Comau C3G Plus - Cntrler

The SAVE command saves the data relating to the axes from the controller memory in the Flash Eprom
(SAU2)/RPT (optional) and automatically updates the C3G.SYS file and the ASCII calibration file.
Options: /Nofile disables automatic updating of the calibration file and of the C3G.SYS file.
Syntax: CARS/N <servo_board>
CARS <servo_board>
·
Turn_set sets the resolver turn counting at movement software level (and RPT level if present). Before
the command is issued, the arm must be taken to the calibration position (within half a resolver turn).
This command is useful when the pre-setting has been lost, for example following a resolver reading er
-
ror.
If an arm number is not specified, the default arm is used. An axis number should always be specified.
To indicate an entire arm, use the asterisk (*).
To execute this command the system must be in PROG status and the drive power must be on. This
command cannot be used if the system is in the FATAL or automatic status, drive power is off or if sys
-
tem protection is active.
Options: /Current uses the current arm position. Use this option only if the robot is still currently
calibrated (the controller has not been powered off since the RPT data was lost).
This option is disabled is the RPT device is not present.
/User uses the pre-learned user calibration position.
Syntax: CAT <arm_num> <axes_num>
CAT/C <arm_num> <axes_num>
CAT/U <arm_num> <axes_num>
· View_cal displays the calibration constants.
Options: /4
Syntax: CAV <arm_num>
Cntrler
Password Restart Startup Time View
Arm Cntrler
Io_conf Load Save
The CNTRLER command displays a command menu used to set the controller to match user requirements.
·
Password establishes a system password needed for password protected commands and for access to
the Dmon feature for software maintenance (restricted to COMAU).
Syntax: CCP password
·
Restart displays a command menu for re-starting the controller without powering off. These commands
are disabled when the controller is in the AUTO-REMOTE mode.
Bootmon Cold Reboot Warm
Password Restart
Startup Time View
·
Bootmon restarts the system software and invokes the boot monitor mode, in which it is possible to per
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form system software maintenance operations. Access is restricted by password. A confirmation is re
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quired.
Syntax: CCRB
C3G Plus OPERATOR INTERFACE
08/0702 3-25
CONFIGURE COMMAND