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Summary of Contents for Comau e.DO
- Page 1 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...
- Page 2 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...
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Page 3: Table Of Contents
Electrical diagram of e.DO Gripper connection ........ -
Page 4: Safety Requirements For E.do Gripper Use
Comau Robotics Product Instruction SAFETY REQUIREMENTS FOR E.DO GRIPPER USE 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 –... -
Page 5: Certification
Comau Robotics Product Instruction SAFETY REQUIREMENTS FOR E.DO GRIPPER USE 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... -
Page 6: Before Using
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... -
Page 7: 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; Do not handle the e.DO Gripper and perform the installation working with wet or damp hands or feet. -
Page 8: 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. -
Page 9: Cleaning
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. -
Page 10: E.do Gripper Technical Features
E.DO GRIPPER TECHNICAL FEATURES 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 Description Feature Type 2-finger (fingertips) Gripper Weight 180 g Without neoprene fingertip cover 81 mm... -
Page 11: E.do Gripper Diagrams And Drawings
– 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. - Page 12 Comau Robotics Product Instruction E.DO GRIPPER TECHNICAL FEATURES Fig. 2.2 - Dimensions of closed e.DO Gripper 50,50 79,4 39,73 14,2...
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Page 13: Flange Hole Diagram For E.do Gripper Fixing
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... -
Page 14: Electrical Diagram Of E.do Gripper Connection
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... -
Page 15: E.do Gripper Installation
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: –... -
Page 16: E.do Gripper Installation Procedure
Comau Robotics Product Instruction 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 Through manual commands from the app, move the e.DO Robot in calibration position (vertical position) as in the figure. - Page 17 Comau Robotics Product Instruction E.DO GRIPPER INSTALLATION Operating procedure (Continued) Release and remove the plastic protective cover of the e.DO Gripper electronic board (PCB). Disconnect the CAN network terminating resistor from the electronic board (PCB) of the last Robot joint.
- Page 18 (PCB) (the same connector from which at step terminating resistor was removed). Insert the end with 2 connectors D (CAN SUPP and CAN SIGN) of the CAN network connection cable in the hole G present at the e.DO Gripper base.
- Page 19 E.DO GRIPPER INSTALLATION Operating procedure (Continued) Remove nuts screwed on the four fixing screws J of the e.DO Gripper. 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 K M3x12...
- Page 20 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 T of the e.DO Gripper electronic board (PCB), as shown in the figure. SUPPLY BUS OUT...
- Page 21 Comau Robotics Product Instruction E.DO GRIPPER INSTALLATION Operating procedure (Continued) Check the correct connection of all connectors on the e.DO Gripper electronic board (PCB), as shown in the figure. Reposition the plastic protective cover of the e.DO Gripper electronic board (PCB) (no tools assembly).
- Page 22 V M3x8. After the mechanical installation of the e.DO Gripper, it is necessary to perform some identification and setup operations via dedicated app. For further information, consult the related user handbook of the app e.DO (see https://edo.cloud/documents/).
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Page 23: Check Of The Correct Functioning After The Installation
E.DO GRIPPER INSTALLATION 3.3 Check of the correct functioning after the installation Before proceeding with the use of e.DO equipped with the e.DO Gripper, it is necessary to check the correct functioning: – connect e.DO to the power supply mains and perform the power-up;... - Page 24 3.4 Integration of perimeter protective guards for the use of the e.DO Gripper for handling purpose 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.
- Page 25 Comau Robotics Product Instruction E.DO GRIPPER INSTALLATION Fig. 3.1 - Example of perimeter protective guards installation 1220 Minimum dimensions of perimeter protective guards; dimensions in mm – A: Perimeter protective guards (to be carried out by the User) – B: Safety limit switch to control the correct positioning of the guard (to be installed by the User) –...
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Page 26: E.do Gripper Integration (Software Aspects)
E.DO GRIPPER INTEGRATION (SOFTWARE ASPECTS) For the correct use of the e.DO Gripper, after the mechanical installation it is necessary to perform some identification and setup operations via dedicated app. For further information, consult the related user handbook of the app e.DO (see... - Page 28 Integration to instructions Made in Comau...
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