·
For single cabin controller versions (SDLP - SDMP - SDHP):
remove the closing cap from connector X201 (ON) and insert it in connector X200 (EMC).
·
For double cabin controller versions (DDMP - DDHP):
remove the closing cap from connector X201 (ON) and insert it in connector X200 (EMC) when needing
to move MACHINE 1 or X199 (EMC) when intending to move MACHINE 2.
These operations make it possible to enable the PTU4 as emergency terminal. .
·
Close the doors opened previously and move the main switch to ON. The emergency terminal will be in
-
itialised.
·
During emergency movement all the safety devices are cut off except the emergency
buttons (EMERGENCY STOP) on the PTU4 and control panel (any remote buttons).
·
Be very careful when moving the robot, following the safety instructions given in chapter
1 of this manual.
·
Robot motion in the Emergency status cannot be uniform.
·
Move the robot axes in the most suitable direction to take it back to the normal position,
paying particular attention to the direction of movement (+/-).
If the robot has overstepped the limit switches, movement is only allowed in the opposite di
-
rection to the tripped limit switch.
·
Activate the robot motors (DRIVE ON). Move the robot one axis at a time using the PTU4 key for moving
the axis to be moved.
· After each emergency movement it is necessary to:
- Turn off the controller moving the main switch to OFF.
- Re-position the closing cap in connector X201(ON) to reset normal controller operation (PTU4 as pro-
gramming terminal).
- Turn on the controller moving the main switch to ON.
- Carry out the TURN_SET operation (see chapter 2, step 11 of the installation procedure).
-
If the RPT module is present, the TURN_SET operation must not be performed.
EMERGENCY PROCEDURES C3G Plus
6-2 04/0799
EMERGENCY TERMINAL
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