Discover Comau’s Open Controller Software

The Comau Open Controller is an advanced proprietary software that enables external PCs to seamlessly control Comau robots using advanced control algorithms and innovative trajectory generation methods. With Comau Open Controller, users can achieve higher precision and efficiency in robot control, leading to improved productivity and reduced costs.

Comau’s Open approach offers enhanced control capabilities and further power to the Robot Control Unit, making it an ideal choice for universities, research centers, and innovative industries looking to implement their own motion strategy or algorithms to control a robot.

This new software can interact with standard control processes, allowing for seamless integration with external PCs and the use of additional control algorithms for more advanced control actions.

Users can take advantage of cutting-edge technology to achieve superior robotic control, performance, and precision. Switching from one operative mode to another no longer requires turning off the motors.

Thanks to its advanced technology, the robot can continue to function while the user communicate the desired modes to the Comau Open Controller. With that, users can easily switch between different modes without any disruptions.

This innovative feature can significantly enhance the robot’s performance, improving productivity. It is now possible to create a generic mixed trajectory:

  • Measures received by PC (no commands sent by PC)
  •  target generated by PC
  •  position and; or velocity controlled by PC
  •  target or current corrected by PC
  •  sensor managed by PC
  • OPEN: an external PC can directly manage the robot using a communication protocol to generate the trajectory and/or to drive current references
  • POWERFUL: a lot of operative modalities is supported without require robot stopping
  • EASY: PDL2 gives the possibility to use move instructions, system variables, signal and semaphores for concurrence programming, TCP/IP socket communications, I/O management
  • NEW: From the technologies implemented by industrial engineers to the methodologies studied by research people in order to enable rapid prototyping approach
  • CONTROLLER: Robustness and safety are guaranteed by classic supervising Comau Controller systems
  • Have more computational power
  • Increase  flexibility in getting information from external sensors, e.g. to implement
    • Vision Algorithms: Look & Move, Visual servoing
    • Interaction Algorithms: Force control, Impedance control
    • CAD Planning: Surface movements, Complex Interferences.
  • Fast prototyping
  • Capability of developing and testing new algorithms and solutions
  • C5GPlus Rel 1.0
  • C5GPlus Rel 2.0 
  • C5GPlus Rel 3.0
  • R1C-6 
  • S1C-6
  • C1C-6

It is possible to expand the Controller Internal PC ethernet socket pool by installing an Annex Ethernet Card.

Linux-based RTOS 32/64bit
Memory: 4+GB RAM (system memory)
Cpu: 2 GHz dual core processor
Disk: SSD preferred
Network: Gigabit Ethernet Interface, direct connection preferred

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Comau Open Controller is a Comau product that gives the possibility to use additional control algorithms and novel trajectory generation methods implemented on external PC to control Comau robots

The Comau Open approach:

  • Adds further power to the Robot Control Unit
  • Increase  flexibility in getting information from external sensors, e.g. to implement
    • Vision Algorithms: Look & Move, Visual servoing
    • Interaction Algorithms: Force control, Impedance control
    • CAD Planning: Surface movements, Complex Interferences
  • Enable fast prototyping
  • Empower capability of developing and testing new algorithms and solutions

Universities, research centers, and cutting-edge industries, who want to use their own motion strategy or algorithms to control a robot

An external PC is needed and the minimum configuration is:– Linux-based RTOS 32/64bit
– Memory: 4+GB RAM (system memory)
– Cpu: 2 GHz dual core processor
– Disk: SSD preferred
– Network: Gigabit Ethernet Interface, direct connection
On the External , for the connection with the Robot Controller, it’s possible to use ORL_driver (included in the “Light Open Kit and installable without additional license), or ORL_suite for cartesian functionalities and advanced communication management (need an additional license for every External PC)

Only Linux Real Time OS supports the ORL Library for interfacing the Comau Open Controller

Linux can be both 32 or 64 bit

You shall install the packages needed using this commandsudo apt-get install gcc-multilib g++-multilib cmake

Only during the library download

Yes, sure. You should contact Comau sales to request a Comau Open Controller license

Controllers compatible are:

  • C5GPlus Rel 1.0
  • C5GPlus Rel 2.0
  • C5GPlus Rel 3.0
  • R1C-6
  • S1C-6
  • C1C-6

And the minimum version of system software is 4.41

Yes because the R1C controller family (R1C-6, S1C-6, C1C-6) is now supported

Yes. The Safe functionalities will be active also during the Open Modalities, but, in order to avoid Safe Stop, it’s important that the user motion algorithm on the external PC will consider to not exceed the Safe Limitation

ORL stands for “Open Robot Library” and is the tool developed for the user-side rivedi
The ORL family is made of three libraries: ORL Driver (ORLD), ORL Motion (ORLM) and ORL Suite (ORLS)


ORL Driver (ORLD), is the library in charge of synchronous and asynchronous communication with the CRC. This library enables for motion command at motor-level, and makes it possible to manage the controller functionalities such as modality change and frame setup.
ORLDriver is available with CRCOpen ETH software Option and can be installed in all clients that want to communicate with the Comau Open controller

ORL Motion (ORLM), is the library that simulates CRC motion algorithms in an offline environment. It allows to generate trajectory on a virtual robot achieving the same results of the standard PDL2 environment. This library need to be enabled with a specific license and it is for a single user/PC

ORL Suite (ORLS), a library built on top of both ORLDriver and ORLMotion, which provides high level functionalities for a user-friendly employment of CRCOpen. Thanks to the integration with ORL Motion, it allows you to make all the conversions necessary to operate in Deg/Radians at the Link, or directly in Cartesian

Yes. All Comau Robot available with the C5G Plus and R1C families can be used with the Comau Open Modalities

The communication is based on standard IPv4 TCP/UDP ethernet protocol communication. Thus, the two systems have to be connected by an ethernet cable and set up in a shared subnet

The Comau Open Controller aims for real-time control applications development and prototyping. It does require a real-time operating system in order to work

C5GOpen is deployed as a C library and it does not require PDL2 in order to work. However, a sound knowledge of the Comau Robot Controller programming language enables for a better understanding of the Comau robots motion mechanics and serves for finer integration between the Open algorithms and the standard ones

The switching from an operative mode to another one does not require turning off the motors. The robot can continue to work properly and the user has to communicate to Comau Open Controller only the mode which he wants to use. In this way it’s very easy to create a generic mixed trajectory

Comau Open Controller updates follow the standard flow of Comau software updates, through after sales channels

Yes, it’s not possible to change communication frequency

Learn More About Comau

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