e.DO Robot · e.DO Robot Rel. 00 - Versions - 6 central axes - 6 side axes - 6 central axes, with...

e.DO RobotRel. 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

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Emergency stop push-button connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Connection 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

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SUMMARY

Running of the app and connection to e.DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27Selection of interface language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28Connection to e.DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

e.DO configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30e.DO configuration selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30e.DO calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

5. USE OF THE “E.DO” APP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..33

How to move e.DO through the app . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Movement in Cartesian mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Movement in Joints mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Movement in Input mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

How to create a movement program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Creating a movement program through “Projects” page . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Creating a movement program through “Blockly”. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

“Settings” Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45LAN Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46Wi-Fi Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Blockly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48Control switch. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Language . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

“About” Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

6. AVAILABLE OPTIONS FOR E.DO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..51

e.DO Gripper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52What is the e.DO Gripper for? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52e.DO Gripper technical features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Safety requirements for e.DO Gripper use. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53e.DO Gripper diagrams and drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53How to mount the e.DO Gripper on the e.DO Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

e.DO Marker Holder. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55What is the e.DO Marker Holder for? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Safety requirements for e.DO Marker Holder use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56e.DO Marker Holder diagrams and drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56How to mount the e.DO Marker Holder on the e.DO Robot . . . . . . . . . . . . . . . . . . . . . . . . . . 56How to fix the marker on the e.DO Marker Holder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

7. E.DO CLEANING INSTRUCTIONS AND PERIODIC CHECKS. . . . . . . . . . . . . . . . . ..58

Periodic checks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Check the presence and conservation state of the warning signs and labels . . . . . . . . . . . . 59Check the correct fixing of the e.DO parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Check the correct functioning of emergency push-buttons . . . . . . . . . . . . . . . . . . . . . . . . . . 60

e.DO cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

4

SUMMARY


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

5


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


PREFACE

This chapter contains:

– Documentation storage

– Limits on the handbook contents

– Symbols used in the handbook

– Modification History.

7


PREFACE

Documentation storageAll 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 contentsThe images included in the instructions handbook have the purpose to represent the productand can differ from what is actually visible on the system.

Symbols used in the handbookBelow 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.

8

MODIFICATION HISTORY


MODIFICATION HISTORY

The following table shows the history of the Handbook release, with related changes / improvements made.

DateEdition of the

HandbookContents

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.

9


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


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

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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 baseRobot basic structure equipped with interface devices (switch, buttons, connectors) inside which the Robot main power supply and controller boards are installed.

B

Big jointUnit 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).

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C

Small jointUnit 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 adaptersAssembly 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

13



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 is suitable for use in schools / educational settings as an educational 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 8or over, it is necessary to limit the activity of the children to interaction only, withconstant supervision of a trained and instructed adult and with the use of PPE foreye protection;

– by persons with reduced physical, sensory or mental capabilities, or with lack ofexperience and knowledge, on conditions that they are under the supervision of anadequately trained and informed adult, responsible for the safe use of the Robotitself.

– The aforementioned persons must not play with the equipment, nor must theyperform cleaning and routine maintenance operations.

6-axis e.DO

Ax. 1Ax. 1

Ax. 2Ax. 2

Ax. 3Ax. 3

Ax. 5Ax. 5

Ax. 6Ax. 6Ax. 4Ax. 4

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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.

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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. xxxxxxx

xxxxxxxx

xxxxxxxx

A

B

C

D

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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.

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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.

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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.

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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.

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3.4 Robot connection

In order to make the Robot operational it is necessary to make the following minimum connections:

– Emergency stop push-button connection

– Connection to the electric power supply mains.

3.4.1 Emergency stop push-button connectionTo connect the emergency push-button:

– connect the connector (A) to the connector (A1) present on Robot base;

– connect the cap connector (B1) to the connector (B) present on the emergency push-button cable;

– position the emergency push-button (C) in an easily accessible position outside the Robot workspace.

Fig. 3.1 - Emergency stop push-button connection

Failure to do this will impede the Robot to start.

A

BB1B1

A1A1

C

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3.4.2 Connection to the electric power supply mains

To connect the Robot to the power supply:

– Check that the power supply voltage and frequency of the electric network are compatible with the electrical characteristics of the Robot (230 V, 50 Hz respectively);

– make sure that the Robot is powered off (main switch open in 0 - OFF position);

– connect the power cord to the power supply (A);

– connect the power cord to the Robot base (B);

– connect the power cord to the power outlet (input voltage 90÷264 Vac, frequency 47÷63 Hz) (C).

Fig. 3.2 - Connection to electrical power mains

Representative figure illustrating the power supply with European 2-pole plug (Type C - CEE 7/16)

Use only the power supply provided as standard with the Robot;

Check the integrity of the power cord and the power supply; in case the power cord is damaged, do not connect it to the electrical mains and contact the Comau Service Centre.

Electrical socket90÷264 Vac47÷63 Hz

AB

C

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3.5 First power-up of the Robot

To power up the Robot for the first time:

– check that you have correctly performed the Connection to the electric power supply mains and the Emergency stop push-button connection;

– check that no emergency push-button is pressed; if necessary, reset the push-buttons by turning them in direction indicated by the arrows printed on the push-buttons themselves;

– turn on the power supply by positioning the main switch on the Robot base in closed position (1 - ON);

– check that on the joint management electronic boards (installed on the single joints) the orange signalling LED blinks with a frequency of 1 time per second (1 Hz).

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CONFIGURATION AND CONNECTION OF THE COMMAND INTERFACE (TABLET)

4. CONFIGURATION AND CONNECTION OF THE COMMAND INTERFACE (TABLET)

– Requirements

– Download of the app

– Installation of the app

– Running of the app and connection to e.DO

– e.DO configuration

4.1 Requirements

The e.DO Robot can be controlled through a special app that can be installed on tablets with Android operating system (supported versions: from Android 5.0 to 8.0.0) and with a minimum screen size of 7”.

Below are the recommended requirements of the tablet, in order to allow a correct running of the app:

– Wi-Fi connectivity - 802.11 a/b/g/n/ac

– CPU Octa-core (1.8 GHz Quad + 1.4 GHz Quad)

For an optimal app running, we recommend the use of Samsung Galaxy Tab S2 9.7”.

The fluidity and responsiveness of the app may depend on the technical features and performance of the tablet (CPU, RAM, GPU, etc.).

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4.2 Download of the app

The app for e.DO control via tablet can be downloaded for free from the internet, directly from the “Making / Apps” section of the website:https://edo.cloud

The “Apps” section is accessible via:

– the linkhttps://edo.cloud/apps/or

– by scanning the following QR code:

To download the app, click on the “Android Binary” button in the center of the web page and save the “edo-ui-signed.apk” file.

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4.3 Installation of the app

Once the Download of the app is finished, open the file called “edo-ui-signed.apk” as soon as it is downloaded.Install the app by following the step-by-step wizard that will appear on the tablet screen.

At the end of the installation, the e.DO app will be available among the tablet applications, identified by the icon .

If, during the installation process, a warning message is displayed indicating that “For security reasons, the tablet is not enabled to install unknown applications from this source”*, proceed as follows:– on the tablet, open the Settings menu -> Security;– scroll until you find the item “Unknown sources”;– enable the installation of apps from unknown sources, checking the related tick box

as shown in the following figure:

* the wording may vary depending on the tablet model and the version and/or customization of the tablet's operating system.

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4.4 Running of the app and connection to e.DO

Open the e.DO app by tapping the icon .

When launched, the following screen images are displayed:

Once the app has been completely started, the following screen image appears:

Via this screen image it is possible to perform:

– Selection of interface language

– Connection to e.DOas described below.

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4.4.1 Selection of interface languageTo select the language of the app interface:

– press the “Language” button at the top left of the app's main screen image;

– in the pop-up menu, select the desired language and confirm by pressing “OK”.

The application supports English, Italian and Traditional Chinese languages.Selecting the “Auto” item, the application language will correspond to the system language currently in use on the tablet.In case the language currently used on the tablet is different from those supported by the application, the English language will be set by default.

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4.4.2 Connection to e.DOTo connect the app to e.DO:

– connect e.DO to the power supply and switch it on, as indicated in the Robot connection procedure described above;

– wait a few of minutes;

– open the tablet's network settings and access the “Wi-Fi” section; among the available Wi-Fi networks, there will be a network named according to the following syntax: edo.wifi.SerialNumber*

– select the e.DO Wi-Fi network and make the connection; default password is edoedoedo;

– open the e.DO app and, on the main page, click on “Connect to default address” button.

*The e.DO Serial Number is indicated on the CE identification plate of the Robot, as shown below:

xxx lb / xxx kg

REL. xxxxxxx

xxxxxxxx

201x - xxxxxxxC

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4.5 e.DO configuration

To start using e.DO, you need to configure it by performing the following steps:

– e.DO configuration selection

– e.DO calibration

4.5.1 e.DO configuration selectionAfter connection of e.DO, the configuration selection page is displayed.Through this page it is possible to select the configuration of e.DO tool, choosing one of the available items from the drop-down menu:- no tool- e.DO Gripper- Max Payload (to be used in the case where on the Robot wrist there is a tool having a mass of 1 kg, corresponding to the maximum lifting capacity of the Robot “Payload”).After selecting the configuration, confirm by pressing “Start configuration”; e.DO calibration wizard will start automatically.

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4.5.2 e.DO calibrationAt the first start of e.DO, the calibration procedure is required.To perform the calibration procedure, carry out the following steps:

– using the buttons at the bottom, select the joint to be calibrated;

– using “+/-” buttons, move the selected joint as long as the calibration notches on the Robot structure are aligned;

The e.DO calibration must be performed on all joints; we recommend a progressive calibration of the joints, from joint 1 to 6.

If the Robot is already in the calibration position (Robot in “vertical” position), it is possible to calibrate all the joints simultaneously by pressing “Calibrate all joints” button.

The axis “+/-” direction of rotation is indicated by special identification labels installed directly on the Robot structure.The axis movement speed can be adjusted through the slider in the center of the page.

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– once the correct alignment is obtained, confirm by pressing “Calibrate” button;

– repeat the calibration operations for the remaining axes of the Robot.

The e.DO calibration is required:– after turning off e.DO, setting the main switch to the 0 - OFF position– due to lack of electrical power supply to e.DO (for various reasons such as for

example lack of power supply directly from the electrical power mains, disconnection of the power supply cord, etc.).

The e.DO calibration is not required:– after pressing the emergency stop push-button– after a collision

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USE OF THE “E.DO” APP


5. USE OF THE “E.DO” APP

– How to move e.DO through the app

– How to create a movement program

– “Settings” Menu

– “About” Menu

5.1 How to move e.DO through the app

To move e.DO, it is necessary to access the Homepage of the app by selecting the menu button at the top left, then selecting “Home” item.The movement of e.DO through the app can be done in three different ways, described below:

– Movement in Cartesian mode

– Movement in Joints mode

– Movement in Input mode

The movement mode can be selected by pressing one of the “Cartesian”, “Joints” or “Input” buttons in the application homepage.For each mode, specific information / commands will be displayed on the bottom of the screen image (dotted area).

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5.1.1 Movement in Cartesian modeThe movement in Cartesian mode allows e.DO to be moved using Cartesian coordinates.

Movement modesTo carry out the movement in Cartesian mode:

– select the “Cartesian” item;

– if necessary, adjust the movement speed using the slider in the center of the screen image;

– using the directional arrows on the left side of the screen image, it is possible to move the Robot in Cartesian mode, on the reference frame X, Y, Z (whose origin is positioned on Robot base) as shown in the figure;

– furthermore, by manually selecting an axis (a, e, r) of the reference frame on the right side of the screen image (tap the axis to select it) it is possible to move the Robot using the “+/-” keys; the Robot will move in Cartesian mode (coordinating all the axes simultaneously) on the reference frame a, e, r.

Stopping modeIn the Cartesian mode, the Robot stops automatically after releasing the directional arrows on the left side of the screen image or after releasing the “Home” button.

Recovery mode from anomaly / collisionFollowing a collision, the Robot stops automatically and no movement is allowed through the app; “Unbrake” screen image appears on the tablet (need for the execution of the Robot axis brake release).To perform the recovery after the collision it is necessary to perform the Robot axis break release through the relevant screen image on the tablet. After the collision it is not necessary to calibrate the Robot.

The commands are of hold-to-run type; press and hold the directional arrows until the Robot reaches the desired position.

The “Home” button allows you to move the Robot to the calibration position. The command is of the hold-to-run type.

X- Z+

Z-X+

Y-

Y+

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5.1.2 Movement in Joints modeThe movement in Joints mode makes it possible to move the e.DO axes (joints) one at a time by selecting them individually directly from the app interface.

Movement modesTo carry out the movement in Joints mode:

– select the “Joints” item;

– using the arrows on the left side of the page, select the joint you want to move; the selected joint will be highlighted on the image illustrating the Robot;

– if necessary, adjust the movement speed using the slider in the center of the screen image;

– move the selected joint using the “+/-” arrow keys on the right side of the screen image.

Stopping modeIn the Joints mode, the Robot stops automatically after pressing and holding the “+/-” keys on the right side of the screen image or after releasing the “Home” button.

When present, the e.DO Gripper is identified as an additional joint (joint 7) and can be moved in the same modes as the other joints of the Robot. By pressing the “+” key, it commands the opening of e.DO Gripper; by pressing the “-” key, it commands the e.DO Gripper to close.

The commands are of hold-to-run type; press and hold the “+” or “-” key until the selected joint reaches the desired position.


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5.1.3 Movement in Input modeThe movement in Input mode makes it possible to manually enter the coordinates of the individual points you want e.DO to reach; e.DO will reach the set points by automatically coordinating the movements of the individual axes.

Movement modesTo carry out the movement in Input mode:

– select the “Input” item present in the center of the screen image;

– on the left side of the screen image, select the mode (Joints or Cartesian) through which to enter the coordinates of the point that you want to be reached by e.DO;

– in case of selection of “Joints”• select the various joints individually (J1 ÷ J6);• using the numeric keypad on the right, enter the value in degrees for each

joint movement;• then, press “Go to point” button to move the Robot to the desired point.

– in case of selection of “Cartesian”• using the numeric keypad on the right, enter the desired coordinates for each

axis (reference frame X, Y, Z with the origin in the center of the joint 1 on Robot base);

• using the numeric keypad on the right, enter the desired degrees for each corner (a, e, r);

• then, press the “Go to point” button to move the Robot to the desired point.

The “Go to point” button is of the hold-to-run type; press and hold the button until the Robot reaches the desired position.


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Stopping modeIn the Input mode, the Robot stops automatically after releasing the “Go to point” button or after releasing the “Home” button.


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5.2 How to create a movement program

e.DO allows the user to create small movement programs, to be run in automatic mode.The creation of a movement program is possible in the following 2 ways:

– Creating a movement program through “Projects” page;

– Creating a movement program through “Blockly”.

5.2.1 Creating a movement program through “Projects” pageTo create a movement program you need to:

– access the “Projects” page using the drop-down menu in the left area of the “Home page”;

– create a new project, entering the desired name by means of the relevant pop-up window that will appear at the time of the project creation;

– press “+” button to create a new point

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– a new point creation screen image will open;

– assign a name to the point (“Name” field (A) at the top left);

– if present, select the open or closed position of the e.DO Gripper (“Gripper closed” switch (B) at the top right);

– select the type of movement with which you want to save the point, to be chosen between Joints and Cartesian (“Movement type” field (C) at the top left);

– set the delay time, which elapses from the reaching of the previous point to the beginning of the Robot movement towards the next point (“Delay” field (D) at the top right). It is possible to set a zero delay by selecting “Fly”, or a delay in seconds that can be selected from the drop-down menu;

– set the speed with which the Robot will move to the desired point during program execution (“Speed” slider (E) at the top right);

– manually move the Robot to the desired point using the commands present in the lower part of the screen image (dotted area), according to one of the previously described movement modes (Movement in Cartesian mode, Movement in Joints mode or Movement in Input mode);

– having obtained the correct positioning of the Robot, confirm the creation of the point by pressing the green button “Add point” (F) at the top right;

– following the same procedure, create the remaining points of the movement program;

A

C D E

FB

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– at the end of program creation, a screen image similar to the following will be displayed;

– you can:• modify a previously created point by tapping on the corresponding line;• delete, sort or clone a point by swiping from right to left on the corresponding

line;

– set the number of times in which the Robot will cyclically repeat the movement program just created by pressing the “Repeat” button (G);

– using the slider (H), set the speed at which the Robot will execute the movement program;

– execute the movement program by pressing the “Play” button (H);

– the movement program can be stopped by pressing the “Stop” button (J).

G

Edit

Delete

Sort

Clone

Delete

Sort

Clone

K HJ

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5.2.2 Creating a movement program through “Blockly”To create a movement program through Blockly, you need to:

– access the “Blockly” page using the drop-down menu in the left area of the “Home page”;

– press the “+” button to create a new project, entering the desired name by means of the related pop-up window that will appear at the time of the project creation;

– “Blockly editor” screen image for creating the new Blockly program will open; the first block “e.DO Blockly start” will be created automatically;

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– from the menu on the left side you can select a series of operating blocks:• specific for e.DO (the first 4 from the top, described below), or• belonging to the standard Blockly libraries (the methods of use of which can

be found at the following address https://developers.google.com/blockly/);

– e.DO specific blocks have the following functionality / characteristics:• “e.DO Move” blocks allow to enter e.DO movement commands in Joints or

Cartesian mode;• “e.DO Gripper” blocks allow to enter e.DO Gripper movement commands

(opening / closing) and to measure the opening level of the e.DO Gripper itself;

• “e.DO Timer” blocks allow to enter delays between the movements;• “e.DO Settings” blocks allow to enter the settings of individual e.DO

movements (e.g. speed of the movements);

– by dragging the various blocks into the “Blockly editor” programming space, you can create Robot movement programs;

– within each block it is possible to enter specific parameters, tapping on the desired field and entering the relevant value;

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– once the program has been completed it is possible to:• start / stop using “Play” (A) and “Stop” (B) buttons present at the bottom of the

screen image;• display the source code of the program by pressing “View code” button (C) in

the lower left corner of the screen image.

C

BA

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5.3 “Settings” Menu

“Settings” menu is accessible by selecting the menu button at the top left, then selecting the “Settings” item.

Through the “Settings” menu, you can access a series of Robot settings pages:

– LAN Configuration

– Wi-Fi Configuration

– Blockly

– Control switch

– Language

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5.3.1 LAN ConfigurationThrough “LAN Configuration” page, it is possible to access the page showing the information relating to the LAN to which the Robot is connected, and to modify the related properties/settings:

– LAN IP Address: Robot IP address

– LAN Netmask: Subnet mask

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5.3.2 Wi-Fi ConfigurationThrough “Wi-Fi Configuration” page, it is possible to access the page showing the information relating to the Wi-Fi network to which the Robot is connected, and to modify the related properties/settings:

– WiFi SSID: identification name of the Wi-Fi network

– WiFi WPA2 Password: indicates the security protocol used to protect the Wi-Fi network.

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5.3.3 BlocklyThrough the “Blockly” page, it is possible to create e.DO movement programs using a simplified visual programming environment composed of function blocks, each corresponding to a specific command.To create a program, simply drag the desired blocks into the appropriate programming space, positioning and constraining them in order to obtain the desired function.

For more information on creating programs with Blockly, see par. 5.2 How to create a movement program on pag. 5-39.

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5.3.4 Control switchSelecting the “Control switch” item, a pop-up window will appear through which it will be possible to switch the e.DO control mode from tablet to Teach Pendant after a specific Procedure for connecting e.DO to the Desk Simulator and related configuration, as described in the Service Manual.By enabling the functionality, e.DO can be controlled through the Teach Pendant.

5.3.5 LanguageSelecting the “Language” item, a pop-up window will be displayed through which you can set the language of the app, according to the methods indicated in the par. 4.4.1 Selection of interface language on pag. 4-28.

The movement of the Robot through the Teach Pendant is allowed only to personnel adequately instructed and trained to use the Teach Pendant itself.

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5.4 “About” Menu

“About” menu is accessible by selecting the menu button at the top left, then selecting the “About” item.

Through this page you can view information relating to the firmware version of various HW and SW elements of e.DO.

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AVAILABLE OPTIONS FOR E.DO


6. AVAILABLE OPTIONS FOR E.DO

e.DO can be equipped with the following optional devices, in order to expand its functionalities:

– e.DO Gripper

– e.DO Marker Holder

The use of other tools or extensions different from those indicated in this chapter is to be understood as “incorrect use” of the Robot and therefore involves the forfeiture of the CE certification of the Robot.Any damage to the Robot generated by or during the use of other tools or extensions other than those indicated in this chapter are not covered by the warranty.

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6.1 e.DO Gripper

– What is the e.DO Gripper for?

– e.DO Gripper technical features

– Safety requirements for e.DO Gripper use

– e.DO Gripper diagrams and drawings

– How to mount the e.DO Gripper on the e.DO Robot

6.1.1 What is the e.DO Gripper for?The e.DO Gripper is a gripper specifically designed to be installed on the wrist of the e.DO Robot.The e.DO Gripper allows the execution of programs including small operations for handling small and non-dangerous objects, compatibly with General technical features of the e.DO Robot and e.DO Gripper technical features.

Fig. 6.1 - e.DO Gripper - Overview

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6.1.2 e.DO Gripper technical features

Tab. 6.1 - e.DO Gripper technical features

6.1.3 Safety requirements for e.DO Gripper use– During motion, do not insert body parts (fingers, hands, arms, etc.) between the

gripper fingers 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;

6.1.4 e.DO Gripper diagrams and drawings

Description Feature

Type 2-finger (fingertips) Gripper

Weight 200 g

Stroke With neoprene fingertip cover 77 mm

Payload 400 g

Opening / closing maximum speed 80 mm/s

Clamping force <65 N

On-board sensors / Position identification system

Encoder

Comau Part No. CR82442100

For information on the maximum load supported by the Robot, refer to par. Robot wrist features in the Service Manual.

When using the e.DO Gripper, wear safety glasses of F.F. class (low energy impact).

Do not use the e.DO Gripper working with wet or damp hands or feet.

In the event of a fault or malfunction, do not disassemble or attempt to repair the e.DO Gripper by yourself; contact the Comau Service Center. See also the following address:edo.cloud/support-and-contacts/.

For detailed instructions, connection diagrams, and drawings of the e.DO Gripper, consult the Service Manual.

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6.1.5 How to mount the e.DO Gripper on the e.DO Robot

For detailed instructions and mounting procedures of the e.DO Gripper on the e.DO Robot, consult the Service Manual.

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6.2 e.DO Marker Holder

– What is the e.DO Marker Holder for?

– Safety requirements for e.DO Marker Holder use

– e.DO Marker Holder diagrams and drawings

– How to mount the e.DO Marker Holder on the e.DO Robot

– How to fix the marker on the e.DO Marker Holder

6.2.1 What is the e.DO Marker Holder for?The e.DO Marker Holder is a tool specifically designed to be installed on the wrist of the e.DO Robot.The e.DO Marker Holder allows you to fix on the wrist of the e.DO Robot a felt-tip marker and have e.DO write operations on flat surfaces.The surfaces on which it is possible to write with the e.DO Marker Holder must be horizontal and parallel to the floor.

Fig. 6.2 - e.DO Marker Holder - Overview

The e.DO Marker Holder can be mounted directly on the Robot flange, or used matching it with the e.DO Gripper.

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6.2.2 Safety requirements for e.DO Marker Holder use

6.2.3 e.DO Marker Holder diagrams and drawings

6.2.4 How to mount the e.DO Marker Holder on the e.DO Robot

When using the e.DO Marker Holder, wear safety glasses of F.F. class (low energy impact).

For detailed instructions and drawings of the e.DO Marker Holder, consult the Service Manual.

For detailed instructions and mounting procedures of the e.DO Marker Holder on the e.DO Robot, consult the Service Manual.

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6.2.5 How to fix the marker on the e.DO Marker HolderThe e.DO Marker Holder consists of 2 main parts:

– a base flange (A) (to be fixed to the Robot)

– a marker holder (B) (to be fixed on the base flange)

Fig. 6.3 - e.DO Marker Holder - Composition

To fix the marker on the e.DO Marker Holder you need to:

– remove the marker holder (B) from the base flange (A), turning it counterclockwise, as indicated by the arrow “OPEN” stamped on the flange itself;

– insert the felt-tip marker into the marker holder (B);

– reposition the marker holder (B) on the base flange (A) matching the “teeth” on the marker holder with the corresponding notches on the flange;

– fix the marker holder (B) to the base flange (A), turning it clockwise, as indicated by the arrow “CLOSE” stamped on the flange itself.

A B

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E.DO CLEANING INSTRUCTIONS AND PERIODIC CHECKS

7. E.DO CLEANING INSTRUCTIONS AND PERIODIC CHECKS

To keep e.DO efficient and properly functioning it is necessary to periodically carry out cleaning operations and checks as described and summarized below in the following table.

Tab. 7.1 - Cleaning operations and periodic checks

When / how often Type of activity Paragraph

Before each use of the Robot

Check the presence and conservation state of the warning signs and labels

par. 7.1.1

Check the correct fixing of the e.DO parts par. 7.1.2

At every power-up of the Robot

Check the correct functioning of emergency push-buttons par. 7.1.3

After each use e.DO cleaning par. 7.2

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7.1 Periodic checks

– Check the presence and conservation state of the warning signs and labels

– Check the correct fixing of the e.DO parts

– Check the correct functioning of emergency push-buttons

7.1.1 Check the presence and conservation state of the warning signs and labels

When is it necessary to check the warning signs and labels of e.DO?

The check of the warning signs and labels must be carried out before each use of the Robot.

How to check the warning signs and labels of e.DO?Check that the following warning signs and labels are present and clearly visible on the Robot:

– “+” and “-” labels to identify the direction of rotation of the Robot axes;

– “pinching risk” labels on the Robot axes;

– “read the handbook” label on the Robot base;

– plate with CE marking on the Robot base.

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7.1.2 Check the correct fixing of the e.DO parts

When is it necessary to check the correct fixing of the e.DO parts?

The check of the correct fixing of the e.DO parts must be carried out before each use of the Robot.

How to check the fixing of the e.DO parts?Check the correct fixing of:

– e.DO to its base;

– all caps and covers on the base of the Robot;

– all individual joints of the Robot and the corresponding support brackets;

– all perforated covers installed to cover the electronic boards of the Robot joints.

7.1.3 Check the correct functioning of emergency push-buttons

When is it necessary to check the correct functioning of the e.DO emergency push-buttons?

The check of the correct functioning of the emergency push-buttons must be carried out each time the Robot is powered up.

How to check the correct functioning of the e.DO emergency push-buttons?Check the correct functioning of the emergency push-buttons before starting the Robot itself, as indicated below:

– power up the Robot;

– connect the tablet:

– reset the Robot emergency push-buttons by rotating them in the direction indicated by the arrow;

– calibrate the Robot;

– press the emergency push-buttons, one at a time, and check that after pressing a push-button, the “Unbrake” screen image is displayed on the tablet (need for the execution of the Robot axis brake release);

– in this way, check the correct operation of all the emergency push-buttons present on the Robot.

In the event that one or more parts of e.DO are not correctly fixed, do not use the Robot and ensure correct tightening and fastening of loose or wobbly parts (for details, see the Service Manual).

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7.2 e.DO cleaning

When is the e.DO cleaning required?The general cleaning of e.DO must be performed at the end of each use.In case of long periods of non-use, it is recommended to put e.DO inside the original packaging or cover it appropriately with special sheets / nylon, to protect it from dust.

How to clean e.DO?The general cleaning of e.DO must be performed using a soft bristle brush or soft damp cloth. Do not use abrasive products, abrasive sponges, solvents or metal objects.

Carefully clean the Robot base and the related areas of the connectors; clean the perforated plastic covers on each Robot joint. If not used, carefully clean the threaded holes for tool installation present at the end of the Robot (Robot wrist flange).

Before carrying out any cleaning operation, make sure that the Robot is powered off and remove the plug from the power socket.

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62

GENERAL TECHNICAL FEATURES OF THE E.DO ROBOT

8. GENERAL TECHNICAL FEATURES OF THE E.DO ROBOT

The following table lists the main Robot technical features:

Tab. 8.1 - e.DO Robot technical features

* Limitation due to the maximum capacity load of the e.DO Gripper

VERSIONe.DO with 6 axes (central and side)

e.DO with 6 axes with e.DO Gripper(central and side)

Structure / No. of axesAnthropomorphic 6

axesAnthropomorphic 7

axes

Wrist load max 1 kg (2.2 lb) max 0.4 kg (0.88 lb)*

Torque of axis 4 - 5 - 6 2.75 Nm

Admissible inertia on axis 4 - 5 - 6 0.003 kgm²

Stroke (Speed)

Axis 1 ± 179° (23 °/s)

Axis 2 ± 99° (23 °/s)

Axis 3 ± 99° (23 °/s)

Axis 4 ± 179° (34 °/s)

Axis 5 ± 103.5° (34 °/s)

Axis 6 ± 179° (34 °/s)

Max horizontal reach 478 mm (1.56 ft)

Repeatability ± 1 mm

Robot weight 13.5 kg (29.8 lb) 13.7 kg (30.20 lb)

Robot tool coupling flange features See Diagram of holes on Robot flange for tool fixing in the Service Manual.

Motors DC motors

Position measurement system Encoder 256 IMP

Protection degree IP2x

Robot colour White and black

Assembly position Horizontal plane, on the relative hexagonal base

Operating environment temperature from +10 °C to +40 °C

Storage temperature from -10 °C to +55 °C

Relative humidity 5% to 95% without condensate

Maximum temperature gradient 1,5 °C/min

Power supply voltage / frequency 230 Vac / 50 Hz

Area of application and intended use Educational, mainly for didactic purposes

Noisiness < 70 dB(A)

WARRANTY TERMS AND CONDITIONS


9. WARRANTY TERMS AND CONDITIONS

As an example, outside the scope of the warranty are any malfunctions deriving from:

– use of the Robot in environments with environmental specifications not suitable for normal operation of the Robot itself (for details consult Chap. General technical features of the e.DO Robot);

– cases of force majeure (such as lightning, particular atmospheric agents, etc.)

– modifications of electrical power supply conditions (including voltage and currentpeaks, etc.) that are higher than the limits set in the Robot technicaldocumentation;

– mechanical, electrical, software modifications not authorized by the manufacturer (details at par. 4.2 List of allowed and not-allowed operations, in order to preserve the warranty on pag. 4-56 of the Service Manual);

– performance of maintenance or repair operations not authorized by themanufacturer and indicated in the Service Manual.

The Robot is subject to different warranty conditions, depending on the methods of sale, as indicated below:

– Warranty conditions for B2B (Business-to-Business) sale

– Warranty conditions for B2C (Business-to-Customer) sale

The Robot warranty is exclusively related to malfunctions or damages of the Robot itself caused by manufacturing defects or incidents of non-compliance and applies as long as the Robot has been installed and used correctly, in full compliance with the technical features indicated in the technical documentation and instructions.

To activate the Robot warranty it is necessary to register on the e.DO website, at https://edo.cloud/.

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WARRANTY TERMS AND CONDITIONS

9.1 Warranty conditions for B2B (Business-to-Business) sale

In case of B2B sale, to the Robot shall be applied the following warranty conditions:

– the warranty has a duration of 24 months;

– the warranty period starts from the effective date of delivery of the Robot to the enduser or, if not available, the delivery date of the Robot to the courier;

– return rights are not applicable;

– in case of need for technical assistance during the warranty period, the productshipment costs are charged to the final Customer; after the assistance, the Robotshall be sent to the Customer directly by Comau, free of charge.

9.2 Warranty conditions for B2C (Business-to-Customer) sale

In case of B2C sale, to the Robot shall be applied the following warranty conditions:

– the warranty has a duration of 24 months;

– the warranty period starts from the effective date of delivery of the Robot to the enduser or, if not available, the delivery date of the Robot to the courier;

– the possibility of Robot return within 15 days from the effective date of delivery isprovided; the Robot shall be put inside its original packaging;

– in case of need for technical assistance during the warranty period, the productshipment costs are charged to the final Customer; after the assistance, the Robotshall be sent to the Customer directly by Comau, free of charge.

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