·
TEACH ENABLE
This turns on when the status selector is in the PROGRAMMING position (Yellow)
-
on PROGRAMMING
-
off AUTOMATIC/Local or AUTOMATIC/Remote
·
ALARM
This turns off when the controller is in an alarm status, it works in all modes (Red)
-
on NO ALARM PRESENT
-
off ALARM
·
E.STOP TO REMOTE
This turns off when an emergency button is pressed (Control Panel, PTU4) or when the Enable button
on the PTU4 is released in the PROGRAMMING mode (Red)
-
on NO EMERGENCY
-
off EMERGENCY PRESSED
·
U1-U2-U3-U4
These turn on when the user-available $SDOUT[45/46/47/48] outputs are set to ON. It works in all
modes (Green)
-
on $SDOUT[45/46/47/48] at ON
- off $SDOUT[..] at OFF
FUNCTION OF WEIDMULLER CONNECTORS
Please remember that before performing any kind of robot movement, the robot system
safety devices must always be installed and working.
The connectors on the top part of the device (see previous figure) make it possible to connect the controller
safety provisions, also during system installation.
The diagram on the right-hand side of the connector shows the various connections to be made for perform
-
ing these operations (for further information refer to chapter 2, step 7 of the installation procedure in this
manual).
CONNECTIONS ON THE FIRST WEIDMULLER CONNECTOR (12 TERMINALS)
-
Terminals 6-66-68-24 allow the connection of an external device (e.g. trunnion) to the controller external/in
-
ternal safety chain.
-
Terminals 71-40-42-54 make it possible to pick up the robot mode (PROGRAMMING, AUTOMATIC/Local,
AUTOMATIC/Remote) to the outside.
-
Terminals 52-53-55-56 make it possible to pick up the status of Machine 1 and Machine 2 (if present)
power contactors to the outside.
CONNECTION ON THE SECOND WEIDMULLER CONNECTOR (10 TERMINALS)
-
Emergency button to remote, terminals 33-34-35-36
-
Safety gates (Doors or external photoelectric barriers), terminals 15-16-17-18.
C3G Plus MAINTENANCE
01/0498 7-37
diagnostic
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