Comau C3G Plus - Hold Procedure; Hold Procedure from Local; Start Procedure

START PROCEDURE
The START procedure from remote permits activation of the robot cycle after making all the system checks
and checking the DRIVE ON status. This procedure is active only if the status selector on the operator panel
is in the Automatic Remote position . The control unit does not switch to Start status if the DRIVE ON
command has not been removed.
1. On the remote panel:
-
if there is an alarm signal (ALARM
at low logic level pin 29 on X30) the DRIVE OFF signal is sent pre
-
venting activation of the cycle;
-
if the robot is in DRIVE ON status (pin 8 on X30), and the power contactor is not closed, an alarm is
generated;
-
if the robot is in DRIVE ON status and the power contactor is closed;
the DRIVE ON command is deactivated (pin 1 on X30) and the START command is activated (pin 2 on
X30).
2. On the controller, if the following conditions are found:
-
DRIVE ON (pin 1 on X30) not active (false);
-
DRIVE OFF
(pin 19 on X30) active (true);
-
START (pin 2 on X30) active (true);
- HOLD
(pin 20 on X30) active (true);
the START signal (pin 26 on X30) is activated which causes activation of the “holdable” programmes in-
stalled. For the programme installation procedures refer to the Programming manuals.
HOLD PROCEDURE
This procedure is activated if the machine is in the START status (active cycle).
1. On the remote panel:
- it activates the HOLD
command (low logic level pin 20 on X30);
-
a timer is initialised.
2. On the controller:
-
the cycle is interrupted;
-
the START/HOLD
output is deactivated (low logic level pin 26 on X30).
3. On the remote panel, if the following conditions are found:
-
START/HOLD
output not active (false);
-
ALARM
output active (true);
-
DRIVE ON/OFF
output active (true);
the timer initialised in step 1 is reset.
HOLD PROCEDURE FROM LOCAL
The stop commands (DRIVE OFF and HOLD) are always active regardless of the position of the PRO
-
GRAMMING, , Automatic LOCAL, , Automatic REMOTE . status selector. It is therefore possi
-
ble that a HOLD command be activated from the PTU4 while the control unit is in Remote status and,
consequently all “holdable” programmes being run are stopped.
C3G Plus INTEGRATION GUIDE
00/1097 4-9
COMMAnds procedure