> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/overview/hands-on/integrating-your-robot/integration-flow/robots.md).

# Robots

Read poses from and move robots directly from the Integration Flow.

The Integration Flow supports several robot brands natively, and more are on the way. Robots that aren't natively supported yet can already be connected through your [PLC](/docs/overview/hands-on/integrating-your-robot/integration-flow/plcs.md) or over [OPC UA](/docs/overview/hands-on/integrating-your-robot/integration-flow/protocols/opc-ua.md), with the coordinate convention of their brand.

| Robot                                                                                                          | Read pose | Move robot | Status                               | Convention      |
| -------------------------------------------------------------------------------------------------------------- | --------- | ---------- | ------------------------------------ | --------------- |
| [ABB](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/abb.md)                           | –         | –          | Via PLC or OPC UA                    | KUKA (rzyx)     |
| [ADT](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/adt.md)                           | –         | –          | Via PLC or OPC UA                    | Stäubli (rxyz)  |
| [AUBO](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/aubo.md)                         | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [CGXI](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/cgxi.md)                         | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Comau](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/comau.md)                       | –         | –          | Via PLC or OPC UA                    | Comau (rzyz)    |
| [Delta](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/delta.md)                       | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Denso](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/denso.md)                       | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Dobot](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/dobot.md)                       | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Doosan](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/doosan.md)                     | Yes       | No         | **Natively supported** (Modbus TCP)  | Comau (rzyz)    |
| [EFORT](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/efort.md)                       | –         | –          | Via PLC or OPC UA                    | KUKA (rzyx)     |
| [Elite Robots](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/elite-robots.md)         | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Epson](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/epson.md)                       | –         | –          | Via PLC or OPC UA                    | KUKA (rzyx)     |
| [ESTUN](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/estun.md)                       | –         | –          | Via PLC or OPC UA                    | KUKA (rzyx)     |
| [Fanuc](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/fanuc.md)                       | Yes       | No         | **Natively supported**, requires RMI | Fanuc (sxyz)    |
| [Flexiv](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/flexiv.md)                     | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [FR](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/fr.md)                             | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Han's Robot](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/hans-robot.md)            | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Hyundai Robotics](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/hyundai-robotics.md) | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Inovance](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/inovance.md)                 | –         | –          | Via PLC or OPC UA                    | KUKA (rzyx)     |
| [JAKA](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/jaka.md)                         | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Kawasaki](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/kawasaki.md)                 | –         | –          | Via PLC or OPC UA                    | Comau (rzyz)    |
| [KUKA](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/kuka.md)                         | –         | –          | Via PLC or OPC UA                    | KUKA (rzyx)     |
| [MELFA](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/melfa.md)                       | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Nachi](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/nachi.md)                       | –         | –          | Via PLC or OPC UA                    | KUKA (rzyx)     |
| [Neura](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/neura.md)                       | Yes       | Yes        | **Natively supported** (TCP)         | Fanuc (sxyz)    |
| [QJAR](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/qjar.md)                         | –         | –          | Via PLC or OPC UA                    | Comau (rzyz)    |
| [ROKAE](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/rokae.md)                       | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [SIASUN](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/siasun.md)                     | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Stäubli](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/staubli.md)                   | –         | –          | Via PLC or OPC UA                    | Stäubli (rxyz)  |
| [STEP](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/step.md)                         | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [Techman Robot](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/techman-robot.md)       | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [TOPSTAR](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/topstar.md)                   | –         | –          | Via PLC or OPC UA                    | Fanuc (sxyz)    |
| [TURIN](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/turin.md)                       | –         | –          | Via PLC or OPC UA                    | Stäubli (rxyz)  |
| [Universal Robots](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/universal-robots.md) | –         | –          | Via PLC or OPC UA                    | UR (axis-angle) |
| [Yaskawa](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/yaskawa-coming-soon.md)       | –         | –          | Coming soon, will require HSE        | Fanuc (sxyz)    |

"Via PLC or OPC UA" means the brand isn't natively supported yet, but can already be connected through a PLC or over OPC UA.

## Coordinate conventions

Captic supports the rotation conventions of all 35 brands above, so the coordinates arrive exactly as your robot program expects. Select your convention at `http://[serial-number].local:3000/settings` before calibrating. See [Coordinate Conventions](/docs/overview/hands-on/integrating-your-robot/integration-flow/robots/coordinate-conventions.md).

## How robot nodes work

Each natively supported robot has a **connection node** that holds the robot's address, and one or more **action nodes** that use it. Action nodes need a connection node and disable themselves without one.

All positions are in **millimetres** and all angles in **degrees**, whatever the robot uses internally.

{% hint style="info" %}
Any robot that can report its pose, natively or through a PLC, can feed the [robot pose service](/docs/overview/hands-on/integrating-your-robot/integration-flow.md), so the [calibration](/docs/overview/hands-on/vision+robot-calibration.md) wizard can fetch the pose directly from your robot.
{% endhint %}

{% hint style="info" %}
Want native support for your robot brand, or is your brand missing? Let us know at <support@captic.com>, so we can prioritise it.
{% endhint %}