITE ROBOT Co.,Ltd. shall not bear
the related liability to guarantee.

In addition, ELITE ROBOT Co.,Ltd. shall not be responsible for the related liabilities in
allusion to any form of indirect damage or consequence generated by the related product.

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Part V Appendix

Part V Appendix

CS Series 218 Version 2.10.0

 I Glossaries

I Glossaries
Stop Category 0 [Cat.0 Stop]: Stopping by immediate removal of power to the machine
actuators. (in accordance with IEC 60204-1:2018, 9.2.2)

Stop Category 1 [Cat.1 Stop]: A controlled stop with power available to the machine
actuators to achieve the stop and then removal of power when the stop is achieved. [in
accordance with IEC 60204-1:2018, 9.2.2]

Stop Category 2 [Cat.2 Stop]: A controlled stop with power remaining available to the
machine actuators. [in accordance with IEC 60204-1:2018, 9.2.2]

Performance Level [PL]: Discrete level used to specify the ability of safety-related parts of
control systems to perform a safety function under foreseeable conditions. [in accordance
with ISO 13849-1:2015, 3.1.23]

Enabling Device: Additional manually operated device used in conjunction with a start
control and which, when continuously actuated, allows a machine to function. [in accordance
with ISO 12100:2010, 3.28.2]

Risk Assessment: Overall process comprising a risk estimation, hazard identification and
judgement of whether the risk reduction objectives have been achieved. [in accordance with
ISO 12100:2010, 3.15, 3.16, 3.17]

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II Technical Specifications

II Technical Specifications
Table Ⅱ-1 Technical specifications

Payload 25 kg
Working radius 1500 mm
Pose repeatability ±0.08 mm
Degrees of freedom 6
Joints range ±360°
Joint 1 125°/s
Joint 2 125°/s
Maximum joint Joint 3 150°/s
speed Joint 4 210°/s
Joint 5 210°/s
Joint 6 210°/s
Max. TCP speed 3.3 m/s
IP rating IP68
ISO 14644-1 class cleanroom 5
Ambient temperature -10-50℃
Robotic Arm
Relative humidity 90% RH (No Condensation)
Typical power consumption 625 w
Mounting Any angle
High speed digital input 4
4 x DO/ 4 x DI (configurable), 1 x AI,
Tool I/O
1x AO
Aviation socket 1, 12 V / 24 V, 3 A
(three pin mode), 2 A (dual pin
Tool I/O power supply
mode), 1 A (single pin mode);
Aviation socket 2, 24 V，5 A
Tool communication RS485, CAN (reserved)
Footprint Ø 240 mm
Weight 58 kg
Aluminum alloy, plastic, steel,
Material
rubber

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 II Technical Specifications

Cable length 5.5 m

Cabinet size (W x H x L) 505mm x 462mm x 257mm

Weight 16 kg

Material Aluminum alloy, steel

IP rating IP54

24 x DI (8 x DI Configurable), 24 x DO
I/O interface (8 x DO configurable), 2 x AI, 2 x AO, 4
x high speed digital input
Controller
Voltage: 24V; Current: 3A (internal
ERB1C4k0 I/O power supply
power), 6A (external power)
3 Ethernet, 1 RS485, TCP/IP,
Communication MODBUS, TCP/RTU, EtherNet/IP,
Profinet

Power supply 100-240 VAC, 50-60 Hz

Ambient temperature -10-50℃

Relative humidity 90% RH (No Condensation)

Screen display size 12.1"

Resolution 1280 x 800 pixeis

Material Aluminum alloy, plastic, rubber

Weight 1.7 kg
Teach Pendant
Cable length 5.5 m

IP rating IP54

Ambient temperature -10-50℃

Relative humidity 90% RH (No Condensation)

Version 2.10.0 221 CS Series

III Application Standard

III Application Standard

The design of the CS625 cooperative robot refers to the following standards, as shown in
the table below:

Table Ⅲ-1 Robot application standard

Standard Definition
Safety of machinery:
ISO 12100:2010 General principles of design- Risk assessment and risk
reduction
Robots and robotic devices - Safety requirements for
ISO 10218-1:2011
industrial robots
IEC 60204-1: 2018 Safety of machinery - Electrical equipment of machines
Safety requirements for collaborative industrial robot
ISO/TS 15066:2016
Robots and robotic devices —Collaborative robots
Safety of machinery:
ISO 13849-1:2015 Safety-related parts of control systems - Part 1: General
principles of design
Safety of machinery:
ISO 13849-2:2015 Safety-related parts of control systems - Part 2:
Validation
Safety of machinery:
ISO 13850:2015
Emergency stop - Principles for design
Safety of machinery:
IEC 62061: 2015 Functional safety of safety-related electrical, electronic
and programmable electronic control systems
Functional safety of electrical / electronic /
IEC 61508 series
programmable electronic safety-related systems
Adjustable speed electrical power drive systems – Part
IEC 61800-5-2: 2016
5-2: Safety requirements - Functional
Communication networks - Profiles - Part3: Functional
IEC 61784-3: 2017
safety fieldbuses - General rules and profile definitions
Electromagnetic compatibility - Part 6-2: Generic
IEC 61000-6-4: 2019
standards – Emission standard for industrial

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 III Application Standard

environments
Electromagnetic compatibility - Part 6-2: Generic
IEC 61000-6-2: 2019 standards – Immunity standard for industrial
environments
ANSI/UL 1740, 4 Ed., Rev.
Standard for safety – Robots and robotic equipmen
June 20, 2019
ANSI/RIA R15.06-2012, For industrial robots and robot systems – Safety
Dated March 28, 2013 Requirements
CAN/CSA Z434-14 (R2019),
Industrial robots and robot systems
Reaffirmed 2019
CAN/CSA C22.2 No. 14-18 Industrial control equipment
NFPA 79, 2018 Edition, 2018 Electrical standard for industrial machinery

Version 2.10.0 223 CS Series

IV Certificate

IV Certificate

Figure Ⅳ-1 CE mark MD directive certificate

CS Series 224 Version 2.10.0

 IV Certificate

Figure Ⅳ-2 CE mark EMC directive certificate

Version 2.10.0 225 CS Series

IV Certificate

CS Series 226 Version 2.10.0

 IV Certificate

Figure Ⅳ-3 Functional Safety Certificate

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 V Alarm Information

V Alarm Information
Table V-1 CS program alarm information

Alarm # Description Possible Reasons Suggested Treatment

Communication
E1S0
Alarm
Try the following in turn:
Tool communication Unable to communicate (1) Power off and restart the robot.
E1S1
failure with the tool. (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[Slave] {joint} joint
Unable to communicate (1) Power off and restart the robot.
E1S2 communication
with the joint. (2) Contact ELITE ROBOTS after-sales
failure
service for assistance.
Try the following in turn:
{joint} joint
Unable to communicate (1) Power off and restart the robot.
E1S3 communication
with the joint. (2) Contact ELITE ROBOTS after-sales
failure
service for assistance.
Try the following in turn:
Robot
Unable to communicate (1) Power off and restart the robot.
E1S4 communication
with the robot. (2) Contact ELITE ROBOTS after-sales
failure
service for assistance.
Emergency Stop
E2S0
Alarm
Try the following in turn:
Robot emergency Emergency stop button
E2S1 (1) Release the emergency stop button.
stop pressed.
(2) Restart the robot.
Try the following in turn:
(1) Check whether the Emergency Stop
function of the safety input IO is
System emergency Emergency stop IO is
E2S2 configured correctly and release the
stop triggered.
trigger state.
(2) Check whether the emergency stop IO
trigger state of the masterboard is

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correct and release the trigger state.

(3) Contact ELITE ROBOTS after-sales
service for assistance.
E3S0 Calibration Alarm
Try the following in turn:
Robot calibration (1) Reset the calibration point to ensure
The accuracy error of
failed, error: {float} the accuracy and the diversity of
E3S1 calibration point is too
exceeded maximum position.
large.
limit: 5 (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
The accuracy of tool (1) Reset the calibration point to ensure
Tool calibration calibration points is the accuracy and the diversity of
E3S3
failed poor or the position is position.
similar. (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Calibrate the robot with 'Joint
Robot joint zero The robot has not been
E3S4 Zeroing' in expert mode.
position lost calibrated.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Make sure that the calibration process
Robot calibration An error occurred during
E3S5 is correct.
failed robot calibration.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Make sure that the robot structure
Current robot The current robot
type is correct.
E3S6 structure does not structure type is
(2) Update the controller software.
support calibration incorrect.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Insufficient number Try the following in turn:
There are less than 20
E3S7 of calibration (1) Increase the number of calibration
calibration points.
reference points points to 20.

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 V Alarm Information

(2) Contact ELITE ROBOTS after-sales

service for assistance.
E4S0 Brake Release Alarm
Try the following in turn:
Robot can't release Fail to release the (1) Power off and restart the robot.
E4S1
the brakes brakes. (2) Contact ELITE ROBOTS after-sales
service for assistance.

E6S0 Safety System Alarm

Try the following in turn:

(1) Check whether the robot position and
{joint} is close to Joint position is close to the joint soft limit parameters are
E6S1
joint soft limit joint soft limit. correct.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot position and
{joint} exceeds joint Joint position exceeds the joint soft limit parameters are
E6S2
soft limit joint soft limit. correct.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot position,
TCP and safety plane parameters are
Tool position close to correct to ensure that the robot TCP
E6S3 Close to safety plane
safety plane. position does not close to the safety
plane.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot position,
TCP and safety plane parameters are
Exceeds the safety Tool position exceeds
E6S4 correct to ensure that the robot TCP
plane safety plane.
position does not exceed the safety
plane.
(2) Contact ELITE ROBOTS after-sales

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service for assistance.

Try the following in turn:

(1) Check whether the robot position and
safety plane parameters are correct to
Elbow position close to
E6S5 Close to safety plane ensure that the robot elbow position
safety plane.
does not close to safety plane.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot position and
safety plane parameters are correct to
Exceeds the safety Elbow position exceeds
E6S6 ensure that the robot elbow position
plane safety plane.
does not exceed the safety plane.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot running
Base joint speed
Base joint speed state is correct to ensure that the joint
E6S7 exceeds safety speed
({float} °/s) is too fast speed does not exceed the safety limit.
limits.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot running
Shoulder joint speed
Shoulder joint speed state is correct to ensure that the joint
E6S8 exceeds safety speed
({float} °/s) is too fast speed does not exceed the safety limit.
limits.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot running
Elbow joint speed
Elbow joint speed state is correct to ensure that the joint
E6S9 exceeds safety speed
({float} °/s) is too fast speed does not exceed the safety limit.
limits.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Wrist1 joint speed Wrist1 joint speed Try the following in turn:
E6S10
({float} °/s) is too fast exceeds safety speed (1) Check whether the robot running

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 V Alarm Information

limits. state is correct to ensure that the joint

speed does not exceed the safety limit.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot running
Wrist2 joint speed
Wrist2 joint speed state is correct to ensure that the joint
E6S11 exceeds safety speed
({float} °/s) is too fast speed does not exceed the safety limit.
limits.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot running
Wrist3 joint speed
Wrist3 joint speed state is correct to ensure that the joint
E6S12 exceeds safety speed
({float} °/s) is too fast speed does not exceed the safety limit.
limits.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot running
Tool speed ({float} Tool speed exceeds state is correct to ensure that the tool
E6S13
mm/s) is too fast safety speed limits. speed does not exceed the safety limit.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot running
Elbow speed ({float} Elbow speed exceeds state is correct to ensure that the elbow
E6S14
mm/s) is too fast safety speed limits. speed does not exceed the safety limit.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check whether the robot running
The joint target position
{joint} position limit state, robot payload and speed
E6S16 is too different from the
violated parameters are correct.
actual position.
(2) Contact ELITE ROBOTS after-sales
service for assistance.

E6S17 The controller will The robot safety mode Try the following in turn:

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 V Alarm Information

enter the RECOVERY is in a violation state. (1) Operate the robot to a safe position.
mode The safety parameters (2) Contact ELITE ROBOTS after-sales
restrictions will no service for assistance.
longer take effect.
Please ensure safety
when using the robot.
Try the following in turn:
(1) Please ensure that the safety IO
The reduced mode
Safety IO input signal is connection is correct and the signal is
E6S18 safety IO input
inconsistent. switched at the same time.
signal is inconsistent
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Please ensure that the safety IO
The emergency stop
Safety IO input signal is connection is correct and the signal is
E6S19 safety IO input
inconsistent. switched at the same time.
signal is inconsistent
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Please ensure that the safety IO
The operational
Safety IO input signal is connection is correct and the signal is
E6S20 mode safety IO input
inconsistent. switched at the same time.
signal is inconsistent
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
The auto mode (1) Please ensure that the safety IO
safeguard stop Safety IO input signal is connection is correct and the signal is
E6S21
safety IO input inconsistent. switched at the same time.
signal is inconsistent (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
The auto mode
(1) Please ensure that the safety IO
safeguard stop reset Safety IO input signal is
E6S22 connection is correct and the signal is
safety IO input inconsistent.
switched at the same time.
signal is inconsistent
(2) Contact ELITE ROBOTS after-sales

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 V Alarm Information

service for assistance.

Try the following in turn:

(1) Please ensure that the safety IO
The safeguard stop
Safety IO input signal is connection is correct and the signal is
E6S23 reset safety IO input
inconsistent. switched at the same time.
signal is inconsistent
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
The three position (1) Please ensure that the safety IO
enabling safety IO Safety IO input signal is connection is correct and the signal is
E6S24
input signal is inconsistent. switched at the same time.
inconsistent (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
The masterboard (1) Please ensure that the safety IO
emergency stop Safety IO input signal is connection is correct and the signal is
E6S25
safety IO input inconsistent. switched at the same time.
signal is inconsistent (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
The masterboard (1) Please ensure that the safety IO
safeguard stop Safety IO input signal is connection is correct and the signal is
E6S26
safety IO input inconsistent. switched at the same time.
signal is inconsistent (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
The Teach Pendant
(1) Please check if the Emergency Stop
emergency stop IO
E6S27 button state is correct.
input signal is
(2) Contact ELITE ROBOTS after-sales
inconsistent
service for assistance.
Try the following in turn:
The force of the robot (1) Check the safety of the robot
Tool force is beyond
E6S30 tool exceeds the safety operation space to ensure that there is
max limit
limit. no collision.
(2) Check whether the robot tool force

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 V Alarm Information

limit setting is correct.

(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check the safety of the robot
operation space to ensure that there is
The force of the robot
Elbow force is no collision.
E6S31 elbow exceeds the
beyond max limit (2) Check whether the robot elbow force
safety limit.
limit setting is correct.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check the safety of the robot
operation space to ensure that there is
Robot's power on The power of the robot
no collision.
E6S32 environment is over to the environment
(2) Check whether the robot power limit
max limit exceeds the safety limit.
setting is correct.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Check the safety of the robot
operation space to ensure that there is
The momentum of the
Robot's momentum no collision.
E6S33 robot exceeds the safety
is over max limit (2) Check whether the robot momentum
limit.
limit setting is correct.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Use joint movement to move the
The robot moves in
The robot consumes robot away from singularity zone.
E6S34 Cartesian space near the
too much power (2) Reduce the robot's movement speed.
singularity zone.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Fail to turn on the Robot 48v power can't Try the following in turn:
E6S40
robot 48v power be controlled. (1) Please turn on and off the 48v power

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 V Alarm Information

again.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Please turn on and off the 48v power
Fail to turn off the Robot 48v power can't
E6S41 again.
robot 48v power be controlled.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Please check whether the robot
connection is correct, and then power on
E6S42 Robot is disconnect Robot is disconnect.
the robot again.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
1. The controller is not
bound to the robot.
2. The robot connected Try the following in turn:
{joint} serial number
E6S43 to the controller is not (1) Contact ELITE ROBOTS after-sales
binding check failed
its bound robot. service for assistance.
3. The robot has
replaced joint hardware.
1. The controller is not
bound to the robot.
Tool IO serial 2. The robot connected Try the following in turn:
E6S44 number binding to the controller is not (1) Contact ELITE ROBOTS after-sales
check failed its bound robot. service for assistance.
3. The robot has
replaced joint hardware.
1. The joint is not
subject to dynamic
No dynamic data of Try the following in turn:
identification or
E6S45 robot joints. Error (1) Contact ELITE ROBOTS after-sales
identification data is not
Info:{string} service for assistance.
written.
2. Joint data is corrupt.

E6S46 For the initial 1. Dynamic data is Try the following in turn:

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 V Alarm Information

configuration of configured for the first (1) Power off and restart the controller.
dynamics data, time. (2) Contact ELITE ROBOTS after-sales
please restart the service for assistance.
robot to complete
the configuration
1. The robot connected
to the controller is not
its bound robot.
{joint} dynamics Try the following in turn:
2. Joint internal data or
E6S47 data does not match (1) Contact ELITE ROBOTS after-sales
configuration file data is
the configuration file service for assistance.
corrupt.
3. The robot has
replaced joint hardware.
Try the following in turn:
{joint}' encoder Joint encoder auto- (1) Power off and restart the robot.
E6S50
calibration failed matic calibration failed. (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Please try to reset the state of safety
Safety Board Alarm: Safety board is in functions (such as safety IO, SG Stop,
E6S100
{string} violation state. etc.).
(2) Contact ELITE ROBOTS after-sales
service for assistance.

E7S0 Dynamics Alarm

Try the following in turn:

(1) Power off and restart the controller.
Dynamics The current robot type (2) Update the controller software and
E7S1
initialization failed is incorrect. servo firmware.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
Robot is not in
(1) Please check the status of the robot,
RUNNING mode, The robot's brakes are
E7S2 then power on the robot and release the
hand drag mode engaged.
brakes.
started failed
(2) Contact ELITE ROBOTS after-sales

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service for assistance.

Try the following in turn:

The actual mounting of (1) Please set the correct robot mounting
The robot mounting
E7S3 the robot is inconsistent in configuration.
verification failed
with the configuration. (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Power off and restart the controller.
The current robot
Unknown robot (2) Update the controller software and
E7S5 structure type is
structure type servo firmware.
incorrect.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Power off and restart the controller.
The current robot type (2) Update the controller software and
E7S6 Unknown robot type
is incorrect. servo firmware.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Power on again and release the brake,
avoiding external force on robot.
The dynamic function is (2) Check if payload, mounting, zero
Failed to enable
E7S7 disabled since dynamic position and dh parameters are correct.
dynamic function
model check failed. (3) Restart the robot after clearing the
alarm.
(4) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart drag mode and avoid applying
a force on robot before dragging.
The dynamic function is
Failed to start hand (2) Check if payload, mounting, zero
E7S8 disabled since dynamic
drag mode position and dh parameters are correct.
model check failed.
(3) Restart the robot after clearing the
alarm.
(4) Contact ELITE ROBOTS after-sales

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service for assistance.

Try the following in turn:

(1) Restart drag mode and avoid driving
robot too fast at the moment of dragging
start.
Startup stage of
The joint speed of drag (2) Check if payload, mounting, zero
E7S9 hand drag mode is
startup stage is too fast. position and dh parameters are correct.
abnormal
(3) Restart the robot after clearing the
alarm.
(4) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart drag mode and avoid applying
a force on robot before dragging.
Startup stage of The joint torque of drag (2) Check if payload, mounting, zero
E7S10 hand drag mode is startup stage is position and dh parameters are correct.
abnormal abnormal. (3) Restart the robot after clearing the
alarm.
(4) Contact ELITE ROBOTS after-sales
service for assistance.

E8S0 Record Path Alarm

The recorded path is to Try the following in turn:

E8S1 Failed to record path
short. (1) Please extend the recorded short.
Teach Pendant
E9S0
Alarm
1. The teach pendant is
Try the following in turn:
pulled out.
(1) Replug the teach pendant.
2. The teach pendant
Teach pendant (2) Check whether the teach pendant
E9S1 communication is
disconnected cable is connected normally.
unstable.
(3) Contact ELITE ROBOTS after-sales
3. The teaching pendant
service for assistance.
cable is damaged.
Teach pendant is in Try the following in turn:
E9S2 alarm, alarm code: (1) Re plug the teach pendant.
{signed} (2) Contact ELITE ROBOTS after-sales

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service for assistance.

Try the following in turn:

The current safety (1) Disconnect the teach pendant.
The current safety
hardware config is set to (2) Set the teaching pendant type in the
hardware config
E9S3 NO TEACH PENDANT safety hardware config to STANDARD
prohibits connecting
mode, but a teach type.
to the teach pendant
pendant is connected. (3) Contact ELITE ROBOTS after-sales
service for assistance.

E10S0 File System Alarm

Try the following in turn:

(1) Power off and restart the controller.
The file does not exist or
E10S1 Cannot delete file (2) Update the controller software.
is occupied.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Please check the validity of the file.
Failed to open file The file does not exist or
E10S2 (2) Power off and restart the controller.
{string} is corrupt.
(3) Contact ELITE ROBOTS after-sales
service for assistance.

E11S0 Memory Alarm

Try the following in turn:

(1) Power off and restart the controller.
Failed to allocate An error occurred in
E11S1 (2) Update the controller software.
memory controller software.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
Wrong memory (1) Power off and restart the controller.
An error occurred in
E11S2 pointer is freed: (2) Update the controller software.
controller software.
{hex} (3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Power off and restart the controller.
Pointer with value An error occurred in
E11S3 (2) Update the controller software.
zero is freed: {hex} controller software.
(3) Contact ELITE ROBOTS after-sales
service for assistance.

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 V Alarm Information

Try the following in turn:

(1) Power off and restart the controller.
The pointer value is An error occurred in
E11S4 (2) Update the controller software.
0 controller software.
(3) Contact ELITE ROBOTS after-sales
service for assistance.

E12S0 Servo Alarm

Try the following in turn:

(1) Power off and restart the robot.
Servo alarm: (2) Update the controller software and
E12S1
[{string}] servo firmware.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Power off and restart the robot.
The joint detects (2) Update the controller software and
E12S10 {joint} overcurrent
overcurrent. servo firmware.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
1. Incorrect setting of
Try the following in turn:
payload and accelera-
(1) Power off and restart the robot after
tion parameters.
clearing the alarm.
2. The payload is too
(2) Check whether the payload and
large and exceeds the
{joint} Abnormal acceleration parameters are set
load characteristic
E12S20 zero position of joint correctly.
curve.
current (3) Check whether the payload is too
3. Mechanical jamming
large and exceeds the load characteristic
caused by impact, joint
curve in user manual.
brake not opened, etc.
(4) Contact ELITE ROBOTS after-sales
4. The hardware of the
service for assistance.
joint driver is damaged.
1. Incorrect setting of Try the following in turn:
payload and accelera- (1) Power off and restart the robot after
{joint} Joint driver
E12S21 tion parameters. clearing the alarm.
overcurrent
2. The payload is too (2) Check whether the payload and
large and exceeds the acceleration parameters are set

Version 2.10.0 241 CS Series

 V Alarm Information

load characteristic correctly.

curve. (3) Check whether the payload is too
3. Mechanical jamming large and exceeds the load characteristic
caused by impact, joint curve in user manual.
brake not opened, etc. (4) Contact ELITE ROBOTS after-sales
4. The hardware of the service for assistance.
joint driver is damaged.
1. Incorrect setting of
Try the following in turn:
payload and accelera-
(1) Power off and restart the robot after
tion parameters.
clearing the alarm.
2. The payload is too
(2) Check whether the payload and
large and exceeds the
acceleration parameters are set
{joint} Joint motor load characteristic
E12S24 correctly.
overcurrent curve.
(3) Check whether the payload is too
3. Mechanical jamming
large and exceeds the load characteristic
caused by impact, joint
curve in user manual.
brake not opened, etc.
(4) Contact ELITE ROBOTS after-sales
4. The hardware of the
service for assistance.
joint driver is damaged.
1. Incorrect setting of
Try the following in turn:
payload and accelera-
(1) Power off and restart the robot after
tion parameters.
clearing the alarm.
2. The payload is too
(2) Check whether the payload and
{joint} The deviation large and exceeds the
acceleration parameters are set
between the actual load characteristic
E12S30 correctly.
joint and the target curve.
(3) Check whether the payload is too
position is too large 3. Mechanical jamming
large and exceeds the load characteristic
caused by impact, joint
curve in user manual.
brake not opened, etc.
(4) Contact ELITE ROBOTS after-sales
4. The hardware of the
service for assistance.
joint driver is damaged.
1.The e-stop button of Try the following in turn:
{joint} Joint e-stop the teach pendant is (1) Check whether the e-stop button of
E12S40
state pressed. the teach pendant is pressed. If the
2. False alarm of e-stop e-stop button is pressed, rotate the

CS Series 242 Version 2.10.0

 V Alarm Information

caused by external button for reset and synchronous

interference. operation.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
{joint} Abnormal (1) Restart the robot after clearing the
1. Communication
E12S50 communication, bus alarm.
verification failed.
verification failed (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
{joint} Abnormal
(1) Restart the robot after clearing the
communication,data
E12S52 alarm.
from master station
(2) Contact ELITE ROBOTS after-sales
os not received
service for assistance.
1. The joint encoder
cable is connected
incorrectly, the cable
maybe loose, or the Try the following in turn:
{joint} Abnormal cable is disturbed. (1) Restart the robot after clearing the
E12S60 joint encoder 2. The relevant alarm.
calibration hardware of the joint (2) Contact ELITE ROBOTS after-sales
encoder is disturbed, service for assistance.
resulting in the
incorrect value of the
joint encoder.
Try the following in turn:
1. The joint encoder is (1) Restart the robot after clearing the
{joint} Abnormal
E12S62 not calibrated or alarm.
joint encoder count
calibration failed. (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} Abnormal
E12S63 alarm.
joint motion sensor
(2) Contact ELITE ROBOTS after-sales
service for assistance.

Version 2.10.0 243 CS Series

 V Alarm Information

Try the following in turn:

(1) Restart the robot after clearing the
{joint} Abnormal
E12S65 alarm.
joint zero calibration
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
{joint} Abnormal 1. The motor encoder is (1) Restart the robot after clearing the
E12S70 motor encoder not calibrated or alarm.
calibration calibration failed. (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
{joint} Abnormal (1) Power off and restart the robot after
1. The motor encoder
E12S75 motor encoder clearing the alarm.
may be contaminated.
count (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Power off and restart the robot after
{joint} Abnormal hall
E12S80 clearing the alarm.
sensor
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Power off and restart the robot after
{joint} No hall mode
E12S82 clearing the alarm.
init error
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} Abnormal
E12S90 alarm.
joint brake on
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} Abnormal
E12S94 alarm.
joint brkae off
(2) Contact ELITE ROBOTS after-sales
service for assistance.

CS Series 244 Version 2.10.0

 V Alarm Information

Try the following in turn:

(1) Restart the robot after clearing the
E12S101 {joint} Joint collision alarm.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Clear the alarm, correctly set the
{joint} Joint speed parameters of the controller and
E12S110
overspeed restart the robot.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} Joint bus
E12S120 alarm.
overvoltage
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} Joint bus
E12S121 alarm.
undervoltage
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
1. The payload is too (1) Check the payload and correctly
large and exceeds the configure the payload according to the
load characteristic robot model.
{joint} Joint
E12S130 curve. (2) Check the working environment
overheating
2. The working temperature and use the robot according
environment to the specification in user manual.
temperature is too high. (3) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} Flash erase
E12S198 alarm.
exception
(2) Contact ELITE ROBOTS after-sales
service for assistance.

Version 2.10.0 245 CS Series

 V Alarm Information

Try the following in turn:

(1) Restart the robot after clearing the
{joint} Flash write
E12S199 alarm.
exception
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} Flash not
E12S200 alarm.
initialized
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Please enter the Expert Mode and
{joint}'s internal Due to abnormal power
reset the joint in Servo Parameter
E12S201 parameters are cut-off and other illegal
function.
abnormal. operations.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint} dule mcu (1) Restart the robot after clearing the
E12S500 commutation ini alarm.
fault (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
[M] {joint} 3.3v
E12S501 alarm.
power supply fault
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
[M] {joint} 12v power
E12S502 alarm.
supply fault
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint} 5v power (1) Restart the robot after clearing the
E12S503
supply fault alarm.
(2) Contact ELITE ROBOTS after-sales

CS Series 246 Version 2.10.0

 V Alarm Information

service for assistance.

Try the following in turn:

(1) Restart the robot after clearing the
[M] {joint} salve 3.3v
E12S504 alarm.
power supply fault
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint} analogy (1) Restart the robot after clearing the
E12S505 3.3v power supply alarm.
fault (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint} dule mcu (1) Restart the robot after clearing the
E12S506 commutation crc alarm.
fault (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint} dule mcu (1) Restart the robot after clearing the
E12S507 communication over alarm.
time (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
[M] {joint} hall signal
E12S508 alarm.
validation error
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint} joint (1) Restart the robot after clearing the
E12S509 encoder validation alarm.
error (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint}
(1) Restart the robot after clearing the
E12S510 acceleration sensor
alarm.
validation error
(2) Contact ELITE ROBOTS after-sales

Version 2.10.0 247 CS Series

 V Alarm Information

service for assistance.

Try the following in turn:

[M] {joint} motor (1) Restart the robot after clearing the
E12S511 encoder validation alarm.
error (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint} DC bus (1) Restart the robot after clearing the
E12S512 voltage validation alarm.
error (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[M] {joint} motor (1) Restart the robot after clearing the
E12S513 current validation alarm.
error (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} emergency Joint emergency stop
E12S521 alarm;
stop over time. failed.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
{joint} safeguard Joint safeguard stop
E12S522 alarm;
stop over time failed.
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[S] {joint} dule mcu (1) Restart the robot after clearing the
E12S600 commutation ini alarm.
fault (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[S] {joint} 3.3v power (1) Restart the robot after clearing the
E12S601
supply fault alarm.
(2) Contact ELITE ROBOTS after-sales

CS Series 248 Version 2.10.0

 V Alarm Information

service for assistance.

Try the following in turn:

(1) Restart the robot after clearing the
[S] {joint} 12v power
E12S602 alarm.
supply fault
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
[S] {joint} 5v power
E12S603 alarm.
supply fault
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Restart the robot after clearing the
[S] {joint} salve 3.3v
E12S604 alarm.
power supply fault
(2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[S] {joint} analogy (1) Restart the robot after clearing the
E12S605 3.3v power supply alarm.
fault (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[S] {joint} dule MCU (1) Restart the robot after clearing the
E12S606 commutation crc alarm.
fault (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[S] {joint} dule MCU (1) Restart the robot after clearing the
E12S607 communication over alarm.
time (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
[S] {joint} slave MCU
(1) Restart the robot after clearing the
E12S610 communication crc
alarm.
error
(2) Contact ELITE ROBOTS after-sales

Version 2.10.0 249 CS Series

 V Alarm Information

service for assistance.

Try the following in turn:

[S] {joint} slave MCU (1) Restart the robot after clearing the
E12S611 communication over alarm.
time (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
{joint} Abnormal
The motor encoder is (1) Restart the robot after clearing the
motor encoder
E12S701 not calibrated or alarm.
calibration: Motor
calibration failed. (2) Contact ELITE ROBOTS after-sales
disconnection
service for assistance.
Try the following in turn:
{joint} Abnormal
1. The motor encoder is (1) Restart the robot after clearing the
motor encoder
E12S702 not calibrated or alarm.
calibration: Motor
calibration failed. (2) Contact ELITE ROBOTS after-sales
wire sequence
service for assistance.
{joint} Abnormal Try the following in turn:
motor encoder 1. The motor encoder is (1) Restart the robot after clearing the
E12S703 calibration: Motor not calibrated or alarm.
encoder calibration failed. (2) Contact ELITE ROBOTS after-sales
disconnected service for assistance.
Try the following in turn:
{joint} Abnormal
1. The motor encoder is (1) Restart the robot after clearing the
motor encoder
E12S704 not calibrated or alarm.
calibration: Brake
calibration failed. (2) Contact ELITE ROBOTS after-sales
system stuck
service for assistance.
Try the following in turn:
{joint} Abnormal
1. The motor encoder is (1) Restart the robot after clearing the
motor encoder
E12S705 not calibrated or alarm.
calibration: Hall line
calibration failed. (2) Contact ELITE ROBOTS after-sales
sequence
service for assistance.
{joint} Abnormal Try the following in turn:
1. The motor encoder is
motor encoder (1) Restart the robot after clearing the
E12S706 not calibrated or
calibration: Z Index alarm.
calibration failed.
abnormality (2) Contact ELITE ROBOTS after-sales

CS Series 250 Version 2.10.0

 V Alarm Information

service for assistance.

E13S0 Collision Alarm

Try the following in turn:

(1) Please check the safety of the robot
(1) The robot detected a operation space to ensure that there is
collision. no collision.
Robot's {joint} is in (2) The robot is (2) Please check the robot is mounting
E13S1
collision mounting type or the type and payload parameters.
payload parameters are (3) Please check the parameters of robot
set incorrectly. collision settings.
(4) Contact ELITE ROBOTS after-sales
service for assistance.

E15S0 System Alarm

TThe controller has

Try the following in turn:
encountered an An error occurred in the
E15S1 (1) Contact ELITE ROBOTS after-sales
error and has controller.
service for assistance.
recovered
When running the task,
Please release the Try the following in turn:
E15S2 the robot brake is not
robot's brakes first (1) Release the robot brake.
released.
Try the following in turn:
Fail to load the robot The robot configuration (1) Update the controller software.
E15S3
configuration file file is missing or corrupt. (2) Contact ELITE ROBOTS after-sales
service for assistance.
Robot type is The user modified the Try the following in turn:
E15S4
changed robot type. (1) Power off and restart the controller.
Try the following in turn:
The system is (1) Please power off and restart the
E15S5 currently in an controller while ensuring safety.
unstable state (2) Contact ELITE ROBOTS after-sales
service for assistance.
The current The current joint size Try the following in turn:
E15S6 connected robot does not match the (1) Configure the robot type in expert
type mismatch, joint robot type. mode.

Version 2.10.0 251 CS Series

 V Alarm Information

types: [{string}] (2) Power off and restart the controller.

(3) Update the controller software and
servo firmware.
(4) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
(1) Configure the robot type in expert
The robot type is not mode.
E15S7 Unknown robot type
configured. (2) Power off and restart the controller.
(3) Contact ELITE ROBOTS after-sales
service for assistance.
{joint} parameters in (1) The joint config file is Try the following in turn:
config file doesn't corrupted. (1) Update or reinstall the controller
E15S8 match the (2) An internal error software and servo firmware.
parameters in joint occurred in the joint (2) Contact ELITE ROBOTS after-sales
firmware firmware. service for assistance.
Try the following in turn:
The robot controller
The robot controller is (1) Power off and restart the controller.
E15S10 is in error state,
in error state. (2) Contact ELITE ROBOTS after-sales
error code: '{signed}'
service for assistance.
Try the following in turn:
Please power on the The robot is not (1) Power ono the robot.
E15S11
robot first powered on. (2) Contact ELITE ROBOTS after-sales
service for assistance.
Try the following in turn:
The current The system performan-
(1) Please add sleep or sync functions at
performance ce occupied by the
E15S12 appropriate locations in the running
consumption of the current running task is
tasks to reduce performance
system is too high too high.
consumption during task execution.

E16S0 Bus Alarm

Profinet IO module Try the following in turn:

E16S1
not plug (1) P2R_IO module pulg slot.
Profinet REG1 Try the following in turn:
E16S2
module not plug (1) P2R_REG1 module plug slot.

E16S3 Profinet REG2 Try the following in turn:

CS Series 252 Version 2.10.0

 V Alarm Information

module not plug (1) P2R_REG2 module plug slot.

RTSI Watchdog
E17S0
Alarm
Try the following in turn:
RTSI Watchdog (1) Check Profinet, EthernetIP and other
E17S1
Alarm fieldbus.
(2) Check RTSI watchdog.

Version 2.10.0 253 CS Series

ALWAYS
EASIER
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Sales & Service: [email protected]

Technical Support: [email protected]

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Building 18, Lane 36, Xuelin Road, Shanghai 1F, Building 4, No. 259 Changyang Street,
Suzhou

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Room 1102, Building 6, No. 2, Ronghua South Taihua Wutong Island, Building 1A, Room 202
Road, Beijing Baoan District, Shenzhen

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10521 Research Dr., Suite 104, 37932, Knoxville Hersbrucker Weg 5, 85290, Geisenfeld, Germany
(TN), United States

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2-4-3 Sakae, Naka, Nagoya, 460-0008 Japan