[DavideOz]

Hi,
Our setup consists of a standalone e.DO robot, normally controlled through the e.DO tablet/browser application. We do not have a Comau C5G controller, Desk Simulator or TP5 teach pendant.

The connection settings currently used are:

RoboDK version: 5.9.0 on Windows

Robot IP address: 10.42.0.49

Port: 1102

Driver: apicomau.py

The robot responds to ping and works correctly through its own application. However, clicking “Connect” in RoboDK produces the following error:

ConnectionRefusedError: [WinError 10061] as shown in attachment.
No connection could be made because the target machine actively refused it.
Could you please clarify:

Is direct online control of standalone e.DO currently supported?

Is apicomau.py compatible with this configuration, or is a dedicated driver required?

Best Regards,
Davide

[DavideOz]

I found the thread “Online with Comau C5G controller”, where it explain that

Code:

RoboDKdriver.pdl

must be transferred to the robot controller and started before connecting from RoboDK.
Could this procedure also work with a standalone Comau e.DO robot?

Code:

apicomau.py

, robot IP

Code:

10.42.0.49

and port

Code:

1102

. The robot responds to ping, but connecting produces

Code:

ConnectionRefusedError: [WinError 10061]

.

Thank you for your help.
Best regards,
Davide

[Albert]

Excellent, thank you for letting us know.

I believe that the e.DO does not use the same controller used by industrial robots (C5G). Do you have more information about how the e.DO must be programmed? If you can share program examples and communication protocol we can better help.

[DavideOz]

Thank you for your reply.

At this stage, I only need to read the robot’s actual joint positions in RoboDK, using the “Get Position” button highlighted in the attached screenshot. I do not currently need to send movement commands to the robot.
I would also like to clarify that I have not yet carried out the driver installation procedure: transferring RoboDKdriver.pdl to the controller via FTP, then loading and running it through the “Prog” menu.
According to Comau’s documentation, e.DO is based on Rasberry board and It uses Linux and ROS. Its web application communicates through a WebSocket server:

• e.DO technical overview
  
• e.DO web application guide
  

Is there a supported way to retrieve joint positions from this configuration? Would this require a dedicated interface or driver, even for read-only access?
Please let me know which protocol documentation or program examples I should request from Comau to help you assess this.
Best regards,
Davide

[Albert]

We'll take a deeper look at properly integrating the Comau e.DO robot. We look forward to having a full integration with a Raspberry Pi based Comau e.DO robot. We'll keep you posted.