Comau C3g plus User manual

C3G Plus

OPERATIONS AND

MAINTENANCE MANUAL

3UM - C3G Plus 08/0702

00757045/GB

CELL CONTROLLER REL. 1.x e REL. 2.x

The information provided in this manual is the property of COMAU S.p.A.

Any form of reproduction, even partial, is forbidden without the prior written authorization of COMAU S.p.A.

COMAU reserves the right to modify the characteristics of the product described in this manual without prior

notice.

PRINTED IN ITALY -07/2002

UPDATING LIST

In this issue of the manual, with respect to the previous one, changes to technical contents have been per-

formed due to the product updating. The modified sections are listed below.

TITLE: C3G Plus CELL CONTROLLER

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C3G Plus PREFACE

05/1199 i

PREFACE

C3G Plus VERSIONS SDLP-SDMP-SDHP

C3G Plus VERSIONS DDMP-DDHP

This manual refers to the COMAU SYSTEMS robot system consisting of:

C3G Plus cell control unit Rel. 1.X Rel. 2.X

SDLP 3,8 KVA

7 KVA

16,5 KVA

Power installed SDMP

SDHP

Internal lighting l–

230 Vac 6 A, SCHUKO-type service socket l–

Emergency terminal function l–

RPT Resolver Position Tracker (on board robot) (1) (1)

System software version 5.2X / 5.3X / 5.4x / 5.5x / 5.6x

(1) RPT module is not available on robots identified by a release similar/higher to that indicated in the

following table:

Manufacture release is printed on robot identification plate.

Where necessary, this manual also gives information about RPT, as documentation concerning robots man-

ufactured in previous releases not specified in table or equipped with RPT module for special applications.

PREFACE C3G Plus

ii 08/0702

SMART RELEASE RPT

S2; S3; S4 3.0 -

S5 1.0 -

M4.0 -

H1/H2/H3/H5 4.0 -

H4 3.0 -

PREFACE

SYMBOLS USED IN THIS MANUAL

The symbols used to indicate: CAUTION,WARNING and NOTES are explained below:

Symbol used to identify operating procedures, technical information and precautions, which,

if not complied with and/or carried out correctly may cause injury to personnel.

Symbol used to identify operating procedures, technical information and precautions, which, if

not complied with and/or carried out correctly may cause damage to the equipment.

Symbol used to identify operating procedures, technical information and precautions to

which attention must be drawn.

The symbols below, which appear inside the operating procedures, mean that the operator should pay partic-

ular attention or carry out the instructions:

Dangerous electrical voltage

Components that are damaged by electrostatic charges

Earth connection point or pin.

TRAINING COURSES

·COMAU Robotics organises special training courses for robot system operating, programming and

maintenance personnel.

·Further courses can be organised to cater for any particular requirements and to provide the technical

and practical information required for independent operation of the COMAU robot system, depending on

the level of knowledge of the participants.

REFERENCE DOCUMENTS

For further information on the C3G Plus cell controller, consult the following documents:

·C3G Plus Technical Specifications (supplied with this manual);

·EZ Programming Environment;

·PDL2 Programming Language Manual;

·C3G Programming Guide;

·Manuals for the dedicated application programmes;

·Robot Operation and Maintenance Manuals.

·Manual for communication through field bus and Ethernet network.

C3G Plus PREFACE

08/0702 iii

PREFACE

SUMMARY

This manual contains:

Page

CHAPTER 1 - SAFETY REGULATIONS

Responsibility .............................................................................................................................................1-1

Safety regulations.......................................................................................................................................1-1

CHAPTER 2 - INSTALLATION

Installation summary table..........................................................................................................................2-i

Provisions for installation............................................................................................................................2-1

Check packing list.......................................................................................................................................2-1

Acquaintance with operator interface .........................................................................................................2-1

Connection to power mains........................................................................................................................2-2

C3G Plus - robot connections.....................................................................................................................2-5

Application Box connections.......................................................................................................................2-6

Connection of safety devices and cutting off commands leading from the transfer....................................2-7

Activation of C3G Plus ................................................................................................................................2-12

RPT buffer battery connection (when installed)..........................................................................................2-13

C3G Plus - robot off line functional check...................................................................................................2-14

Turn_Set operation.....................................................................................................................................2-17

Deactivating the C3G Plus..........................................................................................................................2-18

Robot system integration............................................................................................................................2-18

Functional check of the installed robot system...........................................................................................2-19

CHAPTER 3 - OPERATOR INTERFACE

Control panel and serial and parallel interfaces..........................................................................................3-1

Programming and emergency terminal (C3G-PTU4) .................................................................................3-3

C3G-PTU4 display......................................................................................................................................3-9

Provision for activating the emergency terminal.........................................................................................3-11

Emergency terminal active keys.................................................................................................................3-11

Emergency control C3G-EMC2..................................................................................................................3-12

Connector for enabling device additional button ........................................................................................3-14

C3G Plus interface on personal computer..................................................................................................3-15

Connection cable for COMP: - PC connectors......................................................................................3-15

Cable for connecting serial port connectors COM0: and COM1: ..........................................................3-15

Parallel port PAR: connection cable......................................................................................................3-15

SUMMARY C3G Plus

iv 08/0702

SUMMARY