Comau C3G Plus, Руководство по эксплуатации и обслуживанию, Страница: 167 / 266

The procedure for manually moving the arms of a robotised cell differs slightly depending on the configura-
tion of the cell controller. The following paragraphs give further details for a few typical situations.
MANUAL MOVEMENT OF A SINGLE ARM SYSTEM
To perform manual movement of a single arm, simply set the status selector to the programming position
choose the most appropriate mode and press the keys keeping the enable button on the
programming terminal pressed.
MANUAL MOVEMENT OF AUXILIARY AXES, SLIDES AND REVOLVING UPRIGHTS
The auxiliary axes can be added to an arm to move positioners of different kinds, thereby increasing the
working space. Another example of auxiliary axis is the welding gun for powered spot welding.
Manual movement of an auxiliary axis is normally possible only in the joints mode (Jnt) using the corre-
sponding keys (typically and ). However, if the auxiliary axis moves a
slide, an upright or an integrated gun, it is possible to carry out the axis movement also in the Cartesian
modes (Tol, Usr, Bas) using the same Jnt mode keys. For the integrated slide and upright see further details
in the C3G Programming guide manual.
MANUAL MOVEMENT WITH CONTROLLER MULTI-ARM CONFIGURATION
In the case of controller multi-arm configuration, it is necessary to choose the arm intended to be moved
pressing the ARM key and checking the current value on the programming terminal status window. Selection
can be done in the programming status, if the Drives are active (DRIVE ON) when the key is pressed, the
system switches to DRIVE OFF.
It is also possible to activate two arms belonging to two different machines at the same time. To do this it is
necessary to be in DRIVE OFF status and press the SHIFT key together with the ARM key. The program-
ming terminal status window will show the codes of the two arms separated by an arrow (for example 1
¬
2).
At the next DRIVE ON both arms are activated. The movement keys will however be enabled to
move only the arm indicated by the arrow on the status line (arm 1 if 1
¬
2 and arm 2 if 1
®
2). It is possible
to change the direction of the arrow pressing the ARM key in DRIVE ON status (it has this function only if the
arms were both in DRIVE ON).
For manual movement of integrated arms (a particular case of the multi-arm system), see the special chapter
in the C3G Programming guide manual.
MANUAL MOVEMENT IN WRIST_JNT MODE
In movement of certain types of arms in the Cartesian mode (Tol, Usr, Bas) it is easier to change the direc-
tion of the tool in a mode that does not produce rotation around a Cartesian axis but directly moves the robot
wrist axes (for a robot with 6 axes, the wrist axes are the last three). This is typically helpful for machines
with less than six axes as their capability to turn the tool is limited and it is not possible to obtain require-
ments exactly. This mode can be selected pressing the SHIFT key together with TYP key. This operation
changes the behaviour of the Tol, Usr, Bas modes and because of this, also the corresponding abbrevia-
tions change into Twr, Uwr, Bwr. The Jnt mode remains unchanged.
The difference in the movement of the robot more clearly involves the keys dedicated to changing the geom-
etry, i.e. the , and keys. In the Twr, Uwr and Bwr modes these keys
are associated directly with each axis of the wrist and pressing one of them moves the corresponding axis
leaving the position of the other wrist axes unchanged. However, this operation does not change the position
of the TCP as the first three axes move to compensate the change in direction. It should be noted that if the
robot possesses only two wrist axes (for example 4 and 5) it will only be possible to activate keys
and , while only will be usable for a robot with four axes. With regard
to keys , and the difference is less apparent: movement is linear in
the direction required but the tool geometry is not constant during the path as the wrist axes are not moved.
The only model of robot that is an exception to this is the SMART S3 robot for which the first three keys pro-
duce the same effect as the normal modes (Tol, Usr, Bas).
C3G
Plus
MAIN OPERATIONS FOR SYSTEM USE
00/1097 5-7
ROBOT
MOVEMENT
IN
PROGRAMMING
STATUS
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+
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+
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7
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8
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4
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5
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6
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4
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5
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4
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1
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2
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3