Posts by sandrot

    ARM_POS should return your position based on the currently selected frame of reference. Can you work on that returned value?

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    Maybe I am too much "old style" but I don't like when I have to use the floppy. I prefer to disable the floppy and upload from a laptop.

    If you buy used C3G, sometime software is incomplete, and we also see after years a lot of floppy data corruption or floppy units that can't work any more.

    I suggest to contact Comau and ask for a new set of discs to be generated. It's important you provide data you find on the manufacturer's plate (better if you send a picture).

    Comau can also give you documentation on how to bypass floppy and build the different cables parallel or serial, that may help you.

    Write to

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    I'm considering buying a Comau NJ130-2.0 New and add an existing IO cabinet to Comau robot, the IO cabinet was for Kuka KRC2, I think there should not be a problem connecting to a Comau is just what setting needed to be established, correct?. If you wonder why not just call Comau for service, well apparently from what I've heard is that they have to call someone from China to service user in Asia Region (Integrate level), so if that's the case I would rather do it myself if it is not too hard and with the help of this forum.

    You won't know until you call. Also is a good place to start.

    The support centers are in China, Italy, Germany, USA, Mexico and Brasil.

    For your problem, many fieldbuses are supported, Profinet, Profibus, EIP, DeviceNet, CAN, EtherCat. Manuals provide you with info on how to connect C5G to a PLC or on how to connect I/O.

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    I created the program and it was unable to open in ide also.

    If you created the program in IDE it would open. If you created the program offline, make sure you didn't include a NOHOLD clause in the header because NOHOLDables cannot be displayed in IDE.

    Many different reasons may be at the root of this issue:
    - damaged TP cable, it would require cable replacement.
    - damaged TP pins on connector, in many instances it is recoverable.
    - bad Ethernet on TP, it would require TP replacement.
    - bad Ethernet on robot CPU (either APC820/830/2100), it would require CPU replacement.
    - bad or corrupt CompactFlash installed in robot CPU, either you can reflash it or it would need to be replaced.

    Usually to understand how severe the issue is, we try to connect with WinC5G, if the CPU is alive you will connect.

    I dug out some information on the three different CF's used on Comau C5G's. This information may change in the future as CF's are a commodity and a more suitable CF supplier may be found at any time.

    CF used years 2010 to 2013:…s/5cfcrd0512-03/#techdata

    CF used years 2013 to 2016:…s/5cfcrd0512-04/#techdata

    CF used years 2016 to date:…s/5cfcrd0512-06/#techdata

    Wish I had seen this before...

    A few things:
    - Don't upgrade Java or VirtualBox as provided by RoboSim.
    - Java 7 will work, Java 8 and above will not. Downgrade if necessary.
    - VirtualBox is guaranteed to work up to v5.1.30. Anything above not recommended and v5.2.x would not work at all.
    - Windows 10 sometime keeps the VirtualBox virtual Ethernet card disabled. Re-enable it.
    - Windows 10 C/C++ redistributables are sometime amiss, they need to be manually installed.
    - Don't launch the C5G virtual machine directly from VirtualBox, it will not work in that way.
    - Some people have routing issues. We've seen the packets go straight to the Internet service provider instead of going to the virtual machine.

    I use heavy load robots from comau, and they always tend to show very obvious vibrations with low frequency at the TCP at low speeds.

    Comau recommends NJ 110 or NJ 130 for machining work, as they have motors directly on the wrist.

    Articulated robots in general (include Kuka, Fanuc, ABB, Motoman, etc etc) have characteristic resonance frequency, they vibrate like a guitar string if you hit them. It's easy to find resonance frequencies between 3 and 10 Hz.

    Therefore you need to know what to do if you do machining. Know the resonance frequency of your robot and choose feed and spin so that that resonance frequency is not excited.

    Did you use a Comau provided mastering tool? If using a mastering tool (and provided that robot calibration is perfect!) you have a procedure described on Control Unit Use manual to properly calculate your actual tool.

    Has anyone made a working image back up on a Comau c5g?

    Yes, I've seen it done in USA, Turkey and Italy, but never within the community of robot programmers, rather by maintenance departments at the plants.

    What software would I need?

    There are a ton of programs that can do an image, Win32DiskImager is one of my favorite.

    The issue with CF's has many roots:

    - Comau C5G's have used, since 2010 three different models of CF. Different model may mean different underlying control technology, there are PATA, SATA, CFast technologies used. So if you buy a new CF to write an image, better you pick the right technology. Sorry I wouldn't know which is which (I believe though the earliest CF were Western Digital PATA), but it's an information that can be dug out. Technology used should be readable on the CF you pull out of APC820 or APC830.

    - I was told your CF reader might be the issue. Somebody "in the know" had different results with different readers. This may relate to the previous point.

    - CF images on C5G are not "trimmed", apparently, they use to the last byte available. So you write to different CF with a different byte count and you have issues. I don't know what to recommend here. Linux is your friend and you can do some trimming, I don't believe 2 KB on a partition would end up making a big difference.

    Comau knows you really need to know what you are doing to clone a CF, so they are normally perturbed if they find a Customer with a CF that is not original.

    Sculpting projects I know of use a turntable and the robot has absolute accuracy option.

    I would otherwise consider an 8 mm error an artifact of some wrong configuration.

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