Comau C3G Plus - Configure Command

CONFIGURE COMMAND
Arm Cntrler Io_conf Load Save
Configure
Display Execute Filer Memory Program Set Utility
The CONFIGURE command displays a command menu to configure the system to match user requirements.
Arm
Calibrate Reten_Mem Turn_set View_cal
Arm
Cntrler Io_conf Load Save
The ARM command displays a command menu to configure the arm to match user requirements.
·
Calibrate performs a calibration procedure on an entire arm or on specific axes of an arm. The arm
must be put in the calibration position before the command is issued. If an arm number is not specified,
the default arm shown by the prompt is used. An axis number should always be specified. To indicate an
entire arm, use the asterisk (*).
This command cannot be used when the system is in a FATAL or AUTOMATIC status, drive power is off
or if the system or programme protection is active. The access is bound to the use of a password, which
however is not required if it was already entered from the command Configure Controller Password.
The system must be in PROG status with drives on. The calibration data are saved automatically in:
Flash Eprom (SAU2)/RPT (optional); the C3G.SYS file and the ASCII calibration file (the name of which
is memorised in $CAL_FILE).
Options: /Learn learns the current position as the user calibration position.
/Nosave disables automatic saving of the calibration file in the Flash Eprom (SAU2)/RPT
(optional); the C3G.SYS file and the ASCII calibration file
/User uses the pre-learned user calibration position ($CAL_USER) instead of the system
position ($CAL_SYS).
Syntax: CAC <arm_num> <axis_num>
CAC/L <arm_num>
CAC/U <arm_num> <axis_num>
·
Reten_Mem displays the commands for downloading from and saving in the Flash Eprom retentive
memory (in SAU2) or RPT module (optional). This makes it possible to read specific data relating to the
axes directly from the emergency manual control and keep specific Arm data. For both commands the
number of the servo board can be specified. The default number will be used if no number is specified.
The LOAD command downloads the data contained in the Flash Eprom (SAU2)/RPT (optional) in the
controller memory and automatically updates the C3G.SYS file and the ASCII calibration file (the name
of which is specified in the predefined variable $CAL_FILE).
Options: /Loadfile loads the data concerning the axes directly from the calibration file and saves
them automatically in the C3G.SYS file and in the Flash Eprom/RPT.
The command automatically creates a .COD file with the same name as the calibration
file (.TXT), then executes it. This must be taken into account because, if there is a
previous .COD file in the RD this could be replaced by the file that is automatically
created by the system.
/Nofile disables automatic updating of the calibration file and of the C3G.SYS file.
Syntax: CARL/L <servo_board>
CARL/N <servo_board>
CARL <servo_board>
OPERATOR INTERFACE C3G Plus
3-24 08/0702
CONFIGURE COMMAND