Comau C3G Plus, Operation And Maintenance Manual, Page: 58 / 266

Arm: The First Field may have the following values:
1 1
®
2
2 Number of arm selected 1
¬
2 Synchronised movements for more arms
3 2
®
1
4 2
¬
1
1a C3G MMux device
1b
For further information about the meaning of the indication displayed, refer to the specific literature con-
cerning the device installed.
The Second Field shows the status of the Arm selected:
****
☞
means that the Arm is not calibrated
DIS
☞
means that the Arm selected is disabled
CAL
☞
means that the Arm selected is calibrated
TURN
☞
means that the Turn_set operation must be performed (setting the resolver
turn count)
SIMU
☞
means that the cell controller is in the simulation status in which a programme
can be run with the drives off
LOCK
☞
means that the movement of the Arm specified or of all the arms is locked (see
LOCK/UNLOCK instruction)
RES
☞
means that the movement of the Arm specified or of all the arms still has to be
reset (see RESUME instruction)
COOP
☞
means that cooperative motion is activated
STBY
☞
means that the Arm is in Stand-by status.
Typ: shows the type of manual movement that can be selected:
Jnt
☞
joint movement
Bas
☞
movement according to the Cartesian tern x,y,z referring to the robot base
Tol
☞
movement according to the Cartesian tern x,y,z referring to the robot tool
Usr
☞
movement according to the Cartesian tern x,y,z set by the user
Uwr
☞
transfer according to the Cartesian tern x,y,z set by the user and changing
geometry according to the robot wrist axes
Twr
☞
transfer according to the Cartesian tern x,y,z of the robot equipment and changing
geometry according to the robot wrist axes
Bwr
☞
transfer according to the Cartesian tern x,y,z of the robot base and changing
geometry according to the robot wrist axes.
E shows that the Enabling Device button on the programming terminal is pressed
P shows that the programming terminal is in its housing on the cabin.
The above information is displayed on the first line of the status window. The second line shows the error
and system information messages.
·
SCROLLING WINDOW: this window displays the messages that the system sends to the operator and
the user programmes.
·
COMMAND WINDOW: displays the menu of the system commands described in the specific paragraph.
Some letters with special accents (for example: ã; õ; Ó; Á; Ú; Â) are not provided therefore
they appear without accent in the messages.
OPERATOR INTERFACE C3G
Plus
3-10 00/1097
C3G-PTU4
DISPLAY