Comau C3G Plus, Operation And Maintenance Manual, Page: 99 / 266

SET COMMAND
Arm Cntrler Input Output Total_unf Update_io View_io
Configure Display Execute Filer Memory Program Set Utility
The SET command displays a menu of commands to change system characteristics. All SET commands
are allowed when memory protection is on, but only VIEW can be used also with system protection on.
Arm
Disable Enable Gen_ovr Nostroke Simulate Tp_main Unsimul
Arm Cntrler Input Output Total_unf Update_io View_io
The ARM command displays a menu of commands to set a particular state for an arm.
·
Disable disables the DRIVE ON function of an arm. This command can only be issued when the system
is in the PROG or ALARM states, the drive power is off and memory protection is off. This command
also disables errors generated when the resolver cables are not connected to the robot.
The arm remains disabled until a SetArmEnable command is issued on that arm, regardless of any re-
starts that may be performed. In addition, both DRIVE and RPT module failure indications are disabled.
The SetArmDisable command is generally used when repairs are necessary on a certain arm. Once the
necessary repairs have been carried out, the system may still report errors due to the presence of some
latched hardware.
A cold restart should be performed to remove these errors.
For systems with multiple arms, an arm number parameter is required. An asterisk may be used to indi-
cate all arms.
Syntax: SAD <arm_num>
·
Enable enables the DRIVE ON function of an arm. This command can only be issued when the system
is in the PROGRAMMING state, the drive power is off and memory protection is off.
For systems with multiple arms, an arm number parameter is required. An asterisk may be used to indi-
cate all arms.
Sintassi: SAE <arm_num>
·
Gen_ovr sets $GEN_OVR to the value specified as a parameter. This command can be used while sys-
tem or programme protection is on, but cannot be used when memory protection is on. If the PTU4 is
housed in the support on the cabinet, this command can be used to increase or decrease the value of
$GEN_OVR. On the contrary, if PTU4 is not in the cabinet, the only decrement of the value is allowed
when the command is sent from PCINT or from SYS_CALL.
Option: /Increment sets the default increment/decrement unit used to update the current value of
$GEN_OVR when the %+ and %- keys of the programming terminal are used to
change
the value. The normal default is 5.
Syntax: SAG <value>
SAG/I <value> <unit_incr/decr>
·
Nostroke allows the stroke ends for a specified arm to be disabled temporarily. The system must be in
the PROGRAMMING state. The stroke ends are automatically restored when the system enters an
AUTO or HOLD state, when drives are turned off, or when changing the PTU4 arm. To use this com-
mand the controller must not be in a FATAL state, but must be in the automatic mode. In addition, the
controller must not be in an ALARM state and system, memory and programme protection must be off.
While the stroke ends are disabled, only jog motion is allowed.
C3G
Plus
OPERATOR INTERFACE
06/0400 3-51
SET
COMMAND