Shenzhen Elephant Robotics Technology Co., Ltd.

Elephant Robotics
User Manual
Catbot Series Collaborative Robot

Language: English
Version: CR0919001

Shenzhen Elephant Robotics Technology Co., Ltd.

Copyright Declaration
No unit or individual may extract, compose, translate or reproduce any of thecontents of this manual without the written permission of Shenzhen Elephant
Robotics Technology Co., Ltd. (the rest of the article is referred to as “Elephant
Robotics”), and shall not in any form (including But not limited to information andpublications).
In addition, the product information and related resources mentioned in thismanual are for reference only and the contents are subject to change without
notice.
Except as expressly stated in this manual, nothing in this manual should beconstrued as any warranty or guarantee by the Elephant Robotics of personalloss, damage to property, or fitness for a particular purpose.
All rights reserved!

© Copyright 2017-2019 Shenzhen Elephant Robotics Technology Co., Ltd.
All rights reserved.

Shenzhen Elephant Robotics Technology Co., Ltd.

Catalog
Overview to the manual ........................................................................................................... 1
About the manual ............................................................................................................ 1
Reading objects of the manual ........................................................................................ 1
How to use ....................................................................................................................... 1
Main contents of the manual ........................................................................................... 1
Before the official reading of the manual ......................................................................... 2
1 Safety .................................................................................................................................... 3
1.1 Introduction ................................................................................................................. 3
1.2 Safety alert symbol description ................................................................................... 3
1.3 Hazard identification ................................................................................................... 4
1.4 Safety Precautions ..................................................................................................... 6
1.5 Nameplate introduction ............................................................................................... 8
1.6 Avoid misuse .............................................................................................................. 8
1.7 Risk assessment guidance ......................................................................................... 9
1.8 Robot stop function ..................................................................................................... 9
1.8.1 Emergency stop ............................................................................................... 9
1.8.2 Collision detection .......................................................................................... 10
1.9 Urgent handling ........................................................................................................ 11
2 Product description ............................................................................................................. 12
2.1 Robot system overview ............................................................................................ 12
2.2 The robot body ......................................................................................................... 13
2.2.1 Feature ........................................................................................................... 13
2.2.2 Joint introduction ............................................................................................ 14
2.2.3 Dimensions ..................................................................................................... 14
2.2.4 Working range ................................................................................................ 15
2.2.5 Payload .......................................................................................................... 16
2.3 The power box .......................................................................................................... 16
2.3.1 Power box composition .................................................................................. 16
2.3.2 Power box function ......................................................................................... 16
2.3.3 Power box size ............................................................................................... 17
2.4 Technical parameter table ........................................................................................ 17
3 Environment and installation ............................................................................................... 20
3.1 Transportation and storage ...................................................................................... 20
3.2 Unpacking inspection ............................................................................................... 20
3.3 Working environment and conditions ....................................................................... 22
3.4 Mechanical connection ............................................................................................. 23
3.4.1 Installation requirements ................................................................................ 23
3.4.2 Mechanical connection step ........................................................................... 23
3.5 Electrical connections ............................................................................................... 26
3.5.1 Electrical interface introduction ...................................................................... 26
3.5.2 Cable connection ............................................................................................ 34
3.6 System startup debugging ........................................................................................ 35
4 Maintenance ....................................................................................................................... 37
4.1 About the safety of maintenance .............................................................................. 37
4.2 Maintenance plan ..................................................................................................... 38
4.3 People who can be contacted .................................................................................. 38
5 Repair ................................................................................................................................. 40

Shenzhen Elephant Robotics Technology Co., Ltd.

Overview to the manual
About the manual
Welcome to use Catbot series collaborative robot and thanks for yourpurchase.
This manual describes how to properly install and use the Catbot seriescollaborative robot, as well as matters needing attention.
Please read this manual and other related manuals carefully before installing
this robot system. After reading, please keep it in a safe place so that you canaccess it at any time.

Reading objects of the manualThis manual is targeted to:lInstaller.
l
Debugger.
l
Maintenance staff.
Those who perform installation/debug/repair work on the Catbot
series collaborative robot must be trained in Elephant Robotics andhave the mechanical and electrical knowledge required for the above
work.

How to use
This manual should be used when doing the followings:lInstallation work: Move the robot to the working position and fix it to thebase according to the installation instructions, place the other parts inthe proper position and complete the electrical connection.
l
Debugging work: Debug the robot to work.
l
Maintenance work: Regularly maintain the robot system to ensure its
can function properly; when the robot malfunctions due toenvironmental influences or improper operation of the user, or a certain
component of the robot system exceeds the normal service life, etc. The
robot needs to be repaired.

Main contents of the manuallllPrecautions for safe use of the robot.
Mechanical, electrical installation and commissioning of the robot.
Maintenance and repair of the robot.

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Before the official reading of the manual
Before you officially read the manual, you need to know:
1， About robots
The Catbot series collaborative robot is different from the traditional
industrial robot, which completes the perfect slimming of the robot and realizes
the cabinet integration. It can work safely with workers and independently
complete the processes of loading, unloading, testing, checking and packaging inindustrial manufacturing.
2， About product warranty
During the warranty period of the delivered product, the company only
repairs the faults that occur when the robot is used normally. However, in thefollowing cases, the customer will be charged for repairs (even during thewarranty period):
1) Damage or malfunction caused by incorrect use of the contents of themanual and improper use.
2) Failure caused by unauthorized removal by the customer.
3) Damage caused by improper adjustment or unauthorized repair.
4) Damage caused by natural disasters such as earthquakes and floods.
Therefore, please operate the robot in strict accordance with the
instructions in this manual and related manuals.
3， About help
For any questions or suggestions on the contents of the manual, you canquery on the official website of the Elephant Robotics to submit the relevant
information: https://www.elephantrobotics.com.
4， Contact information
1) Full name of company: Shenzhen Elephant Robotics Technology Co.,Ltd.
2) Address: R208, B7, Yungu Innovative Industrial Park 2, Nanshan,
Shenzhen, China 518057
3) Mail:l[Business Cooperation] sales@elephantrobotics.com
l[Promotional Cooperation] marketing@elephantrobotics.coml[Customer Service] service@elephantrobotics.com
l[Technical Support] support@elephantrobotics.com
4) Tel: +86 755 8696 8565

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1 Safety
1.1 Introduction
1， Introduction to this chapter

This chapter details general safety information for those who perform
installation, maintenance, and repair work on the robot. Please read andunderstand the contents and precautions of this chapter before handling,
installation and use.
According to ISO 10218, both robot manufacturers, system integrators, andindividual users must perform hazard identification and risk assessment before
using the robot. Conducting a hazard analysis can predict any hazards that may
arise; and for hazards predicted in hazard identification, a risk assessment
should be conducted to maximize personal safety and property safety.
This chapter provides a basic guide to safe use by introducing different
safety alert symbols and precautions.
2， Interpretation of related terms
1) Collaborative operation
A specially designed robot that works directly with people in a defined
workspace.
2) Collaborative workspace
In the safety protection space of the robot work unit, the robot and theperson can complete the task at the same time in the production activity.

1.2 Safety alert symbol description
As shown in Table 1-1, this section describes the safety alert symbols usedin this manual. You can find the corresponding symbols described in this chapter
in other chapters, please note the meanings of these symbols.

Table1- 1 Safety Warning Symbol Table
Danger: Refers to a situation that is about to cause danger.
Failure to avoid this can result in death or serious injury.

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Warning: Refers to situations that may cause danger. Failure to
do so can result in personal injury or serious damage to theequipment.
Caution Electricity: Refers to the use of electricity that may
cause danger. If this situation is not avoided, it may result inpersonal injury or serious damage to the equipment.

Prohibited: Refers to things that are not allowed to do.

Attention: Refers to important matters that need attention.

1.3 Hazard identification
The safety of collaborative robots is based on the premise of proper
configuration and use of robots. Also, even if all safety instructions are observed,
injury or damage caused by the operator may still occur. Therefore, it isimportant to understand the safety hazards of the use of robots, which isbeneficial to prevent problems.
Tables 1-2~4 belowed are common safety hazards that may exist in thecontext of using robots:

Table1- 2 Dangerous safety hazards

Personal injury or robot damage caused by incorrect operation during robot
handling.
The robot was not fixed as required. For example, if the screw is not
2 screwed or tightened, and the base is insufficient to stably support the
robot for high-speed movement, etc., the robot may be dumped, etc.,
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resulting in personal injury or damage to the robot.
The correct safety function configuration of the robot is not performed, or
3 the safety protection tools are not installed, which causes the robot to failto function safely, thus causing danger.
Table1- 3 Warning level security risks

1

2
3
4

5

6

7

8

Do not stay within the robot's range of motion when debugging the
program. Unsuitable safety configurations may not avoid collisions that
could cause personal injury.
Connecting robots to other equipment can create new risks and require afull risk assessment.
Scratches and stabs caused by sharp surfaces such as other equipment in
the work environment or robot end effectors.
The robot is a precise machine, and pedaling may cause damage to therobot.
It is dangerous to hold the clamped object without clamping it in place orturning off the power and air supply to the robot (not sure if the end
effector is firmly holding the object without falling off due to loss of power).
It is dangerous to hold the clamped object without clamping it in place orturning off the power and air supply to the robot (not sure if the end
effector is firmly holding the object without falling off due to loss of power).
There is a risk that the robot will move unexpectedly. Under nocircumstances should you stand under any axis of the robot!
The robot is a precise machine. If it is not placed smoothly during handling,
it may cause vibration and may cause damage to the internal componentsof the robot.
Compared with ordinary mechanical equipment, robots have more freedom
and more range of motion. A narrow space that does not meet the range of
motion may cause an unexpected collision.
Table1- 4 Potential safety hazards that may result in electric shock

1

Using a non-original cable may pose an unknown hazard.
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2
3

4

Exposure to liquids with electrical equipment can result in a risk ofelectrical leakage.
There may be an electric shock hazard when the electrical connection isincorrect.
Be sure to replace it after turning off the power to the controller andrelated equipment and unplugging the power cord. If the work is performed
while the power is on, it may cause electric shock or malfunction.

1.4 Safety Precautions
In general, compared with ordinary machinery, robots have thecharacteristics of larger working range and faster speed, which is accompaniedby the danger that ordinary machinery does not have. When installing, using, andmaintaining the robot, pay attention to the following items listed in Tables 1-5~6(the followings are some of the common precautions listed):

Table1- 5 Safety precautions that need to be banned

12
3

It is forbidden to modify the robot or use non-original accessories.
Untrained non-professionals are prohibited from entering the robot work
area at will, pressing any button or doing other operations at will.
The relevant personnel shall not maintain, repair or use the robot after
being affected by drinking, taking drugs or stimulating drugs.
Table1- 6 General safety precautions

1

2
3

Anyone responsible for installing and maintaining the robot must read andfollow these safety instructions. Only those who are familiar with robots
and trained in robots are allowed to install and maintain the robot.
To protect the programmer, the operator, and the bystander, ensure thatthe safety measures have been established as defined in the risk
assessment and that the robot safety parameters are properly configured.
Production operators should not loosen long hair (long hair must be picked6

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4

5

6
7

8

9

10

11
12
13
14
15
16
17

18

up) and wear a work cap, not wearing a variety of jewelry.
Operators who work with the robot must be familiar with the content andexact location of the various warning signs and symbols on the device andensure their integrity and clarity. Before turning the device on and off,
make sure that all safety devices and related accessories are working
properly and that no one is in a dangerous location where the device isactivated. When the robot runs abnormally, it should stop immediately andreport in time.
The operator must clarify the scope of responsibility for operation,commissioning, maintenance and repair. The operator is not allowed tochange the operating procedures and teaching at will. No other personnel
may enter the collaborative operation space and the danger zone.
During maintenance work, the warning sign must be hung to enter thecollaborative operation space.
When the operator is in production, it should be ensured that each starting
device is normal and is not allowed to start at will.
When the maintenance and operation personnel perform maintenance on
the equipment, the main power switch must be turned off before
maintenance work can be performed.
No objects should be stacked in the robot working area, and no debris
should be stacked in the control box.
After the operation is completed, the gas and electricity switches should
be closed according to the process, and the work site should be cleanedup.
It is forbidden to shake the robot hard and hang heavy objects on the
robot.
All dangerous behaviors or games are prohibited around the robot.
After installing the robot, make sure the robot is fixed on a stable surface
for subsequent operations.
It is important to ensure that the robot does not collide with itself or otherobjects during exercise.
If the robot is damaged, do not continue to use it and contact the relevant
personnel for processing.
Please use the robot within the robot's parameter range and service life,
otherwise it may cause serious safety problems.
After the emergency stop state is cancelled, the servo power must be
turned on before the servo power supply is turned on again.
Please pay attention to the rotating shaft of the robot to prevent the cableand the air tube from being entangled. Keep a distance from the moving
shaft to prevent hair or clothings from getting entangled.
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Before using the drag teach function, make sure the load settings arecorrect.
When the robot is used with other equipment, please connect the
20 emergency stop signal in series to stop the robot and other equipment inan emergency to avoid unnecessary loss.
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1.5 Nameplate introduction
There are two types of nameplates used in the robot system, namely the
nameplate of the robot body and the power box. The nameplate records somebasic information about the product. It should be noted that the production
number on the nameplate is unique. In other words, each product has a uniqueID, which is an important basis for distinguishing each product, and is also
important information to be provided when applying for repair.

Figure 1- 1 Robot body nameplate

Figure 1- 2 Power box nameplate

1.6 Avoid misuse
Please do not use the Catbot series collaborative robot for the following
purposes:8Shenzhen Elephant Robotics Technology Co., Ltd.







Medical and life-critical applications.
May cause an explosion in the environment.
Used directly without risk assessment.
Insufficient use of safety function levels.
Inconsistent use of robot performance parameters.

1.7 Risk assessment guidance
Risk assessment is the whole process including risk analysis and risk
assessment. National laws require risk assessment. It is recommended that
integrators apply ISO 12000 and ISO 10218-2 for risk assessment of robots.
The risk analysis mainly includes:
 Determination of various limitations of the robot, including usage
restrictions, space restrictions, and the like.
 Hazard identification, in addition to some of the hazard identification
items listed above, users also need to carry out hazard identificationaccording to actual use. For example, human-machine interactions
during the life of the machine, possible states of the machine,
unintended operator conditioning behaviors, or misuses that themachine can reasonably foresee.
 Risk estimation, analysis of risk factors (such as severity of injury,
probability of injury, etc.), estimation of exposed personnel, protective
measures, etc.
After completing the risk analysis, a risk assessment should be conducted todetermine if a risk reduction is required.

1.8 Robot stop function
Each robot should have a protective stop function and a separate emergency
stop function. This section describes two ways to stop the robot:
 If you want to stop the robot in an emergency, immediately press the
emergency stop switch.
 When the force generated by the collision of the robot with the person
or object is greater than the set threshold, the robot detects the force
generated by the collision and stops or moves to a certain position(collision return).

1.8.1 Emergency stopAn emergency stop will cut off the drive source of the robot drive. At thesame time, the hold-type brake will stop the inertial motion of the robot, therobot will stop all movements, and the running program will be stopped.
Do not press the emergency stop switch at will during normal operation. If
the emergency stop switch is pressed during the action, the trajectory of the9Shenzhen Elephant Robotics Technology Co., Ltd.

robot before stopping will be different from the trajectory during normal
operation, which may trigger an accident such as a collision.
When the vehicle is in an emergency stop state (normal), if the robot system
is to be placed in an emergency stop state, press the emergency stop button
when the robot does not operate.
Before using the emergency stop switch, you need to know the following: The emergency stop (E-STOP) can only be used to stop the robot in very
urgent situations.
 The Catbot series collaborative robot has set up multiple emergency
stops. In addition to the power box emergency stop button and theexternal emergency stop interface of the power supply box, anemergency stop interface is also provided on the robot body, and an
emergency stop button box or a teach pendant can be connected(optional, the teach pendant is provided with an emergency stop
button).
 The emergency stop button can only be manually reset, and before
resetting, it is necessary to confirm that any other hazards that can becontrolled by the robot have been eliminated.
 To stop the robot from running in a non-emergency situation, use the
Pause command or the Stop command. These two commands do notturn off the motor. Therefore, the brake will not work.
 If you need to control the emergency stop of the robot and otherequipment at the same time, you can use the external E-STOP double
loop circuit (you need to short the circuit when it is not in use). This is a
protective stop circuit that can be controlled manually or automatically.

1.8.2 Collision detection
During the operation of the robot, it is possible to come into contact withpeople or objects. It can be protected by setting a protection threshold. The
specific mechanism of action is as follows: When the force generated by thecollision of the robot with the person or the object is greater than the threshold,the robot detects the force generated by the collision, thereby stopping or moving
to a certain position (collision return).
Please note that when the protection threshold is set too high, a large force
is required to stop the robot, which will reduce the sensitivity of the collision
detection to a certain extent; When the protection threshold is set too low, therobot may stop when it is holding the load due to the excessive torque generated
by its own motion. Therefore, please set the threshold of protection under theguidance.
In addition to this, the user can set the protection threshold for each actionand each movement of the robot.
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1.9 Urgent handlingIf the software jumps out of a fatal error message, activate theemergency stop quickly, write down the condition that caused theerror, and contact your supplier.
In the event of a fire, use a carbon dioxide (CO2) fire extinguisher!

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2 Product description
2.1 Robot system overview
The Catbot series collaborative robot is a 6-axis robot designed for businessand education.
Generally, a traditional robot consists of three major parts: a robot body, ateach pendant, and a controller. As shown in Figure 2-1, the Catbot seriescollaborative robot use the latest integrated design. It solves the problem that the
robot controller needs another land occupation for the first time and integrates
the controller into the robot body to perfectly realize the cabinet integration. On
the basis of accomplishing the same function, the advantages of convenient
carrying, reducing space limitation and flexible arrangement are added.

1- Robot body

2-Power box

3-Teach pendant（optional）

Figure 2- 1 Robot system
1， The robot body

The robot body is a mechanical body used to complete various tasks of therobot system. It mainly includes the robot shell, drive unit, transmission unit andinternal sensors. The main robot shell material is aluminum.
The robot's principle of motion is a combination of rotational motions of six
joints. Using kinematics and dynamics analysis, the algorithm is solved toachieve the desired motion at the end of the robot.
The Catbot series collaborative robot also integrates the controller into thebody. The controller is the main body that completes the robot control function
and is a key part of determining the function and level of the robot. The main
component is the computer, which controls the overall motion of the robot.
2， The power box
A power box is used to power the robot body. It also sets an emergency stop
button for user-friendly use.
3， The teach pendant（optional）
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The teach pendant is the main interface of human-computer interaction, andits internal part is composed of a touch screen, a display, a driving circuit board
and some components. The robot can be programmed and operated by using ateach pendant.
In the Catbot series collaborative robot, the teach pendant is an optional
accessory. Even without the teach pendant, the user can connect to the robot
using other display devices, tablets, mobile phones, etc., to achieve related
operations on the robot.
To put it simply, if the robot system is like a human, then the controller is likea human brain, controlling the robot body (like a human hand) to perform tasks,
and the teach pendant is a human-computer interaction interface between the
robot system and people.

2.2 The robot body
2.2.1 Feature
The Catbot series collaborative robot has the advantages of convenient
carrying, easy installation, short deployment time, easy operation, safe use andconvenient expansion of peripheral equipment, which can greatly shorten the
deployment time of the factory for automation project transformation and reduce
the total cost of deployment. The specific description is as follows:
1， Cabinet integration
The Catbot series collaborative robot integrates the controller into the robot
body to achieve cabinet integration. It has a modular design and a compact bodywith a body weight of only 18kg. This design also greatly reduces the overall
footprint of the robot system, and can effectively simplify the installation steps ofthe robot and shorten the installation time.
The Catbot series collaborative robot can adapt to the structure of the
production workshop, but also to the installation conditions of shops and studios
in non-industrial environments.
2， Voice control
In addition to the unique security of collaborative robots, the genie series ofcollaborative robots also added human-machine voice interaction. This is also amanifestation of the development of robotic AI, making the machine interaction
more diversified. The user can directly talk to the robot, easily know the current
running state of the robot, and use the voice command to control the robot tostart or pause the running of the program, making the robot more convenient andefficient.
3， Security collaboration
Based on the accurate kinetic model of the collision detection algorithm, theCatbot series collaborative robot will automatically stop in case of a slight13

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collision to ensure the safety of personnel. Users do not need to set a safety
fence when using the Catbot series collaborative robot, which can be easily
applied to light industry, commercial, scientific research and other occasions.

2.2.2 Joint introduction
Figure 2-2 shows the schematic diagram of the joint number of the Catbot
series collaborative robot. The Catbot series collaborative robot is a 6-degree-offreedom industrial robot consisting of six joints (axes) with joint numbers asshown.
The robot body of the Catbot series collaborative robot can be regarded as
an open chain multi-link mechanism. The starting link is the base of the robot,
the end link is connected to the end effector, and the adjacent links areconnected by a joint (axis).

Figure 2- 2 Robot body joint numbering diagram

The flange at J6 can be used to connect end effectors such as electric
actuators or end effectors such as pneumatic suction cups.

2.2.3 Dimensions
Figure 2-3 shows the outline of the robot body.

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Figure 2- 3 Robot outline drawing

The span is the straight-line distance between the farthest point that the
robot's wrist can reach and the centerline of the robot's base when the arm isextended horizontally to the maximum extent. The arm of the Catbot seriescollaborative robot is about 600mm.

2.2.4 Working range
Figure 2-4 shows the workspace of the Catbot series collaborative robot.
Please limit the actual range of the robot according to the range of motion of therobot before using the robot to avoid the consequences of mismatch between the
span and the actual motion space.

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Figure 2- 4 Robot workspace diagram

2.2.5 Payload
The Catbot series collaborative robot has a rated load of 3kg and can worknormally under load of 3kg and below. As the load moves further and further
away from the J6 flange position, its payload will become smaller and smaller.

2.3 The power box
2.3.1 Power box composition
The main components of the power box are the switching power supply, thesafety relay and the interface and buttons on the outside of the power box
housing, as well as two handles and four foot cups.

2.3.2 Power box function
The main functions of the power supply box of the Catbot seriescollaborative robot are the safety function, the power supply function of the onoff body and the third-party power supply connection function.
1， Safety features
The main electrical components in the power box that are closely related tosafety functions are safety relays and emergency stop buttons.
The safety function mainly includes the user can cut off the power of the
motor driver through the emergency stop button in an emergency; Once theemergency stop state is reached, after the emergency or related fault is removed,
the user needs to manually reset the emergency stop button, and also needs torestore the motor driver power supply through software reset.
2， On-off robot body power function
Make sure that the electrical connection is correct, the emergency stop
button is released (ie, it has not been pressed, if it has been pressed, it can beturned clockwise), and the external emergency stop double circuit has beenshorted, the user plugs the power boxʼs plug into the socket. By turning on the16Shenzhen Elephant Robotics Technology Co., Ltd.

power button on the power box, the robot body can be successfully supplied witha safe voltage of DC 48V or less.
Reverse operation can cut off power to the robot body.
3， Third-party power transfer function
In some usage scenarios, the robot body does not require a power supply
box to directly supply power, and only needs to be powered from other devices.
For example, when the robot body is mounted on an AGV car, the user only needs
to take power directly from the AGV car to supply power to the robot. Therefore,
a dedicated third-party power supply interface is available on the power box.

2.3.3 Power box size
Figure 2-5 shows the external dimensions of the power supply box. Wheninstalling the robot, the user needs to determine the placement position byconsidering the external dimensions of the power box and the length of thepower cord.

Figure 2- 5 Power box outline drawing

2.4 Technical parameter table
The specifications of the Catbot series collaborative robot are shown in
Table 2-1.

PayloadTable 2- 1 Technical parameter table
the Catbot series collaborative robot
3kg
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Reach
Degrees of freedom

600mm
6J1/J2/J4/J5/J6: ±360°

Working range

J3: ±150°

Axis maximum speed

J1/J2/J3/ J4/J5/J6：180°/sec

Tool speed
Weight1m/sec
18kg

Position repeatability±0.05mm

Dimensions robot base

φ150mmI/O power supply
Communication
Programming mode
IP RateDigital Input:12
Digital Ouput:8
Digital Input:3
Digital Ouput:3
24V 1A
TCP/IP
Graphical programming
IP42

Power consumption

180W（Typical）

Materials

Aluminium alloy，PC，Rubber

Operating temperature range

0-50℃

I/O ports
Tool I/O ports

DC 48V，10.5A

Power supply

DC 24V，4.5A
Test in accordance with：

Collaboration operation

EN ISO 13849-1:2015
EN ISO 10218-1: 2011

Noise
Robot mounting
Relative humidity
Interface and openness
Size (length × width × height)
WeightPower supply
IP Rate<70dB
Any angle
5%-95%SDK(Python, C++,JAVA),API,ROS
Power box
303mm×202mm×154mm
6kg
AC 220V，50Hz

IP20
Teach Pendant(Optional)
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Size (length × width × height)
Weight255mm×230mm×90mm
1.8kg

Screen resolution

1024×768

IP RateTouch screen / display size

IP20
10.4ʺ

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3 Environment and installation
3.1 Transportation and storage
Robots are precise equipment, so you need to pay special attention to theprotection of the equipment when transporting.
Avoid applying external force to the robot's outer casing and motor.
When transporting the robot over long distances, secure it to thehandling equipment to prevent the robot from tipping over. If
necessary, use the package at the time of delivery.
If condensation occurs during transport or storage, turn the power
on after removing condensation.
When transporting before installation, lifting equipment such as driving
should be used in principle. However, in view of the relatively light quality of theCatbot series collaborative robot, manual handling can also be considered
without lifting equipment. Pay attention to safety when handling by hand andtake it carefully to avoid damage to the equipment.
It is necessary to prevent the machine from rolling over during
handling and to avoid people standing around.
When manually transporting the Catbot series collaborative robot,
the number of personnel must not be less than two.
The Catbot series collaborative robot is a precise device, so avoid
excessive vibration and shock when handling.
The weight of the Catbot series collaborative robot body is 18 kg.
If lifting the robot by sling, in order to avoid damages, a thick pad isnecessary to protect the outside appearance of the robot, andpeople should standing underneath the robot body when the robot
is being lifted.
The robot cable and power must be disconnected before handling.
Note that the robot storage environment temperature is 0-50 °C, and it isdedicated to the person responsible for storage.

3.2 Unpacking inspection
After the package is in place, please confirm that the robot packaging is
intact. If there is any damages, please contact the logistics company and the
supplier in your area. As shown in Figure 3-1, the box of the Catbot seriescollaborative robot is a 720mm × 510mm × 420mm carton. The tank is equipped20Shenzhen Elephant Robotics Technology Co., Ltd.

with a cushioning filler to prevent excessive vibration and impact on the robot
during transportation.
After unpacking, please check the actual items in the box according to thelist of items. The list of items is shown in Table 3-1.

Figure 3- 1 Box size

No.
1
2
3
4
5
6
7
8
9
10
11

Table 3- 1 List of items in the box
Items
Quantity
Robot body
1Power box
1
Power cable
1
Body-power box cable
1
Emergency stop button box (with1cables)
5mm hex wrench
1
M6×20 socket head cap screws
4
User manual
1
Warranty card1
Factory report
1
Product certification
1

Unit
Pcs
Pcs
Pcs
Pcs
Pcs
Pcs
Pcs
Pcs
Pcs
Pcs
Pcs

Take the robot out of the box and you can see the posture of the robot asshown in Figure 3-2. The side facing the reader is the upper side, and a movablebuffer filler is stuck at the J6 flange (the position of the box is shown). When the
robot body is taken out of the package, the filler needs to be removed.
If you need to put the robot back into the original box for transportation, youneed to return the robot to the packing position. The data of each axis
corresponding to the packing posture is shown in Table 3-2. Adjusting the robot
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Shenzhen Elephant Robotics Technology Co., Ltd.

to the packing posture, you can manually operate each axis of the robot andadjust each axis to the target angle. You can also use the packaging function in
the configuration center to control the robot to automatically reach the packing
posture with one click.

Figure 3- 2 Packing posture

Table 3- 2 Robot package posture data
Axis 1
90 °Axis 2-5 °Axis 3

95°

Axis 4

45°

Axis 5-180°

Axis 60°Please adjust the packing posture before removing the robot fromthe mounting base.
Before making the package posture adjustment, make sure that theend effector and its cable are detached from the robot.
If the user needs to adjust to another posture for transportation, in
addition to manual adjustment of each axis angle, it can also berecorded into the program for subsequent use.
Since the movement range of the robot to the packing posture isrelatively large, during the adjustment process, please pay attention
to the position of the robot to ensure that it will not cause
accidental collision due to interference with peripheral equipment.

3.3 Working environment and conditions
Set the robot system in an environment that meets the conditions describedin Table 3-3 to show and maintain the performance of the unit and use it safely.
Table 3- 3 Working environment and condition table
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Shenzhen Elephant Robotics Technology Co., Ltd.

Temperature

0-50℃

Relative humidity
Indoor and outdoor
requirements

5%-95%
Indoor

- Avoid sun exposure.
- Keep away from dust, oil smoke, salt, ironfilings, etc.
- Keep away from flammable, corrosive liquids
Other environmental
and gases.
requirements- Do not come into contact with water.
- Do not transmit shock and vibration.
- Keep away from sources of strong
electromagnetic interference.

3.4 Mechanical connection
3.4.1 Installation requirements
1， Environmental requirements

The installation environment requirements are shown in Table 3-3.
2， Mounting baseConsidering that during the use, the center of gravity will change with the
movement of the robot, so the user needs to fix the robot on the fixed base to beable to use normally. Users can use a fixed base or a movable base.
3， Installation angle
Common installation angles for robots include vertical installation andinverted installation.
4， Installation location
The installation location needs to be confirmed with a few points: Firstly, therange of motion of the robot target must not exceed the rated range of motion;
secondly, make sure that the reserved space is sufficient for the robot tocomplete the target operation in the space; thirdly, make sure that there isenough space for installation, use, maintenance, and repair.

3.4.2 Mechanical connection step
1， Confirm the robot base interface size

The fixing hole of the base is the interface for fixing the robot to the base of
the machine base or the workstation. The specific hole size is shown in Figure 33. The base fixing hole position is 4 through holes with a diameter of 6.5 mm. The
user can use the M6 bolts for fixing (M6 bolts and matching tools are already inthe box).
23

Shenzhen Elephant Robotics Technology Co., Ltd.

Figure 3- 3 Base fixing hole

The specific specifications of the fixing bolts are shown in Table 3-4.
Table 3- 4 Robot base fixing screw specifications
Bolt specification M6
According to the platform thickness ofBolt length
the robot mounting base, but not
shorter than 20mm
Strength
12.9
12Nm ( a torque wrench for fastening
Tightening torqueis recommended)
2， Mount the robot on the base
Before you officially install, please confirm:
 Make sure that there is a corresponding threaded hole on the fixed base
before proceeding the next installation.
 Place the base in the proper place Please make sure that the installation related tools are ready, such as
screws and wrenches
After confirming the above, move the robot to the mounting surface of thebase, pull up the base cover, adjust the position of the robot, and align the fixing
hole of the robot base with the hole on the mounting surface of the base.
When adjusting the position of the robot on the mounting base, try
to avoid pushing the robot directly to avoid scratches.
When manually transporting or moving the robot, try to avoid
applying external force to sensitive parts of the robot body (such as24

Shenzhen Elephant Robotics Technology Co., Ltd.

the motor) to avoid unnecessary damages to the robot.
After aligning the holes, align the bolts with the holes for installation. It is
recommended that the installer first fix the bolts in the diagonal position and do
not fully tighten them first, leaving a certain margin for easy adjustment of theother positions. After the all four bolts are in place, fully tighten them.
Once the robot is not yet securely mounted to the mounting base, therobot may be at risk of tipping at any time. Please keep the robot inbalance.

3， Place the power box, teach pendantFigure 3-4 shows the installation of the Catbot series collaborative robot.
Please determine the position according to the actual size of the power box andthe cable orientation. If the user has purchased the teach pendant, it can beplaced on the stand or hung to the self-installed hook.
When placing the robot power box, be careful not to keep its
distance from the robot body beyond the length of the connecting
cable.
Select the proper place for the power box, try to avoid the powerbox being bumped or close to the wall, which may cause problems
that may be unfavorable for heat dissipation.
When selecting the place of the power box, make sure that dust
and water can be avoided.

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Shenzhen Elephant Robotics Technology Co., Ltd.
Figure 3- 4 Installation diagram

4， Install the end effector to the robot J6 flange
End effectors are devices that are specifically designed and installed at themechanical interface of the robot to perform tasks. For example, grippers,
wrenches, welding torches, spray guns and etc. The specific flange size is shownin Figure 3-5.

Figure 3- 5 Flange interface size

To install the end effector to the robot flange, there are two cases: one isthat the interface of the end effector corresponds to the size of the mechanicalinterface of the flange; the other is to take the adapter with the size of theconnection interface.

3.5 Electrical connections
3.5.1 Electrical interface introduction
1， Power box interface and buttons

Figure 3-6 shows the power box interface and button.

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Shenzhen Elephant Robotics Technology Co., Ltd.

Emer gency button
T hir d-party power supply
interface
Power switch
Power supply interface tothe body
ACpower outlet

Figure 3- 6 Power box interface and button diagram

1）Emergency button
Press the emergency stop button to directly cut off the power of the motor
drive. When the emergency stop event or fault is resolved, the emergency stop
button can be turned clockwise to restore power.
The emergency stop button cuts off the power supply to the robot
body, while the power box itself is still charged.
2）Third-party power supply interface
Figure 3-7 shows the definition of each interface. The third-party power
supply interface is a single-row 9PIN terminal block.
EST1+ EST1- EST2+ EST2- 24VP 24VN 48VP 48VN

PE

Figure 3- 7 Third-party power supply interface description

The first four interfaces "EST1+, EST1-, EST2+, EST2-" are external
emergency stop interfaces. Among them, "EST1+, EST1-" is a loop, and "EST2+,
EST2-" is another loop.
The fifth and sixth interfaces "24VP, 24VN" are the positive and negativepoles of DC 24V, respectively. The seventh and eighth interfaces "48VP, 48VN"
are the positive and negative poles of DC 48V, respectively. The ninth interface isthe ground port.
The external emergency stop interface must remain normally closed.
If there is no external emergency stop control device (such asexternal emergency stop button, automatic control device and etc.),
you need to use jumpers to short the two emergency stop circuits"EST1+, EST1-" and "EST2+, EST2-".
27

Shenzhen Elephant Robotics Technology Co., Ltd.

3）Power button
If the power cord is connected to an AC 220V power outlet, press the power
button to power the power box. Conversely, press the button again to turn off thepower supply.
4）Power supply interface to the bodyThis interface is used to connect the power supply box and the robot body tosupply power to the robot body. The corresponding interface definition diagram isshown in Figure 3-8.
12

11

13

3

10
2
9

14
4
5

1
8

7

6

FRONT VIEW

Figure 3- 8 Power supply interface diagram for the body

The specific definition of this interface is shown in Table 3-5.

Table 3- 5 Definition the power supply interface for the bodyNo.
SignalExplanation
1
E2+
Emergency stop circuit 2 input.
2
E1Emergency stop circuit 1 output.
3
E1+
Emergency stop circuit 1 input.
4
E2Emergency stop circuit 2 output.
5/6
48VN
DC 48V power supply negative.
7
PE
Ground terminal.
8
CTR
The robot powers up the control terminal
9
RST
The robot resets the control terminal.
10
EIN
Robot emergency stop signal input.
1124VN
DC 24V power supply negative.
12
24VP
DC 24V power supply positive.
13/14
48VP
DC 48V power supply positive.
5）Power outlet
As shown in Figure 3-9, it is the power socket interface definition map. It is
used to connect the AC 220V power cord. In the figure, "L, N, PE" respectively
indicate the hot line end, the neutral line end, and the ground end.

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Shenzhen Elephant Robotics Technology Co., Ltd.

PE

Figure 3- 9 Power socket interface definition diagram
2， Body base interface panel

For user convenience, the Catbot series collaborative robot provides a variety
of interfaces. Figure 3-10 shows the definition of each interface of the body baseinterface panel.

Output
Audio
Power KeyWIFI

Input&DC 24V
Internet

HDMI
POWER IN

USB2.0ESTOP/ TP

Figure 3- 10 Body base interface definition diagram

1）Audio interface: system audio interface.
2）Wireless WiFi interface: connect to wireless WiFi
3）Ethernet interface: the port of the network data connection4）USB 2.0 interface: a port for data connection using the serial bus
standard USB 2.0
5）Digital output Interface
As shown in Figure 3-11, the output is an NPN output. When the control signal ishigh, the triode is activated, and the output is turned on with GND. When thecontrol signal is low, the triode is blocked, and the output is in a floating state.

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Shenzhen Elephant Robotics Technology Co., Ltd.

Figure 3- 11 Output schematic

As shown in Figure 3-12, the first two bits of the output interface are DC 24V
power supply positive, and the rest are OUT0~OUT7 for a total of 8 generalpurpose output interfaces. The maximum output current of each channel is
300mA.
+
24V

24V OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7

Figure 3- 12 Output interface definition diagram

Take the output control indicator on or off as an example in Figure 3-12. The
positive indicator is connected to the positive DC 24V power supply, and thenegative indicator is connected to OUT0 or other output interface. When the
output signal is off, OUT0 is high and the light is off; when the output signal ison, OUT0 is low and the light is on.
The "24V" shown in Figure 3-12 is actually connected to the "24V" in
Figure 3-14. Therefore, when connecting the positive pole of theoutput signal loop, all of these DC 24V positive terminals can beused.
6）Power button: The robot system power button. If the power is connected,press the button to start the system.
7）Digital input &24V power connector
As shown in Figure 3-13, the input signal drives the optocoupler through thecurrent-limiting resistor R, allowing the internal circuit to detect it. The difference
between the PNP input and the NPN input is that one end of the PNP input isconnected to 0V, and one end of the NPN input is connected to 24V.

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Shenzhen Elephant Robotics Technology Co., Ltd.

Figure 3- 13 Input schematic

Figure 3-14 shows the digital input &24V power interface definition. Divided
into two rows, a total of four groups.
 The first group is the two positive ports and three negative ports of theDC 24V power supply.
 The second group is the four universal input interfaces IN8~IN11 andtheir common terminals.
 The third group is the four universal input interfaces IN0~ IN3 and theircommon terminals.
 The fourth group is the four general input interfaces of IN4~IN7 andtheir common ends.
DC 24V
24V

24V

GND

IN8~11GND

GND COM2

IN8

IN0~3
COM0

IN0

IN1

IN9

IN10

IN11

IN6

IN7

IN4~7
IN2

IN3

COM1

IN4

IN5

Figure 3- 14 Input &24V power interface definition diagram

The input signal can be determined to be active high or active low dependingon the configuration of the input common.
As shown in Figure 3-15, if the input common terminal is connected to the
DC 24V positive pole, the input device (taking the switch button as an example)
is connected to the DC 24V negative terminal and the other terminal to the input
port. Pressing the switch button at this time will input a valid signal.
+
24V

24V

GND

GND

GND COM2

IN8

IN9

IN10

IN11

B uttonFigure 3- 15 Common access to high level example

As shown in Figure 3-16, the input common terminal can also be connected31Shenzhen Elephant Robotics Technology Co., Ltd.

to the DC 24V negative pole. The input device (taking the switch button as an
example) has one end connected to the DC 24V positive pole and the other end
connected to the input port. Pressing the switch will input a valid signal.
-

24V

24V

GND

GND

GND COM2

IN8

IN9

IN10

IN11

B uttonFigure 3- 16 Common access low example

8）HDMI display interface
When the teach pendant is not equipped while the robot operation page isdisplayed, the user can display the operation page to other device terminals byconnecting the HDMI display interface.
If a teach pendant is already installed, the user needs to connect the Teach
Pendant HDMI cable to this connector.
9）Body power supply interface
This interface and the power supply box connect the power supply interfaceof the main unit through the power line, as shown in Figure 3-17. The definition is
the same as the corresponding interface of the power supply box. See Table 3-5
for specific definitions.
12

11

13

3

10
2
9

14
4
5

1
8

6

7

FRONT VIEW

Figure 3- 17 Body power supply interface diagram10）Emergency stop box / teach pendant interface
The port sequence of the emergency stop box/teacher interface is shown in
Figure 3-18. When the teach pendant is not equipped, this interface needs to beconnected to the emergency stop button box. If equipped with a teach pendant,
this interface is connected to the teach pendant cable.

7

1
8

7
14

FRONT VIEW

Figure 3- 18 Emergency stop box / teach pendant interface diagram

The detailed definition of the the interface of both emergency stop box andteach pendant is shown in Table 3-6.
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Shenzhen Elephant Robotics Technology Co., Ltd.

Table 3- 6 Definition of the interface of emergency stop box / teach pendantNo.
SignalExplanation
1
GND
DC 12V negative electrode.
The positive side of the ring light on the2
PWR_LEDteach pendant button.
One end of the teach pendant button
3
PWR_KEY(the other end is connected to GND).
4
EST2Emergency stop circuit 2 output.
5
EST2+
Emergency stop circuit 2 input.
6
EST1Emergency stop circuit 1 output.
7
EST1+
Emergency stop circuit 1 input.
8
GND
DC 12V negative electrode.
912V
DC 12V positive.
10
NC
Unused.
11
GND
DC 12V negative electrode.
12
GND
DC 12V negative electrode.
RS232 serial communication transmits
13
RS232 TXD
the data terminal.
RS232 serial communication receives
14
RS232 RXD
the data terminal.
Since this interface has an emergency stop dual-circuit interface
related to the emergency stop circuit, this interface must be installedin place to connect the emergency stop button box or the teachpendant in order to make the robot function normally.
3， Function button

Figure 3-19 shows the function button diagram. The button panel is installedin the J6 position. The functions of the three buttons from left to right are to start(press again to pause) the program running button, stop the program runningbutton and customize the button.

Figure 3- 19 Function button diagram
4， Tool I/O

Figure 3-20 shows the tool I/O diagram. The Catbot series collaborative33

Shenzhen Elephant Robotics Technology Co., Ltd.

robot provides 3 inputs and 3 outputs.
5

4

6

8

3

2

7

1

FRONT VIEW

Figure 3- 20 Tool I/O diagram

The definition of each tool I/O port is shown in Table 3-7. Unlike theprinciple definition of general-purpose I/O, the tool I/O is PNP type regardless of
input or output, that is, the device I/O connected device is connected to GND at
one end, and the control terminal is connected to the I/O port.

No.
1
2
3
4
5
6
7
8

Table 3- 7 Tool I/O definition
SignalExplanation
GND
DC 24V negative electrode.
24V
DC 24V positive.
OUT1
OUT2
Tool output interface 1~3.
OUT3
IN1
IN2
Tool input interface 1~3.
IN3

3.5.2 Cable connection
There are three main cables in the robot system. Among them, if the user
has not equipped the teaching device, the third is the emergency stop box cable;
otherwise, the teach pendant cable. The specific information is shown in Table 38.

Type
AC power cord

Power cable
Option 1 Emergency stop
box line

Table 3- 8 Robot main cables
connection
lengthUse description
External AC power
supply - power
2m
Power the entire robot system.
supply box
Robot body - power
3m
Power the robot body.
box
If the user does not configure
Robot body the teach pendant, anemergency stop
3m
emergency stop box will bebox
configured.
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Shenzhen Elephant Robotics Technology Co., Ltd.

Option 2 ‒ Teachpendant Cable

Robot body - teachpendant

4m

Connect the robot body andthe teach pendant.

The AC power cord is used to connect an AC 220V power outlet to a powerbox. The power cable is connected to the power box and the robot body. If theuser does not purchase the teach pendant, there is also an emergency stop box
cable that needs to be connected to the robot body; If the user has a teachpendant, connect the teach pendant cable to the robot body at the sameinterface position of the emergency stop cable connector.
The original cable must be used.
The cable interface is generally easy to be damaged. Do not use brute
force or vigorously shake when plugging or unplugging. It is easy to cause
the interface to be loose or deformed. Please insert and remove it
carefully after alignment.
Be sure to replace the power supply box and related equipment after
removing the power supply and unplugging the power supply. If thework is performed while the power is on, it may cause electric shock or
malfunction.
Be sure to connect the AC power cable to the power plug and not
directly to the factory power source. Turn off the power to the robot
system by unplugging the power cord. It is extremely dangerous to workwhen the AC power cable is connected to the factory power supply,
which may result in electric shock and malfunction of the robot system.
Be careful not to bend the cable forcibly to avoid applying a load to thecable. Also, do not place heavy objects on the cable and forcibly bend orpull the cable. Failure to do so may result in damage to the cable,
disconnection, or poor contact, resulting in electric shock or improper
system operation.
Before wiring, turn off the power supply box and related equipment andpull up the warning sign (for example, do not turn on the power). Wiringin an energized state is extremely dangerous and may result in electric
shock and malfunction of the robot system.
Please ensure that the ground wire connection is reliable, otherwise it
may cause fire or electric shock.

3.6 System startup debugging
After the installation and connection work is completed, please plug in the35Shenzhen Elephant Robotics Technology Co., Ltd.

power cord, turn on the power switch, press the system start button of the teachpendant, observe whether the display button of the teach pendant is lit, and thelight indicates that the installation is successful, you can enter the next step; If it
does not light up, you need to check whether an important step is missing. If you
have failed to check the manual several times, it may cause a malfunction duringtransportation. Do not disassemble the parts yourself. Please contact a
professional for disposal.
Figure 3-21 shows the startup flowchart of the robot system. Please strictly
follow the manual, otherwise the warranty will not be available if the robot isdamaged due to improper operation.
Start

Is the robot arm installed
correctly?

Please follow the
manual to install
the arm correctly.
NO

YES

Is the cable connection
completed correctly?

Please follow the
manual to connect
the cable correctly.
YES

YES

Plug the power
cord into the power
strip.

Turn on thecontroller powerswitch.
Press the system
launch button on
the teach pendant.

Is the system start
button indicator on the teachpendant illuminated?

Please check theoperation steps according
to the manual.
NO

YES

Does the teachpendant screen light up?
RoboFlow boot?

NO

YES

The system started
successfully.

Figure 3- 21 Robot system boot flow chart

36Shenzhen Elephant Robotics Technology Co., Ltd.

4 Maintenance
4.1 About the safety of maintenance
After the robot has been running for a period of time, necessary maintenanceis required to ensure that the robot is functioning properly. Please contact a
professional:
 Make sure to perform robot maintenance by trained personnel.
 Personnel trained in safety refer to those that have been regulated bynational laws and regulations.
 Personnel who are trained in the safety of workers engaged in industrial
robot-related business (training on knowledge, operation, teaching andetc. of industrial robots, knowledge of business operations such as
inspections, and related laws and regulations).
 The company's maintenance targets are those who have completed thetraining and maintenance training.
Before maintenance, please read “Safety in Maintenance”, this manual andrelated manual, and perform maintenance based on a thorough understanding ofsafety maintenance methods.
Do not change any information in the software security
configuration (such as force limits). If the safety parameterschange, the entire robot system should be considered a new
system, which means that all safety audit processes, such as risk
assessment, must be updated.
Do not remove any parts unless otherwise stated in this manual.
The maintenance steps are strictly adhered to according to thecontent. If the wrong disassembly or maintenance is performed, notonly will the robot system malfunction, but it may also cause
serious safety problems.
Be sure to check the robot movement after replacing the parts
outside the safety fence. Otherwise, the robot before the action
confirmation may perform unexpected actions and may cause
serious safety problems.
All disassembled robots need to be recalibrated.
If you have not received training, stay away from the robot when the
power is on. Also, do not enter the action area. Even if you see thatthe robot seems to stop moving, the robot that is powered on may
accidentally operate and may cause serious safety problems.
Before entering the normal operation, please confirm that the37Shenzhen Elephant Robotics Technology Co., Ltd.

emergency stop button and the safety guard button are in normal
operation. If the button does not operate normally, the safetyfunction cannot be performed in an emergency, which may result inserious injury or serious damage, which is very dangerous.
Be sure to perform maintenance, replacement, and wiring work after
turning off the power supply box and related equipment and unplugging
the power cord. Failure to do so may result in electric shock or
malfunction.

4.2 Maintenance plan
In order to maintain efficient performance over the long term, regular
maintenance of the robot is required. The maintenance personnel must prepare
an overhaul plan and strictly implement it. The recommended maintenanceschedule is shown in Table 4-1.

No.

Task

1
2
3
Check
4
5
6
7

Clean

8

Replace

Table 4- 1 Maintenance schedule13
612
DeviceDailymonth month month monthRobot√
appearance
Cable√
interface
Exte
Cable
√
rnal
harnes
Inter
s
√
nal
Surf
√
ace
Screw
Inter
√
nal
Robot whole√
Replace when the gear unit needs to be
lubricating oil
replaced.

4.3 People who can be contacted
1， System integrator

You can directly contact the system integrator responsible for installing anddebugging the Catbot series collaborative robot.
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Shenzhen Elephant Robotics Technology Co., Ltd.
2， Supplier

You can contact Elephant Roboticsʼ supplier in your area. For specificsupplier information, please visit the official website: www.elephantrobotics.com.
3， Official website
You can find out more information by visiting the official website of Elephant
Robotics (www.elephantrobotics.com).

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Shenzhen Elephant Robotics Technology Co., Ltd.

5 RepairWhen the robot malfunctions, do not continue to operate it. Immediately
contact the operator who has received the prescribed training to perform fault
analysis and check out which components are being abnormal.
The repair, inspection, adjustment and etc. of the robot must be carried out
by an authorized system integrator or agent. Please contact a professional for
disposal. Do not disassemble the robot at will. See section 4.3 for contact details.
When contacting, please prepare the following items in advance: Power box name, serial number.
 Robot name, serial number.
 Description of the problem (additional pictures are appreciated).

40