Comau C3G Plus, Operation And Maintenance Manual, Page: 136 / 266

EXAMPLE OF ALARM RESET
The DRIVE ON and START signals are active on the positive rising edge. They require a minimum 50 ms
pulse but their status may also be cancelled when the status of the C3G changes as required.
The DRIVE OFF and HOLD signals are active on the level and are low active signals that must be high dur-
ing normal functioning. For these signals, it is also possible to use negative pulses with a minimum duration
of 50 ms.
In the case of a remote emergency stop, the alarm can be reset simply by sending the DRIVE ON request.
The C3G makes the checks, cancels the alarm and performs DRIVE ON. If recovery is not possible the
alarm condition is restored.
C3G-PLC Example of Remote Alarm Reset
PARALLEL INPUTS/OUTPUTS
This paragraph provides information about the parallel I/O’s.
IOM MODULE I/O CONNECTION (BASIC CONFIGURATION) SLOT 4 FOR C3G
Plus
VERSIONS SDLP - SDMP - SDHP AND SLOT 4-6 FOR C3G Plus VERSIONS DDMP - DDHP
With the C3G
Plus
double cabin versions DDMP - DDHP two IOM modules are present at
the same time. The IOM module of Slot 4 will be dedicated to MACHINE 1 and available ex-
ternally on connector X30; the IOM module of Slot 6 will be dedicated to MACHINE 2 and
available externally on connector X30-2.
The IOM module which handles 16 inputs and 16 outputs at 24 Vdc, of which 16 inputs and 15 outputs avail-
able to the user, is inserted in the Control Unit rack inside the controller. EACH AVAILABLE I/O CHANNEL
IS CONNECTED BOTH TO THE ROBOT AND TRANSFER AT THE SAME TIME. The I/O signals may be
directed:
·
towards the TRANSFER for any external equipment (through connector X30 and/or X30-2 for C3G
Plus
versions DDMP - DDHP only);
·
towards the ROBOT to handle fixtures installed on this (through the specific connector);
·
towards TRANSFER and ROBOT at the same time.
INTEGRATION GUIDE C3G
Plus
4-14 01/0498
example
of
ALARM
RESET
AND
PARALLEL
I/O
X30/1 DRIVE-ON
C3G (commands) PLC
X30/19 DRIVE-OFF
X30/2 START
X30/20 HOLD
PLC (statuses) C3G
X30/8 DRIVE-ON/OFF
X30/26 START/HOLD
X30/29 ALARM
INITIAL
STATUS
DRIVE
ON
START HOLD START
EMER.
STOP
ALARM
RECOVERY
START