Comau C3G Plus - C3 G Plus - Robot off Line Functional Check; Checking the Enabling Device Button and DRIVE on; Checks before Functional Tests; Functional Tests

CHECKS BEFORE FUNCTIONAL TESTS
·
Before moving the robot make sure that the working area is clear of unforeseen obstacles and that there
are no persons inside.
·
Check if the robot calibration position can be reached without knocking any equipment. The calibration
position changes depending on the type of robot, therefore refer to the robot literature.
·
The control unit main switch must be at ON .
FUNCTIONAL TESTS
Set the status selector on the control panel to the programming position
1. Checking the Enabling Device button and DRIVE ON
·
Press the PTU4 Enabling Device button in the intermediate position, the robot motors turn on (the
green led associated with the DRIVE ON key flashes and then stays on)
·
Press the Enabling Device button completely, the motors go off (DRIVE ON led off)
· Press the PTU4 Enabling Device button in the intermediate position, the motors turn on again
(DRIVE ON led on)
· Release the PTU4 Enabling Device button; the motors go off (DRIVE ON led off)
· Press the PTU4 Enabling Device button in the intermediate position, the motors turn on again
(DRIVE ON led on)
· If the additional Enabling Device button is present (connector X80) perform the same test as de-
scribed for the PTU4 considering that both must be closed for performing DRIVE ON
2. Checking the safety devices
+
Safety buttons and gates
a. Press the PTU4 Enabling Device button in the intermediate position, the robot motors turn on
(DRIVE ON led on)
b. Press the emergency button on the PTU4, the power contactors are opened, the robot brakes are
activated and the motors are switched off. The PTU4 presents the following situation:
- the display shows alarm 28694:11 Safety Gates or Emergency Stop
- the leds of the ALARM, DRIVE OFF, HOLD buttons are lit
c. Release the emergency button on the PTU4 and press the ALARM button (emergency reset)
·
Repeat the operation from point a) to point c) for: external Emergency Stop button and Emer
-
gency Stop button on the control panel
·
Set the status selector on the control panel to the local automatic position
·
Press the DRIVE ON button on the PTU4, the robot motors turn on
C3G Plus INSTALLATION
08/0702 2-15
10. C3G Plus - ROBOT OFF LINE FUNCTIONAL CHECK
INSTALLATION 10.