Comau e.DO User manual

e.DO Gripper
Safety requirements, technical
features and assembly and
integration instructions
Requirements, technical features and instructions
for safe installation and use of the e.DO Gripper.
CR00758190-en_00/2018.05

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 reserves the right to modify, without notice, the features of the product presented in this handbook.
Copyright © 2008-2018 by COMAU - Published on 05/2018

SUMMARY
Comau Robotics Product Instruction
3
SUMMARY
1. SAFETY REQUIREMENTS FOR E.DO GRIPPER USE . . . . . . . . . . . . . . . . . . . . . . . ...4
Certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Before using. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Packaging removal and preliminary checks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Preliminary requirements and instructions for installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
During the use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Cleaning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Decommissioning and disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2. E.DO GRIPPER TECHNICAL FEATURES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...10
General technical features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
e.DO Gripper diagrams and drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
e.DO Gripper mechanical drawings (dimensions, workspaces). . . . . . . . . . . . . . . . . . . . . . . 11
Flange hole diagram for e.DO Gripper fixing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Electrical diagram of e.DO Gripper connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3. E.DO GRIPPER INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...15
Equipment and material required. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
e.DO Gripper installation procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Check of the correct functioning after the installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Integration of perimeter protective guards for the use of the e.DO Gripper for handling purpose .
24
4. E.DO GRIPPER INTEGRATION (SOFTWARE ASPECTS) . . . . . . . . . . . . . . . . . . . ...26

Comau Robotics Product Instruction
4
SAFETY REQUIREMENTS FOR E.DO GRIPPER USE
1. SAFETY REQUIREMENTS FOR E.DO
GRIPPER USE
In this chapter are summarized minimum safety requirements to be followed during the
e.DO Gripper use:
–Certification
–Before using
–During the use
–Cleaning
–Decommissioning and disposal

SAFETY REQUIREMENTS FOR E.DO GRIPPER USE
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Comau Robotics Product Instruction
1.1 Certification
When the e.DO Gripper is properly installed and integrated on the e.DO Robot, it
complies with the requirements of the following Community Directives:
– DIRECTIVE 2006/42/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL of 17 May 2006 on machinery, and amending Directive 95/16/EC
(recast)
Fig. 1.1 - EC Certification of the e.DO Robot and e.DO Gripper unit

Comau Robotics Product Instruction
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SAFETY REQUIREMENTS FOR E.DO GRIPPER USE
1.2 Before using
Minimum safety requirements to be followed during the Robot unpacking and installation
operations are given below:
–Packaging removal and preliminary checks
–Preliminary requirements and instructions for installation
1.2.1 Packaging removal and preliminary checks
The e.DO Gripper packaging contains:
– q.ty 1 e.DO Gripper
– q.ty 1 CAN network connection cable
– q.ty 1 e.DO Gripper power supply cable
– q.ty 2 socket hex head screws M3x8
– q.ty 2 socket hex head screws M3x12
– q.ty 4 hex nuts M3 (to be removed when e.DO Gripper is assembled)
Fig. 1.2 - Content within the e.DO Gripper packaging
View Description
–A:e.DO Gripper
–B:Socket hex head
screws M3x8
–C:Socket hex head
screws M3x12;
–D:hex nuts M3
–E:CAN network
connection cable
–F:e.DO Gripper power
supply cable
A
C
E
F
D
B

SAFETY REQUIREMENTS FOR E.DO GRIPPER USE
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Comau Robotics Product Instruction
Remove the e.DO Gripper from the related packaging, proceeding as indicated below:
– The e.DO Gripper is packed in a normal cardboard box with pressure lock; no
special tools are required to remove the packaging;
– remove the packaging paying particular attention not to damage the contents;
– make sure that all the components indicated in the previous Fig. 1.2 are present
inside the package;
– after removing the packaging, make sure the e.DO Gripper does not show signs of
damage during transport; if it does, do not install e.DO Gripper and contact the
Comau Service Centre (see the following address:
edo.cloud/support-and-contacts/);
– the packaging materials must be kept out of reach of children, as they are potential
sources of danger.
1.2.2 Preliminary requirements and instructions for installation
Before proceeding with the installation of e.DO Gripper:
– check that the e.DO Robot is powered off, that the related main switch is open (0 -
OFF position) and that the power supply cable is disconnected;
– The e.DO Gripper is designed and built to be used exclusively in indoor domestic
/ scholastic environments and protected from atmospheric agents. It is not
intended for use in industrial or in hazardous environments (e.g. environments with
potential risks of explosion).
– The e.DO Gripper can be used for the execution of programs including small
operations for handling small and non-dangerous objects, compatibly with the
General technical features of the e.DO Gripper and of the e.DO Robot. Depending
on the nature and features of the handled items (configuration, weight, etc.), after
the evaluation performed by the User there can be needed the installation of
perimeter protective guards, that prevent the reaching of the Robot by the
surrounding people, and an additional emergency push-button outside the guards
themselves (see par. 3.4);
– carry out the e.DO Gripper installation as indicated in the e.DO Gripper installation
procedure.
Do not handle the e.DO Gripper and perform the installation working with wet or damp
hands or feet.

Comau Robotics Product Instruction
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SAFETY REQUIREMENTS FOR E.DO GRIPPER USE
1.3 During the use
Minimum safety requirements to be followed during the Robot use are given below:
– the e.DO Gripper can be used by children (age > 14 years old) and by persons with
reduced physical, sensory or mental capabilities, or with insufficient experience
and knowledge, provided that they are under the supervision of an adequately
trained and informed adult, responsible for the safe use of the Robot itself. Children
must not play with the equipment, they must not perform cleaning and routine
maintenance operations.
– during motion, do not insert body parts (fingers, hands, arms, etc.) between the
gripper fingers or gears of the e.DO Gripper in order to avoid possible pinching;
– handle exclusively objects of conformation such as to guarantee a good grip on the
part of e.DO Gripper;
– during the use, provide a sufficiently large free space around the Robot equipped
with the e.DO Gripper (greater than the operating range of the Robot with e.DO
Gripper, see par. 2.2 e.DO Gripper diagrams and drawings on page 11 and
Fig. 1.7 - Robot workspace in 6 axes configuration on page 16 and Fig. 1.8 - Robot
workspace in 4 axes configuration on page 17 on the “Robot e.DO - Safety
requirements and technical specifications” handbook) in order to avoid any Robot
impacts that could cause pinching or crushing;
–do not suspend or fix objects (or similar) to the Robot structure or to the e.DO
Gripper during the operation;
– in case of Integration of perimeter protective guards for the use of the e.DO Gripper
for handling purpose, periodically check the correct functioning of the guard
interlocking devices, connected to the “Fence” input and of an additional
emergency button connected to the “E-Stop” input on the apposite J8 connector on
Robot base; activate the devices and verify the stop of the Robot.
Do not use the e.DO Gripper working with wet or damp hands or feet.
In the event of fault or malfunctions, do not independently carry out dismantling or repair
attempts on the Robot or on the e.DO Gripper; contact the Comau Service Centre, as
indicated in the “Robot e.DO - Certifications, Service, Warranty” supplied with the Robot
itself. See also the following address: edo.cloud/support-and-contacts/.

SAFETY REQUIREMENTS FOR E.DO GRIPPER USE
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Comau Robotics Product Instruction
1.4 Cleaning
Minimum safety requirements to be followed during the Robot and e.DO Gripper
cleaning operations are given below:
– do not pull the power cord to disconnect the Robot. Always pull from the plug;
– do not spray water or use steam to clean the Robot and/or e.DO Gripper;
– clean the Robot and e.DO Gripper with a damp and soft cloth. Use only neutral
detergents. Do not use abrasive products, abrasive sponges, solvents or metal
objects.
1.5 Decommissioning and disposal
Minimum safety requirements to be followed during the Robot and e.DO Gripper
disassembly and disposal operations are given below:
– disconnect the Robot from the power supply mains;
– remove the e.DO Gripper from the Robot wrist;
– disassemble the Robot following the assembly instructions in reverse order (when
present);
– perform the disposal of the Robot, e.DO Gripper and various components in
accordance with the law in force in the country where the Robot is installed;
– inside the Robot and e.DO Gripper there are present batteries and electronic
boards that must be disposed of according to the law in force in the country where
the Robot is installed, transferring them to the appropriate collection facilities.
Before carrying out any cleaning operation, make sure that the Robot is powered off and
remove the plug from the power socket.
The disposal operations must be carried out in compliance with the law in force in the
country where the machine is installed: dispose of the batteries, electronic boards and
various components in an environmentally correct way and in accordance with the
regulations in force transferring them to the appropriate collection facilities.

Comau Robotics Product Instruction
10
E.DO GRIPPER TECHNICAL FEATURES
2. E.DO GRIPPER TECHNICAL FEATURES
–General technical features
–e.DO Gripper diagrams and drawings
2.1 General technical features
Tab. 2.1 - e.DO Gripper technical features
* Payload calculated considering the friction factor of the neoprene-covered fingers grabbing a steel object.
Description Feature
Type 2-finger (fingertips) Gripper
Weight 180 g
Stroke Without neoprene fingertip cover 81 mm
With neoprene fingertip cover 77 mm
Payload* 400 g
Clamping force 3.5 N
On-board sensors / Position
identification system Encoder
For information on the maximum load supported by the Robot, refer to par. Wrist loads,
in the “Robot e.DO - Safety requirements and technical specifications” handbook.

E.DO GRIPPER TECHNICAL FEATURES
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Comau Robotics Product Instruction
2.2 e.DO Gripper diagrams and drawings
In the following chapter are described:
–e.DO Gripper mechanical drawings (dimensions, workspaces)
–Flange hole diagram for e.DO Gripper fixing
2.2.1 e.DO Gripper mechanical drawings (dimensions,
workspaces)
The following drawings show the dimensions of the e.DO Gripper (dimensions in mm):
–Dimensions of open e.DO Gripper
–Dimensions of closed e.DO Gripper
Fig. 2.1 - Dimensions of open e.DO Gripper
56
20,81
12
12
36,50
129
64,50
105
50
26
25
13
52,50
40
81
42,80
25,80
20,81
20,81

Comau Robotics Product Instruction
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E.DO GRIPPER TECHNICAL FEATURES
Fig. 2.2 - Dimensions of closed e.DO Gripper
25
26
79,4
39,73
14,2 50
2
50,50
32
132,5
20,50
50,50
R35

E.DO GRIPPER TECHNICAL FEATURES
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Comau Robotics Product Instruction
2.2.2 Flange hole diagram for e.DO Gripper fixing
The following drawing shows the diagram of holes present on the e.DO Gripper flange
to be used for the e.DO Gripper fixing to the e.DO Robot (dimensions in mm).
Fig. 2.3 - Flange hole diagram for e.DO Gripper

Comau Robotics Product Instruction
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E.DO GRIPPER TECHNICAL FEATURES
2.2.3 Electrical diagram of e.DO Gripper connection
In the following diagram there are given the electrical connections necessary to be
performed on the e.DO Gripper electronic board (PCB), in order to allow its correct
operation.
Fig. 2.4 - Electrical diagram of e.DO Gripper connection
View Description
–A:“BUS OUT” connector
–B:“BUS IN” connectors
–C:“SUPPLY” connector
–D:“SERVO” connector
–E:Connector not used
–F: Connections coming
from the electronic board
(PCB) of the last Robot
joint
–R:Terminating resistor in
the CAN network
F
R
A B
C
DE

E.DO GRIPPER INSTALLATION
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Comau Robotics Product Instruction
3. E.DO GRIPPER INSTALLATION
–Equipment and material required
–e.DO Gripper installation procedure
–Check of the correct functioning after the installation
–Integration of perimeter protective guards for the use of the e.DO Gripper for
handling purpose
3.1 Equipment and material required
For e.DO Gripper installation the following equipment is necessary:
– e.DO Gripper
– q.ty 2 socket hex head screws M3x12 (included with e.DO Gripper)
– q.ty 2 socket hex head screws M3x8 (included with e.DO Gripper)
– q.ty 1 CAN network connection cable (included with e.DO Gripper)
– q.ty e.DO Gripper power supply cable (included with e.DO Gripper)
– 2.5 mm Allen wrench

Comau Robotics Product Instruction
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E.DO GRIPPER INSTALLATION
3.2 e.DO Gripper installation procedure
The installation procedure of the e.DO Gripper on the e.DO Robot is given below.
Operating procedure
a. Through manual commands
from the app, move the e.DO
Robot in calibration position
(vertical position) as in the
figure.
Representative figure illustrating e.DO Robot in calibration
position.
At the end of the movement, shut down the e.DO, position the main switch
in the open position (0 - OFF) then remove the plug from the power supply
socket.
b. Unscrew the two fixing socket
hex head screws AM3x8 of the
plastic protective cover Bof the
last Robot joint.
c. Remove the plastic protective
cover Bof the last Robot joint.
A
B

E.DO GRIPPER INSTALLATION
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Comau Robotics Product Instruction
d. Release and remove the plastic
protective cover of the e.DO
Gripper electronic board (PCB).
e. Disconnect the CAN network
terminating resistor from the
electronic board (PCB) of the
last Robot joint.
f. Insert the end with 2 connectors
D(CAN SUPP and CAN SIGN)
of the CAN network connection
cable and power supply cable E
(included with e.DO Gripper)
inside the hole of the last Robot
joint, as indicated by the arrow
in the figure.
g. Remove the two connectors
from the hole of the last Robot
joint.
Operating procedure (Continued)
C
D
E

Comau Robotics Product Instruction
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E.DO GRIPPER INSTALLATION
h. Connect the other end of the
CAN network connection cable
and power supply cable Eto the
connector Fof the last Robot
joint electronic board (PCB)
(the same connector from
which at step e. terminating
resistor was removed).
i. Insert the end with 2 connectors
D(CAN SUPP and CAN SIGN)
of the CAN network connection
cable in the hole Gpresent at
the e.DO Gripper base.
Operating procedure (Continued)
F
E
DD
G
G

E.DO GRIPPER INSTALLATION
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Comau Robotics Product Instruction
j. Remove the hex nuts H
screwed on the four fixing
screws Jof the e.DO Gripper.
k. By means of a 2.5 mm Allen
wrench, fix the e.DO Gripper to
the last Robot joint flange using:
• q.ty 2 screws KM3x12
(electronic board PCB
side)
•q.ty2screwsLM3x8 (side
opposite to the electronic
board PCB)
l. To avoid possible damage do
not overtighten the screws.
Operating procedure (Continued)
H
J
H
J
KK
LL

Comau Robotics Product Instruction
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E.DO GRIPPER INSTALLATION
m. Connect the 2 connectors M
(CAN SUPP) and N(CAN
SIGN) of the CAN network
connection cable and power
supply cable (included with
e.DO Gripper), coming from the
last Robot joint, to the related
connectors present on the e.DO
Gripper electronic board (PCB),
as shown in the figure.
n. Connect the 2 connectors P(2
PIN) and Q(4 PIN) of the power
supply cable and resistance R
respectively to the connectors S
and Tof the e.DO Gripper
electronic board (PCB), as
shown in the figure.
Operating procedure (Continued)
M N
AB
BUS INBUS IN
A
C
BUS OUTBUS OUT
SUPPLY
T
P
Q
R
S