Comau C3G Plus - Cutting Off Alarms Using the EXCL Key on PTU4; Use of the PTU4 as Emergency Terminal

CUTTING OFF ALARMS USING THE EXCL KEY ON PTU4
Through the EXCL key on the programming terminal it is possible to cut off flange and electric limit switch
alarms on the robot for 60 seconds, when the controller is in the programming status . The count of the
time elapsed since the EXCL key was pressed is displayed on the programming terminal.
This function is particularly useful in operating situations in which it is necessary to move the robot from an
abnormal position, without having to use the Emergency Terminal or the C3G-BRD device.
Activation of the EXCL key is allowed only with the controller in programming status and under the direct
responsibility of the operator. Normal safety conditions are at all events resumed with the following:
·
60 seconds from when the EXCL key is pressed
·
If the EXCL key is pressed within 60 seconds
·
At a change of status: Programming ® Automatic or
DRIVE ON ® DRIVE OFF
USE OF THE PTU4 AS EMERGENCY TERMINAL (Only for Rel. 1.x)
Through the use of the PTU4 and the insertion of a special connector it is possible to activate manual emer
-
gency movement. In this mode the control electronics (CONTROL UNIT) is excluded and it is possible to
move the robot axes one by one at low speed.
Normally the cell controller is associated to a robot by COMAU; during installation this asso
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ciation must be adhered to (see chapter 2 INSTALLATION). If the controller is connected to
a different robot than the one foreseen, malfunctioning may occur in the emergency move-
ment such as for example inverted rotation around the axis or the failure of axis movement to
correspond with the movement key on the PTU4.
PROCEDURE
· Move the main switch to OFF.
· Open the left door of the controller and open the inner door on which the electromechanical components
are located.
C3G Plus EMERGENCY PROCEDURES
08/0702 6-1
CUTTING OFF ALARMS USING THE EXCL KEY ON PTU4