Comau C3G Plus - Output Signals Towards External Logic (Machine Line)

OUTPUT SIGNALS TOWARDS EXTERNAL LOGIC (MACHINE LINE)
These are controller output signals used to communicate with external equipment (e.g. a PLC).
PIN
X30
SIGNALS DESCRIPTION
8 DRIVE ON/OFF
(LED C1 SIM, $SDOUT[9])
When closed indicates that the control unit has received the
Drive ON command from the machine line, has carried out
the motor start-up procedure and is in Drive ON status.
(Drive ON = true, Drive OFF = false)
26 START/HOLD
(LED C2 SIM, $SDOUT[10])
When closed, it means that control unit has received
START signal with at least one "HODABLE" program pre
-
viously activated and ready to start.
9
27
10
28
U1 (LED C3 SIM, $SDOUT[13])
U2 (LED C4 SIM, $SDOUT[14])
U3 (LED C5 SIM, $SDOUT[15])
U4 (LED C6 SIM, $SDOUT[16])
Undefined output signals whose function can be
customised through user programming.
11 LOCAL/REMOTE
(LED C7 SIM, $SDOUT[11])
When closed indicates that the remote operating mode
has been selected using the status selector on the front
panel and that the system is in Remote status.
(Local = false, Remote = true)
29 ALARM (LED D1 SIM, $SDOUT[4])
When open indicates that an alarm has occurred and has
been detected by the control unit.
(no alarm = true, alarm = false)
12 TEACH EN/DIS
(LED C8 SIM, $SDOUT[12])
When closed indicates that the system is in Programming
status (through selection on front panel) and has enabled
the relevant safety devices (reduced speed, servo alarm
threshold restriction).
13 AUTO/MAN PTU ($SDOUT[17])
When closed indicates that the AUTO/MAN selector on
the programming terminal is in the AUTO position, i.e.
programming operations involving robot movement are
performed at machine working speed.
(Auto = true, Man = false)
30
EMERG. STOP TO REMOTE
Emergency signal to remote which is opened when one of
the emergency buttons on the programming terminal or
operator panel is pressed (normally closed).
14
32
COMMON OUTPUT +24 Vdc
+ 24 Vdc common return reference for output signals.
25 OUTPUT COMMON RETURN 0 Vdc
0 Vdc common return reference for output signals.
71 COMMON (STATUS SELECTOR)
Common wire for auxiliary contacts.
54 PROGRAMMING
Status selector in programming position
42 AUTO-LOCAL
Status selector in automatic-local position
40 AUTO-REMOTE
Status selector in automatic-remote position
C3G Plus INTEGRATION GUIDE
04/0799 4-7
SYSTEM I/O