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C5G
Comau Robotics C5G Instruction Handbook
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Cir
cuits
for mi
nor au
to
mati
on rou
tin
es: mi
nimu
m req
uir
emen
ts for i
nte
gra
tion
67
HS-RC
-C5E-
TI
N_06.
fm
00/0
411
Fig.
7.3
-
Typical cable
for RS232 serial connection between
COM2 on AMS-APC820 and
Personal Computer
Fig.
7.4
-
Example of RS422
connection cable
from COM
2 on
AMS-APC820 and general device
Features
:
–R
S
2
3
2
C
–
Str
aight
cab
le
–2
m
o
v
a
b
l
e
DS
UB
(tra
y
type
) 9-pin
fe
mal
e
co
nne
cto
rs
b
y
the en
ds.
–
No co
nt
ro
l
signal
.
Car
atte
ris
ti
che
:
–R
S
4
2
2
–
Condu
tto
ri
twi
st
a
ti a
coppie
(
TX
e
RX)
–
1 conn
et
tore
volant
e D
SUB
(a vasc
hetta)
9
pin fem
min
a
lato
AP
C820.
–S
c
h
e
r
m
o
(Shie
ld)
co
nne
sso
s
u
entra
mbi i lat
i o
un solo lato,
se
cond
o
esigen
za
.
P
i
n2
:R
X
Pin
3
:
T
X
Pin
5
:
GND
Shield
Pin
2
:
T
X
P
i
n3
:R
X
Pin
5
:
GND
1
1
9
9
(female)
(female)
Personal
Computer
side
AMS-APC820
side
P
i
n2
:R
X
Pin
3:
TX
Pin
5:
GND
Shield
Pin
2:
TX
P
i
n3
:R
X
Pin
5:
GND
1
1
9
9
(female)
(female)
Personal
Computer
side
AMS-APC820
side
Pin
4:
TXD
Pin
1:
Pin
9:
RXD
Pin
6:
Pin
5:
GND
Shield
TXD
RXD
Pin
RX+
Pin
RX-
Pin
TX+
Pin
TX-
Pin
GND
Shield
1
9
(female)
Serial
Device
side
AMS-APC820
side
66
68
Table of Contents
Default Chapter
3
Default Chapter
3
Table of Contents
3
Preface
6
Reference Documents
6
Content of the C5G Control Unit Manuals
7
Document Preservation
7
Manual Content Limits
7
Symbols in the Manual
8
1 General Safety Precautions
9
Responsibilities
9
Safety Precautions
10
Purpose
10
Definitions
10
Applicability
11
Operating Modes
12
Performance
18
2 Installation Instructions
19
Staff for the Installation
19
Storage Requirements
19
Requirements for the Installation Area
19
Equipment and Tools Required
20
3 Mounting Procedure: Dimensions, Space and Handling
21
Precautions before Starting the Procedure
21
Equipment and Tools Required
21
Packing List Check
21
Weight and Size Including Package
22
C5G Standard Version
22
C5G Featuring Rising Socket
23
C5G Featuring Application Box
24
C5G Featuring Rising Socket and Application Box
25
Overall Dimensions and Installation Space Required for the C5G (Without Conditioner)
26
Overall Dimensions and Installation Space Required for the C5G (with Conditioner)
28
Lifting and Handling Procedures
29
Lifting the C5G Packaged in Closed Crate
30
Lifting the C5G on Pallet Without Crate (Europallet 1200 X 800 MM)
31
Lifting the C5G Without Package
32
Procedure to Remove the Crate, Protection Cloth and Pallet
33
Placing in Position
35
4 Powering Supply from the Mains: Features and Connection
36
Precautions before Starting
36
Equipment and Tools Required
36
Power Supply Features
37
Earth Connection Diagram
38
Selecting the Powering Voltage
39
Control Unit
39
C5G-ACO / C5G-ACBO: Conditioner (if Installed)
39
Procedure to Install and Connect the Powering Cable (on Main Circuit Breaker)
40
5 Teach Pendant: Connection
43
Precautions before Starting
43
Equipment and Tools Required
43
Connection Typologies Depending on the Teach Pendant
44
Terminal Connection with Cable (C5G-Itp) Directly Connected to the C5G
44
6 Safety Circuits: Minimum Requirements for Integration
46
Precautions before Starting
46
Equipment and Tools Required
46
List of Minimum Activities Required
47
List of Suggested Activities
47
Safety Stop: Checking the Stop Circuit Timer
48
On Teach Pendant
50
How to Wire the X30 Connector
50
Further Details about the Stop Circuit Signals
52
X30/CIP Connector: Pins
54
Safety Signals: Reference Wiring Diagram
55
Troubleshooting for Safety Signals Coming from Unsuitably Installed Safety Devices
57
Safe Cut-Off for 24 VDC Power Supply: Using the Internal or External Power Supplies
58
Solution with Power Supply Taken from the X106/SDM
58
7 Circuits for Minor Automation Routines: Minimum Requirements for Integration
61
Precautions before Starting
61
Equipment and Tools Required
61
Selecting the 24 VDC Power Supply Source
62
Digital I/O on SDM Module
64
RS232 / RS422 Serial Communication
66
8 Start up
68
Precautions to be Taken before Starting the Machine up
68
Staring up the Control Unit
68
Errors Caused by Incorrect Connections in the Safety Circuits or in the Ystem Inputs
69
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Comau Robotics C5G Specifications
General
Brand
Comau Robotics
Model
C5G
Category
Control Unit
Language
English
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