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
User Manual
- Robot description
- Removal of packaging and installation
- Connection and first power-up
- Tablet configuration
- Instructions for use of the application
- Instructions for cleaning and periodic checks.
CR00758210-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
TO WHOM IS THIS HANDBOOK ADDRESSED? . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
Documentation storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Limits on the handbook contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Symbols used in the handbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
MODIFICATION HISTORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
1. SAFETY REQUIREMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...10
2. ROBOT GENERAL DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...11
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Description of the main parts that make up the Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Robot axis identification. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Intended use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Incorrect, unintended and not allowed uses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Robot certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3. ROBOT HANDLING, ASSEMBLY AND FIRST START . . . . . . . . . . . . . . . . . . . . . . ...18
How to handle the Robot inside the packaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Removal of the Robot from the packaging. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Robot positioning on supporting surface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Robot connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Emergency stop push-button connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Connection to the electric power supply mains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
First power-up of the Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4. CONFIGURATION AND CONNECTION OF THE COMMAND INTERFACE (TABLET) .
..24
Requirements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Download of the app . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Installation of the app. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Comau Robotics Product Instruction
SUMMARY
4
Running of the app and connection to e.DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Selection of interface language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Connection to e.DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
e.DO configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
e.DO configuration selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
e.DO calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5. USE OF THE “E.DO” APP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..33
How to move e.DO through the app . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Movement in Cartesian mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Movement in Joints mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Movement in Input mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
How to create a movement program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Creating a movement program through “Projects” page . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Creating a movement program through “Blockly”. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
“Settings” Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
LAN Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Wi-Fi Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Blockly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Control switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
“About” Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6. AVAILABLE OPTIONS FOR E.DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..51
e.DO Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
What is the e.DO Gripper for? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
e.DO Gripper technical features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Safety requirements for e.DO Gripper use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
e.DO Gripper diagrams and drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
How to mount the e.DO Gripper on the e.DO Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
e.DO Marker Holder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
What is the e.DO Marker Holder for? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Safety requirements for e.DO Marker Holder use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
e.DO Marker Holder diagrams and drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
How to mount the e.DO Marker Holder on the e.DO Robot. . . . . . . . . . . . . . . . . . . . . . . . . . 56
How to fix the marker on the e.DO Marker Holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
7. E.DO CLEANING INSTRUCTIONS AND PERIODIC CHECKS. . . . . . . . . . . . . . . . . ..58
Periodic checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Check the presence and conservation state of the warning signs and labels . . . . . . . . . . . . 59
Check the correct fixing of the e.DO parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Check the correct functioning of emergency push-buttons . . . . . . . . . . . . . . . . . . . . . . . . . . 60
e.DO cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

SUMMARY
Comau Robotics Product Instruction
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8. GENERAL TECHNICAL FEATURES OF THE E.DO ROBOT . . . . . . . . . . . . . . . . . ...62
9. WARRANTY TERMS AND CONDITIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...63
Warranty conditions for B2B (Business-to-Business) sale. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Warranty conditions for B2C (Business-to-Customer) sale . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Comau Robotics Product Instruction
TO WHOM IS THIS HANDBOOK ADDRESSED?
6
TO WHOM IS THIS HANDBOOK
ADDRESSED?
This handbook is addressed to users of e.DO.
It contains information (e.g. description of the Robot, removal of packaging and
installation, connection and first power-up, configuration of the tablet, Instructions for
use of the application, instructions for cleaning and periodic checks) essential for the
correct use of the Robot and the relative control app.

PREFACE
Comau Robotics Product Instruction
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PREFACE
This chapter contains:
–Documentation storage
–Limits on the handbook contents
–Symbols used in the handbook
–Modification History.

Comau Robotics Product Instruction
PREFACE
8
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 manual (also partial), require 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.

MODIFICATION HISTORY
Comau Robotics Product Instruction
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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.

Comau Robotics Product Instruction
10
SAFETY REQUIREMENTS
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:

ROBOT GENERAL DESCRIPTION
11
Comau Robotics Product Instruction
2. ROBOT GENERAL DESCRIPTION
–Introduction
–Description of the main parts that make up the Robot
–Robot axis identification
–Intended use
–Incorrect, unintended and not allowed uses
–Robot certification
2.1 Introduction
e.DO Robot is a modular, multi-axis articulated (anthropomorphic with 6 degrees of
freedom) Personal Care Robot with an integrated open-source intelligence, specially
designed and built in order to be used in an educational environment, with the aim of
making learning, creation, exploration and programming more fun and interactive.
e.DO is available in different versions and configurations:
– e.DO with 6 central axes
– e.DO with 6 side axes
– e.DO with 6 central axes, with Gripper
– e.DO with 6 side axes, with Gripper
Fig. 2.1 - e.DO - overview
central e.DO side e.DO

Comau Robotics Product Instruction
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ROBOT GENERAL DESCRIPTION
2.2 Description of the main parts that make up the
Robot
The Robot is characterized by a modular composition, obtained by assembling and
connecting the “smallest construction units” described below.
Fig. 2.2 - Identification of e.DO components
Tab. 2.1 - Description of the e.DO components
Ref.
Fig. 2.2 Name and description Image
A
Robot base
Robot basic structure
equipped with interface
devices (switch, buttons,
connectors) inside which the
Robot main power supply and
controller boards are installed.
B
Big joint
Unit consisting of joint board
(for motor control), motor,
encoder, gearbox, brake,
main shaft, support plate,
gears and output flange.
The big joint constitutes the
first 3 axes of the Robot (Ax.
1, Ax. 2 and Ax. 3).

ROBOT GENERAL DESCRIPTION
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Comau Robotics Product Instruction
C
Small joint
Unit consisting of joint board
(for motor control), motor,
encoder, gearbox, main shaft,
support plate, gears and
output flange.
The small joint constitutes the
remaining 3 axes of the Robot
(Ax. 4, Ax. 5 and Ax. 6).
D
Brackets and adapters
Assembly composed of
brackets and adapters, used
for physical connection
between the various joints.
E
Remote emergency
push-button
An additional emergency
push-button is available to be
positioned freely near the
Robot.
The cap connector to be used
in case of absence of
additional emergency
push-buttons and/or
interlocking devices
associated with guards is also
available.
FProtective glasses
Protective equipment to wear
during the use of the Robot.
Ref.
Fig. 2.2 Name and description Image

Comau Robotics Product Instruction
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ROBOT GENERAL DESCRIPTION
2.3 Robot axis identification
The Robot is equipped with 6 degrees of freedom (called axes), as shown in the
following figure.
Fig. 2.3 - Robot axis identification
Each axis has the ability to rotate clockwise or counterclockwise; in order to facilitate
their identification, the direction of rotation of the individual axes is indicated by special
labels “+” / “-” affixed directly on the Robot structure.
2.4 Intended use
e.DO issuitable foruse in schools / educational settings as aneducational tool to
support the teaching of school subjects such as mathematics, geometry, technical
education and programming and finds various applications depending on the school of
use (elementary, middle, high schools, university, etc.).
It can be equipped with some optional devices to expand its functionalities (see details
in Chap.6. - Available options for e.DO).
The Robot and its optional devices can be used:
– by children of minimum age of 14 years (if minors, only in the presence of an adult);
in case of use of the e.DO Robot in educational environments with children aged 8
or over, it is necessary to limit the activity of the children to interaction only, with
constant supervision of a trained and instructed adult and with the use of PPE for
eye protection;
– by persons with reduced physical, sensory or mental capabilities, or with lack of
experience and knowledge, on conditions that they are under the supervision of an
adequately trained and informed adult, responsible for the safe use of the Robot
itself.
– The aforementioned persons must not play with the equipment, nor must they
perform cleaning and routine maintenance operations.
6-axis e.DO
Ax. 1Ax. 1
Ax. 2Ax. 2
Ax. 3Ax. 3
Ax. 5Ax. 5
Ax. 6Ax. 6
Ax. 4Ax. 4

ROBOT GENERAL DESCRIPTION
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Comau Robotics Product Instruction
2.5 Incorrect, unintended and not allowed uses
Methods of use other than those indicated in par. Intended use are considered as
incorrect, unintended and not allowed use.
In particular:
– do not use the Robot working with wet or damp hands or feet;
– do not use the Robot in dangerous environments (e.g. environments with potential
fire and/or explosion risks);
– do not suspend or fix objects or similar to the Robot structure during operation;
– do not make changes to the mechanical conformation of the Robot;
– do not use the Robot for handling / lifting of loads, items or potentially dangerous
objects (e.g. sharp objects or with sharp shapes) or in any case outside of what is
intended and allowed by the Available options for e.DO.
2.6 Robot certification
The e.DO Robot is considered a “Machine” as defined in Article 2(a) of the Machinery
Directive 2006/42/EC and anthropomorphic “Personal Care Robot (type 1.1)” with 6
degrees of freedom as set out in the standard EN ISO 13482:2014.
The Robot 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)
The following Fig. 2.4 and Fig. 2.5 show the plate with CE marking applied on the Robot
and an example of the EC Declaration of Conformity, respectively.
The original document is provided as an attachment thereto.
The following are the harmonized standards followed for the design and construction of
the Robot:
– EN ISO 13482: 2014 Robot and robotic devices – Safety requirements for personal
care Robots
– EN ISO 12100: 2010 Safety of machinery - General principles for design - Risk
assessment and risk reduction.
– EN ISO 13849-1: 2016 Safety of machinery – Safety related parts of control
systems – Part 1: General principles for design.
– EN 60204-1: 2006 Safety of machinery - Electrical equipment of machines. Part 1:
General requirements and subsequent amendments.

Comau Robotics Product Instruction
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ROBOT GENERAL DESCRIPTION
Fig. 2.4 - Plate with CE marking (facsimile)
–A: Machine name and release
–B: Product Part No.
–C: Date of issue and serial number
–D: Weight
xxx lb / xxx kg
REL. xxx
xxxx
xxxxxxxx
xxxxxxxx
A
B
C
D

ROBOT GENERAL DESCRIPTION
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Comau Robotics Product Instruction
Fig. 2.5 - CE Declaration of Conformity (facsimile)
Any unauthorized HW / SW modification and/or use of tools or tools other than those
listed and described in the chapter Available options for e.DO will give rise to forfeiture
of the CE certification.

Comau Robotics Product Instruction
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ROBOT HANDLING, ASSEMBLY AND FIRST START
3. ROBOT HANDLING, ASSEMBLY AND FIRST
START
–How to handle the Robot inside the packaging
–Removal of the Robot from the packaging
–Robot positioning on supporting surface
–Robot connection
–First power-up of the Robot
3.1 How to handle the Robot inside the packaging
The e.DO Robot is packed inside a cardboard box.
The box is equipped with special handles to be used as gripping points for manual lifting
and handling.
Given the weight of the box, the manual handling must be carried out by adults.

ROBOT HANDLING, ASSEMBLY AND FIRST START
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Comau Robotics Product Instruction
3.2 Removal of the Robot from the packaging
To remove the Robot from the box inside which it is packed and transported, proceed
as follows:
– open the box from the upper side, operating carefully to avoid damaging the
components inside the box;
– remove the upper layer of expanded polyethylene packaging using the 2 corners
shown in the figure as gripping points;
– remove e.DO by grasping it by the base as shown in the figure; do not grasp e.DO
by the rest of the structure to avoid possible damage;
– after removing the packaging, check that the Robot does not show signs of
damage during transport; if it does, do not install the Robot and contact the Comau
Service Centre (https://edo.cloud/support-and-contacts/);
– verify that all the components of the Robot are correctly and permanently fixed and
that there are no wobbly parts or elements;
– check that the power supply and cables provided are intact and do not show
damage, cuts, fraying, etc.
Do not handle the Robot and perform the installation working with wet or damp hands
or feet.

Comau Robotics Product Instruction
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ROBOT HANDLING, ASSEMBLY AND FIRST START
3.3 Robot positioning on supporting surface
After removing the Robot from the packaging, position it on the supporting surface.
Make sure that the supporting surface:
– is not made of particularly slippery material;
– is not inclined (horizontal plane);
– has a larger supporting surface than the surface of the Robot base.
Check that under the Robot base there are not present objects (or similar) that can alter
the Robot stability during operation, with consequent risk of overturning.