Comau C3G Plus, Operation And Maintenance Manual, Page: 42 / 266

·
Open the safety gates: the power contactors are opened, the robot brakes are activated and the
motors are turned off. The following situation is present on the PTU4:
- the display shows alarm 28694:11 Safety Gates or Emergency Stop
- the ALARM, DRIVE OFF, HOLD button leds are lit
·
Press the ALARM, HOLD buttons (emergency reset)
·
Set the status selector on the control panel to the programming position
+
Equipment power supply contacts (safety relay logic)
·
Press the PTU4 Enabling Device button in the intermediate position, the robot motors turn on
(DRIVE ON led lit)
·
Run a continuity test to check that the equipment power supply contacts (safety relay logic)
open/close. Refer to step 7 of the installation procedure for the pins involved in the test.
+
Redundancy of power contactors K101 and K102 (K121 and K122 only for C3G Plus versions
DDMP-DDHP) (power contactor)
·
Press the PTU4 Enabling Device button in the intermediate position, the robot motors turn on
(DRIVE ON led lit)
·
Run a continuity test to check that the auxiliary contacts of power contactors K101 and K102 (K121
and K122 only for C3G
Plus
versions DDMP-DDHP) close. Refer to step 7. of the installation proce-
dure for the pins involved in the test. To check that they open, release the Enabling Device button.
3. Checking manual robot motion
·
Reduce the robot speed to 25% pressing the key of the PTU4
·
On the PTU4 select JNT movement using the TYP key
·
Press the PTU4 Enabling Device button in the intermediate position, the robot motors turn on
(DRIVE ON led lit)
·
Move each single axis of the robot keeping the Enabling Device button pressed and pressing the
button corresponding to the axis to be moved.
Releasing the axis movement button the robot stops. Releasing the Enabling Device button while the
robot is in motion the robot stops and the motors turn off.
Press the ALARM button to reset and turn the motors on again.
4. Checking TURN_SET
·
Check that the word TURN appears on the PTU4 status window.
·
If this word is present, perform the TURN_SET operation following the procedure given in step 11 of
installation, then continue with point 5 of the checks. If the word turn is not shown, perform step 5 of
the check.
INSTALLATION C3G
Plus
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INSTALLATION
10.