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
7
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
9
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: