DOBOT CR20AF is a force-controlled collaborative robot with a 20 kg payload and 1700 mm working radius. It is positioned for force-controlled polishing and grinding, large-surface finishing, welding and force-controlled assembly.
The CRAF version integrates a factory-calibrated six-axis force/torque sensor. It supports ±3 N constant-force tracking on complex surfaces, drag teaching with under 2 N starting force and contact detection from 1 N. Sensor accuracy is stated at 1% F.S., precision at 0.5% F.S. and overload capacity at 500% F.S.
Application areas
Force-controlled polishing and grinding, large-surface finishing, welding and force-controlled assembly. The CRA platform is also used in automotive, lithium-battery, 3C electronics, semiconductor, packaging, metalworking, plastics and chemical, medical and laboratory automation.
Practical application references
The DOBOT case-study collection demonstrates CR-family arms in mobile systems with AGVs, machine vision and wireless machine communication. Examples cover CNC loading and unloading, profile milling, automatic tool change and a combined dual-gripper operation. Selecting CR20AF for a similar project requires validation of workpiece and gripper mass, reach, accuracy, cycle time and safety conditions.
Quantitative case results were achieved on specific CR10-class installations and are not guaranteed for other configurations.
Integration and safety
- 24 general-purpose digital inputs and 24 outputs with PNP/NPN support.
- Modbus TCP/RTU, EtherNet/IP and PROFINET; TCP/IP development in C++, C# and Python plus ROS 1/ROS 2 support.
- PC, tablet or teach-pendant operation with wired and wireless control.
- PLd Cat.3 safety controller and more than 20 safety functions aligned with ISO 13849-1, ISO 10218-1 and ISO/TS 15066.
- Electromagnetic brakes lock the joints in about 18 ms; collision detection, retreat and virtual safety zones are supported.
Fence-free operation is only appropriate after a risk assessment, safe-speed and force validation, and verification of the gripper, tooling, vision system and surrounding machinery.
Technical data was transcribed from the 2026 DOBOT CRA Series brochure and Composite Robot Case Studies. Final configuration, tooling compatibility and safety parameters must be confirmed before ordering.
