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Robot Setup - COMAU
Robot Setup - COMAU
Robot Setup
Comau Robot
Comau Robot Setup
This document describes the default parameters of a 6 axis Comau robot and lists the information
needed to run it.
Warning: Check all these points carefully as the robot may have been set up in a different way by
the robot integrator.
J4
J3 +
+
J6
-
J5 +
- -
J2 + -
-
Current position:
+ J1 = 0°
J2 = 0°
- J3 = - 90°
J4 = 0°
+ J5 = 0°
J6 = 0°
J1
The Comau robot world workplane is positioned at the intersection of axis one and the robot base.
When all axes are at the 0° position, the robot looks like the pictures below.
X
Y
Z
X
A tool workplane is called “Tool”. Comau uses an “ZYZ rotary” Euler angle convention to define the
tool workplane orientation, from the 6th axis workplane.
These rotations around Z, Y' and Z'' give A, E, R rotations in Comau’s naming convention.
- First, move along X, Y and Z axes (from the 6th axis workplane).
- Then rotate around Z (A), then Y' (E), and Z'' (R) of the transformed workplanes, to get the
desired orientation.
The next example describes a Comau Tool (number 1), the definition of which is:
TOOLS[1] := POS(229.62,0,100,0,-90,0,'')
X = + 229.62 mm
Y = 0 mm
Z = + 100 mm
229.62mm
100mm
5.2 …Then Rotate
Rz = 0°
Ry' = - 90°
Rz'' = 0°
A part origin workplane is called “user frame”. Comau uses a “ZYZ rotary” Euler angle convention to
define the part origin workplane orientation from the robot world workplane.
The method of defining a part origin workplane is similar defining a tool workplane. However, the
coordinates reference is the robot world workplane instead of the robot 6th axis workplane.
X
Y
7. Miscellaneous
In Comau language, the default unit of speed is metres per second: m/s.
$LIN_SPD := 0.017 means robot TCP speed = 0.017 m/s (1000 mm/min)
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