Overview

This section describes the following points as an entrance for understanding a COBOTTA.

• What are the features of COBOTTA?
• Useful functions of COBOTTA
• Original robot application development with a COBOTTA (OSS version)
• COBOTTA system configuration

What is a COBOTTA?

Among all tasks done by operators, if operators only handle complex or creative tasks and a robot does other tasks, the production environment would be more efficient. For such situation, a COBOTTA is a best solution.

A COBOTTA is developed to perform a collaborative operation with human. For example, the shape of the COBOTTA arm is designed not to pinch or entangle operator's hands and fingers. Also, in case of collision with an object or human body part, if the contact force exceeds predetermined limit, a COBOTTA stops its motion. In addition, the weight is so light that users easily carry it.

However, unless operators treat a COBOTTA properly, the safety could be compromised. Also, to automate a system with a COBOTTA, you might need to assemble various devices as well. The human-robot cooperation cannot be realized unless the safety of the automated system is guaranteed as a whole.

Therefore, customers who design/create an automation system for a human-robot collaborative operation need to examine the safety of the whole automation system (this is called a risk assessment), and based on the result, need to take countermeasures to eliminate the identified hazards for safe operation.

A COBOTTA equips two types of signals for safety operation: a signal that users can stop COBOTTA motion in case a COBOTTA performs unexpected motion; and a signal to stop a COBOTTA motion if a worker enters a predetermined area. For details about these signals, refer to "Signals for Safety operation".

Useful Functions

To use a COBOTTA in automated system, there are necessary preparations; creating a motion procedure, saving it to a COBOTTA, and setup so that a COBOTTA starts and stops the saved motion procedures. To achieve such preparations without difficulty, a COBOTTA has following functions.

However, the following functions are standard OS version-dedicated functions. For OSS version, customers need to create functions by themselves.

Functions to create a motion procedure

One of the motion procedure creation processes (programming) is to record the traveling order of the COBOTTA's end-effector. To record a traveling order, in most cased, operators move a COBOTTA's end-effector to the target position and then record the position. Since operators can directly move a COBOTTA with their hands, it is easy to move the end effector to the target position (direct teaching function).

Also, by using intuitive GUI, users can easily create a procedure that performs differently according to conditions or performs repetitive operation (Product name: Cobotta World).

Other than that, a DENSO robot original programming language "PACScript" is available for programming.

For details, refer to "Creating a motion procedure".

Gripping and recognizing an object

You can install a tool to grip an object (hereafter, called "gripper") in the end of a COBOTTA arm to carry and/or assemble an object.

Also, you can install a camera that sends an object image to a COBOTTA so that COBOTTA detects the position of an object.

You can select a gripper or camera as an option at the time of purchase.

For details, refer to "Gripping and recognizing an object".

Function to achieve variety of motion

Assuming that you are going to apply an adhesive glue on an object which bonding surface is curved. For such situation, there is a special function, called Free curve interpolation function. With this function, you only have to specify several path points to smoothly move a COBOTTA though these points.

There are some other functions as well. For details about such functions, refer to "Realizing variety of motions".

Function to communicate with external devices

A COBOTTA equips a dedicated communication connector that is used to start/stop a COBOTTA's motion procedure from an external device and to inform an external device of the COBOTTA state. Also, it equips an Ethernet connector for data sending and receiving.

For details, refer to "Communicating with an external device".

Developing an Original Robot Application (OSS Version)

System software installed in COBOTTA is largely DENSO WAVE original software, however, we also prepare special system software as optional item that allows ROS (Robot Operating System) installation (OSS version). ROS is open source software that supports robot application development. As variety of libraries and tools are prepared for ROS, it is suitable to develop original robot application development.

This user’s manual mainly describes for a COBOTTA (standard OS version) where DENSO wave original system software is installed. Therefore, some contents are not applied to OSS version.

For about the application standard of OSS version, refer to "Specifications". To use COBOTTA as an industrial robot, customers need to make the robot comply with the related standard · regulation by customers.

Installation of OSS version

Install the following to the OSS version COBOTTA.

• Ubuntu(Linux)
• Driver for Linux
• ROS

The document describing how to install can be downloaded from "COBOTTA driver for Linux" in the following URL:

https://www.denso-wave.com/en/robot/download/application/

The downloaded file contains a compressed set of documents and the driver for Linux.

Decompress the file and refer to the README file. The README file describes how to refer to each document.

COBOTTA System Configuration

The system configuration required to operate COBOTTA consists of the following three main elements.

Standard packed items

These items are provided with all purchases of COBOTTA.

Options

These are the optional items selected by the customer at the time of purchase.

Items prepared by customer

These items must be prepared by the customer to operate the product.

For details on the overall configuration of each element, refer to "System Configuration Diagram".