Comau C3G Plus - Page 11

Page
PCINT programme ................................................................................................................................3-15
C3G
Plus video on PC...........................................................................................................................3-18
System commands.....................................................................................................................................3-21
Stand-By function .......................................................................................................................................3-68
Brake Release Device (C3G-BRD).............................................................................................................3-69
CHAPTER 4 - INTEGRATION GUIDE
Safety signals to remote.............................................................................................................................4-1
System inputs/outputs ................................................................................................................................4-4
Input signals from external logic (machine line) ....................................................................................4-6
Output signals towards external logic (machine line) ............................................................................4-7
24 Vcc power supplies...........................................................................................................................4-8
Procedures for command activation with the controlloer in automatic remote status............................4-8
Examples of use of system signals dedicated to transfer interface............................................................4-11
Parallel inputs/outputs ................................................................................................................................4-14
Serial inputs/outputs...................................................................................................................................4-33
Programmes contained in floppy disk 3“ 1/2 C3G CONFIGURATION TOOL ............................................4-33
CHAPTER 5 - MAIN OPERATIONS FOR SYSTEM USE
System operating modes............................................................................................................................5-1
System statuses .........................................................................................................................................5-1
System status in multimachine - multiarm configuration.............................................................................5-4
Robot movement in programming status....................................................................................................5-5
File management between PC and cell controller......................................................................................5-10
Use of the Floppy Disk ...............................................................................................................................5-11
Examples of the use of digital I/O’s and analogue outputs.........................................................................5-12
Calibration ..................................................................................................................................................5-13
Kinematic compensation algorithm.............................................................................................................5-19
CHAPTER 6 - EMERGENCY PROCEDURES
Cutting off alarms using the EXCL key on PTU4........................................................................................6-1
Use of the PTU4 as emergency terminal....................................................................................................6-1
Use of the BRAKE RELEASE DEVICE......................................................................................................6-3
C3G Plus SUMMARY
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SUMMARY