For systems with multiple arms, an arm number parameter is required. An asterisk can be used to indi
-
cate all arms.
Syntax: SAN <arm_num>
·
Simulate allows programmes to be run simulating the movements without actually moving the arm. All
motion calculations are still performed. This command can only be issued with DRIVES OFF. However,
also with the arm simulating, it is possible to switch the status selector to programming and power
the drives to jog the robot. This command requires an arm parameter and can be used for:
-
testing programmes without moving the arm;
-
determining approximate cycle times;
-
debugging programme logic.
Syntax: SAS <arm_num>
·
Tp_main sets the default arm (normally set to 1) for movement from the programming terminal. An arm
parameter is required. To use this command, system and memory protection must be off and the drives
must be off.This command is not enabled if the command is sent from PCINT or from SYS_CALL and
the PTU4 is not present in the cabinet.Moreover, if EZ is active the command is disabled
Syntax: SAT <arm_num>
·
Unsimul turns off arm simulation. All holdable programmes will be deactivated. This command requires
an arm parameter and must be issued with drives off.
Syntax: SAU <arm_num>
Cntrler
Key_lock Protect View Win_clear
Arm Cntrler
Input Output Total_unf Update_io View_io
The CNTRLER command displays a menu of commands to set controller characteristics.
·
Key_lock prevents unauthorised use of the keyboard or programming terminal. A password is required
for this command. The screen remains fixed asking for a password to unlock it and re-enable access to
the command menu.
Syntax: SCK password
·
Protect displays a menu of commands to set the controller protection level. A password is required for
this command and it cannot be used if any of the following commands are already active: FILER EDIT,
MEMORY DEBUG or PROGRAM EDIT (DATA or CODE mode).
Clear Memory Program System
Key_lock Protect
View Win_clear
·
Clear removes the previous protection setting.
Syntax: SCPC
·
Memory sets memory protection (commands affecting the memory cannot be issued).
Syntax: SCPM
·
Program sets memory and programme protection (commands affecting execution memory and
programme activation and deactivation).
Syntax: SCPP
OPERATOR INTERFACE C3G Plus
3-52 06/0400
SET COMMAND
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