Comau C3G Plus, Руководство по эксплуатации и обслуживанию, Страница: 132 / 266

The transfer is informed of the Hold status of the control unit through deactivation of the START/HOLD out-
put, i.e. with opening of the contact of the corresponding relay. Also, the LOCAL/REMOTE output is deacti-
vated indicating that the system is operating following a local command.
The output that indicates hold to the transfer is kept open (HOLD) even when the HOLD command from the
operator panel is removed.
The LOCAL/REMOTE output is active when the HOLD command from the operator panel is removed indicat-
ing that the system is once again under the control of the remote PLC.
DRIVE OFF PROCEDURE
This procedure is activated if the robot is in Drive ON status.
1. On the remote panel:
- the DRIVE OFF command is activated;
- a timer is initialised.
2. The controller:
- stops the robot in controlled mode;
- deactivates the START/HOLD output (pin 26 on X30);
- switches off power to the motors;
- deactivates the DRIVE ON/OFF output (pin 8 on X30).
3. On the remote panel if the following conditions are found:
- DRIVE ON/OFF output not active (false);
- power contactor open;
- ALARM output active (true);
- START/HOLD output not active (false);
the timer initialised in step 1 is disabled.
INTEGRATION GUIDE C3G
Plus
4-10 00/1097
commands
procedure