Comau e.DO User manual
e.DO Robot
Rel. 00 - Versions
- 6 central axes
- 6 side axes
- 6 central axes, with Gripper
- 6 side axes, with Gripper
Service Manual
- Detailed technical characteristics of the Robot
- Robot configuration customization
- Robot maintenance
- Methods and procedures for contacting the
Service Center
- Instructions for decommissioning and disposal of
the Robot
CR00758211-en_00/2019.04
The contents of this handbook are the property of COMAU S.p.A.
Any reproduction, even partial, is prohibited without prior written authorization from COMAU S.p.A.
COMAU S.p.A. reserves the right to modify, without notice, the features of the product presented in this hand-
book.
Copyright © 2008-2019 by COMAU - Published 04/2019
SUMMARY
Comau Robotics Product Instruction
3
SUMMARY
Documentation storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Limits on the handbook contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Symbols used in the handbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1. SAFETY REQUIREMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...9
2. DETAILED TECHNICAL FEATURES OF THE ROBOT . . . . . . . . . . . . . . . . . . . . . . ...10
Robot workspaces, calibration and transport position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Robot wrist features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Diagram of holes on Robot flange for tool fixing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Wrist loads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3. ROBOT CONFIGURATION CUSTOMIZATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...20
Use of connectors on Robot base . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
RJ45 connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
USB connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
9-pin D-Sub connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Hardware customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Connection of any additional emergency push-buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Connection of any interlocking devices associated with guards . . . . . . . . . . . . . . . . . . . . . . 24
Simultaneous connection of additional emergency push-button and interlocking device
associated with guards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
e.DO Gripper assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Packaging removal and preliminary checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
e.DO Gripper diagrams and drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
e.DO Gripper mechanical drawings (dimensions, workspaces) . . . . . . . . . . . . . . . . . . . .30
Flange hole diagram for e.DO Gripper fixing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
e.DO Gripper connection electrical circuit diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
Equipment and material required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
e.DO Gripper installation procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
Check of the correct functioning after the installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
Arrangement for integration of perimeter guards for use of the e.DO Gripper . . . . . . . . . . .43
e.DO Marker Holder assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Packaging removal and preliminary checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
Equipment and material required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46
e.DO Marker Holder installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47
Connecting e.DO to Desk Simulator and use through Teach Pendant TP5 . . . . . . . . . . . . . 49
Equipment and material required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
Procedure for connecting e.DO to the Desk Simulator. . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
Software customization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
4. ROBOT MAINTENANCE. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...57
Comau Robotics Product Instruction
SUMMARY
4
Signalling LEDs meanings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
List of allowed and not-allowed operations, in order to preserve the warranty . . . . . . . . . . . . . 58
5. HOW TO CONTACT THE COMAU SERVICE CENTER . . . . . . . . . . . . . . . . . . . . . . ..59
Main steps to be followed in the event of Robot malfunctioning or anomaly . . . . . . . . . . . . . . . 59
Assistance and maintenance interventions during warranty period. . . . . . . . . . . . . . . . . . . . . . 60
Assistance and maintenance interventions outside warranty period . . . . . . . . . . . . . . . . . . . . . 60
Robot repackaging procedure and shipping to Comau for technical assistance . . . . . . . . . . . . 61
Equipment and material required . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Robot disassembly and repackaging procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
6. DECOMMISSIONING AND DISPOSAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..65
TO WHOM IS THIS HANDBOOK ADDRESSED?
Comau Robotics Product Instruction
5
TO WHOM IS THIS HANDBOOK
ADDRESSED?
This handbook is addressed to a trained personnel authorized to carry out
maintenance, assembly/disassembly of components, and customization of e.DO
configuration.
It contains technical information useful and necessary for the correct performance of the
aforementioned operations.
PREFACE
Comau Robotics Product Instruction
7
Documentation storage
All documents supplied with e.DO must be stored in the immediate vicinity of the area
in which e.DO is in use and kept available to all persons operating on the machine.
The documentation must be kept intact for the entire operational life of e.DO.
In case of lost or damage of this handbook (also partial), request a new copy to the
manufacturer.
Limits on the handbook contents
The images included in the instructions handbook have the purpose to represent the
product
and can differ from what is actually visible on the system.
Symbols used in the handbook
Below are indicated the symbols that represent: WARNING, CAUTION and NOTES and
their meaning.
This symbol indicates operating procedures, technical information and precautions that
if are not observed and/or correctly performed may cause injuries to the personnel.
This symbol indicates operating procedures, technical information and precautions that
if are not observed and/or correctly performed may cause damage to the equipment.
This symbol indicates operating procedures, technical information and precautions that
must be underlined.
The symbol draws the attention to materials disposal that is regulated by the WEEE
Directive.
Comau Robotics Product Instruction
MODIFICATION HISTORY
8
MODIFICATION HISTORY
The following table shows the history of the Handbook release, with related changes /
improvements made.
Date Edition of the
Handbook Contents
2019/03 00/2019.03 First release of the handbook
2019/04 00/2019.04 Improvement of paragraphs related to “Control
Switch” on Desk Simulator.
Minor content improvements.
SAFETY REQUIREMENTS
9
Comau Robotics Product Instruction
1.
SAFETY REQUIREMENTS
Carefully read this document before carrying out any operation on the Robot. Comau
will not be responsible for any damages or injuries caused by improper/unauthorized
installations, uses or operations carried out on the Robot.
Before using or operating on the Robot, view the introductory video on safety aspects,
available online.
The video is accessible by scanning the following QR code:
During the use of the Robot, pay attention because a residual risk of pinching remains
on the axes 2, 3 and 5, identified by specific warning labels:
DETAILED TECHNICAL FEATURES OF THE ROBOT
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Comau Robotics Product Instruction
2.1 Robot workspaces, calibration and transport
position
The drawings and tables below show the Robot workspace, in two available versions,
and the relative calibration position:
–Robot workspaces in configuration of 6 axes - e.DO standard
–Robot workspaces in configuration of 6 axes - e.DO standard with e.DO Gripper
–Robot workspaces in configuration of 6 axes - e.DO Offset
–Robot workspaces in configuration of 6 axes - e.DO Offset with e.DO Gripper
–Calibration and transport position for Robot in configuration of 6 axes (central and
side)
The workspaces shown in the figure are obtained with limit switch screws installed in this
position allow minimum limitation useful to avoid pinching on axes 2 and 3.
Comau Robotics Product Instruction
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DETAILED TECHNICAL FEATURES OF THE ROBOT
Fig. 2.1 - Robot workspaces in configuration of 6 axes - e.DO standard
* = Calibration position
Dimensions in millimetres
478
135
478
261.3 261.3
202
210,50
778.4
267,5
175
+103.5°
-103.5°
Ax.6
+/-179°
+/-179°
Y
X
Z
+179°
-179°
Ax.1
Calibration PositionCalibration Position
Ax.3
Ax.2
-99°-99°
Ax.5
+99°
+99°
-99°
DETAILED TECHNICAL FEATURES OF THE ROBOT
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Comau Robotics Product Instruction
Fig. 2.2 - Robot workspaces in configuration of 6 axes - e.DO standard
with e.DO Gripper
Dimensions in millimetres
Comau Robotics Product Instruction
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DETAILED TECHNICAL FEATURES OF THE ROBOT
Fig. 2.3 - Robot workspaces in configuration of 6 axes - e.DO Offset
* = Calibration position
Dimensions in millimetres
Ax.2
Ax.3
Ax.5
-179°
+179°
Ax.1
261.3
160
478 478
261.3
778.4
135 202 210.5 267.5 175
+103.5°+103.5°
+99°
+99°
-103.5°
-99°
-99°-99°
Ax.6
+/-179°
+/-179°
Y
X
Z
DETAILED TECHNICAL FEATURES OF THE ROBOT
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Comau Robotics Product Instruction
Fig. 2.4 - Robot workspaces in configuration of 6 axes - e.DO Offset
with e.DO Gripper
* = Calibration position
Dimensions in millimetres
Comau Robotics Product Instruction
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DETAILED TECHNICAL FEATURES OF THE ROBOT
Tab. 2.1 - Calibration and transport position for Robot in configuration
of 6 axes (central and side)
Joints in calibration position
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
0° 0° 0° 0° 0° 0°
Joints in transport position
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
0° -60° -20° 0° -90° 0°
DETAILED TECHNICAL FEATURES OF THE ROBOT
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Comau Robotics Product Instruction
2.2 Robot wrist features
The following drawings and graphs show the main Robot technical features:
–Diagram of holes on Robot flange for tool fixing
–Wrist loads
2.2.1 Diagram of holes on Robot flange for tool fixing
Fig. 2.5 - Diagram of holes on Robot flange for tool fixing
Dimensions in mm
Comau Robotics Product Instruction
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DETAILED TECHNICAL FEATURES OF THE ROBOT
On the Robot flange there is also a special information label, showing data useful for
correctly fixing the tool on the flange itself.
In particular, there is shown the maximum length of the screws to be used, depending
on the thickness of the flange of the tool to be fixed.
Fig. 2.6 - Information label on the Robot flange for tool fixing
MAX. 4 MM
Tool side
e.DO side
S
Lscrew MAX
FOR TOOL FIXING
DEPTH OF THREAD MAX 4 MM
= S+4mm
DETAILED TECHNICAL FEATURES OF THE ROBOT
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Comau Robotics Product Instruction
2.2.2 Wrist loads
Max load (Q
F
) applicable to the flange is defined depending on the Lz and Lxy
coordinates of the load barycentre (P), represented in the following figure.
Fig. 2.7 - Barycentre coordinates of the load applied to the flange
Max load (Q
F
) applicable to the flange is defined using the wrist load graphs given
below.
Fig. 2.8 - Graphs for determination of the maximum load applicable to
the Robot flange.
M= mass in kg of the load applied to the Robot wrist
A) M = 0,4 kgA) M = 0,4 kg
B) M = 0,6 kgB) M = 0,6 kg
C) M = 0,8 kgC) M = 0,8 kg
D)M=1kgD) M = 1 kg
Other manuals for e.DO
2
Table of contents
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