Force-Controlled Collaborative Robot
Introduction
DOBOT CRAF Force-Controlled Collaborative Robot
High-Performance Force Control — Sensitive, Precise, and Ultra-Light
With an integrated design of sensor–algorithm–structure, the CRAF series achieves medical-grade micro-force interaction and exceptional smoothness. By breaking through traditional accuracy limits and enhancing safety protection mechanisms, it serves as a key enabler for advancing industrial automation and intelligent medical robotics.
Product Structure
- Integrated Force-Control Design
The CRAF series achieves unprecedented smoothness and precision with an integrated force-control structure. It supports true plug & play installation, enabling zero setup and zero adjustment for a seamless user experience. - Ring-Shaped Status Indicator
The front end features a circular indicator light for intuitive operation, allowing users to instantly monitor working status. The built-in button design ensures safer manual control. - End-Effector Interface
Equipped with a universal end interface, it is compatible with a wide range of external accessories such as grippers, cameras, and peripheral equipment.
Product Features
- Smooth Drag Teaching
- Full-axis drag teaching: Intuitive and effortless drag interaction for fast teaching
- Directional drag control: Allows precise angle definition for high-accuracy teaching
- Micro-force guidance: With a starting force of less than 2 N, capable of sub-micron-level fine motion control
- Precision Operation
- High force-tracking accuracy: Achieves force control precision of up to ±3 N, even on complex curved paths
- Adaptive force feedback: Automatically compensates for trajectory deviation, eliminating the need for tedious path adjustments
- Environmental compensation: Automatically adjusts posture to maintain stable motion on uneven surfaces
- Safe Collaboration
- Force-sensing collision detection: Effectively reduces impact when unexpected contact occurs
- Enhanced anti-impact capability: Withstands impact forces up to 2000 N, ensuring safety during human-robot collaboration
Application Scenarios
Product Specifications
| Aluminum alloy, ABS plastic | CR5AF | CR10AF | CR20AF |
|---|---|---|---|
| Robot Weight (kg) | 25.5 | 40.5 | 74 |
| Maximum Payload (kg) | 5 | 10 | 20 |
| Working Radius (mm) | 900 | 1300 | 1700 |
| Maximum Linear Speed (m/s) | 2 | 2 | 2 |
| Joint Range of Motion | J3: ±160° Other joints: ±360° | J3: ±160° Other joints: ±360° | J3: ±165° Other joints: ±360° |
| J1/J2 Max Joint Speed | 180°/s | 150°/s | 120°/s |
| J3 Max Joint Speed | 180°/s | 180°/s | 150°/s |
| J4/J5/J6 Max Joint Speed | 223°/s | 223°/s | 180°/s |
| End DI / DO / AI | 2 channels | 2 channels | 4 channels |
| End RS485 | v | v | v |
| Repeatability | ±0.02 mm | ±0.03 mm | ±0.05 mm |
| IP Rating | IP54 | IP54 | IP54 |
| Operating Temperature | 0~50℃ | 0~50℃ | 0~50℃ |
| Rated Power | 150W | 350W | 500W |
| Mounting Method | Vertical installation | Vertical installation | Vertical installation |
| Material | Aluminum alloy, ABS plastic | Aluminum alloy, ABS plastic | Aluminum alloy, ABS plastic |
Control Box － Product Specifications:
| Model | CC262 | CC263 |
|---|---|---|
| Compatible Robot Models | CR5AF、CR10AF | CR20AF |
| Dimensions (mm) | 345 x 345 x 145 | 400 x 400 x 175 |
| Weight | 9.5 kg (AC input) / 8.5 kg (DC input) | 15 kg (AC input) |
| Power Supply | AC input: 100–240V, 47–63Hz DC input: 30–60V | AC input: 100–240V, 47–63Hz |
| IO Power Supply | 24V, Max 3A, Max 0.5A per channel | 24V, Max 3A, Max 0.5A per channel |
| DI/DO | 24 channels (NPN or PNP) | 24 channels (NPN or PNP) |
| AI/AO | 2 channels, voltage/current mode: 0–10V, 4–20mA | 2 channels, voltage/current mode: 0–10V, 4–20mA |
| Network Interfaces | 2 ports for TCP/IP, Modbus TCP, EtherNet/IP, PROFINET communication | 2 ports for TCP/IP, Modbus TCP, EtherNet/IP, PROFINET communication |
| USB | 2 ports, for file import/export | 2 ports, for file import/export |
| RS485 | 1 port, RS485 Modbus RTU communication | 1 port, RS485 Modbus RTU communication |
| Encoder Interface | 1 port, ABZ incremental encoder input | 1 port, ABZ incremental encoder input |
| Operating Environment | 0–50°C, humidity ≤ 95%, non-condensing | 0–50°C, humidity ≤ 95%, non-condensing |
| IP Rating | IP20 (optional IP54) | IP20 (optional IP54) |
| Teaching Methods | PC, APP(Android), Teaching Pendant | PC, APP(Android), Teaching Pendant |
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