Comau C3G Plus, Руководство по эксплуатации и обслуживанию, Страница: 17 / 266

Installation and Commissioning - Continued
4.1.9 When required, connect the robot's pneumatic system to the air distribution network and check
carefully to make sure that the pressure is set correctly. If the pressure of the balancing system is
not correct it will affect the robot's movements.Also install filters to collect any condensate in the
system.
4.1.10 Install the control unit so that the control panel can only be operated from outside the protected
area.
4.1.11 Check that the pre-engineered voltage on the power supply transformers indicated on the specific
rating plate corresponds to the power mains voltage.
4.1.12 Before making the electrical connections to the control unit, make sure that the power mains cir-
cuit breaker is locked in the open position.
4.1.13 The connection between the control unit and the mains circuit breaker must be effected by means
of a shielded quadripole cable (3- ground) of suitable dimensions for the control unit
power installed
4.1.14 The supply cable must enter the control unit through the appropriate raceway and locked cor-
rectly.
4.1.15 After connecting the ground conductor (PE), connect the power conductors of the power cable to
the main circuit breaker or to the terminals on the controller Assemble the protectiive cover on the
main circuit breaker or on the input terminals.
4.1.16 Connect the supply cable to the circuit breaker on the power mains after checking, with the use of
an appropriate instrument, that the circuit breaker terminals are disconnected.
4.1.17 The controller can be provided with an internal lighting circuit and service socket connected down-
stream of the main circuit breaker. Should it be necessary to power the circuits independently
from the main circuit breaker, it will be necessary to alter an internal connection by connecting a
shielded three-core cable (2 ground) to the mains, scaled according to the protection
rating of the mains, in the same way and according to the same sequence of operations as speci-
fied for connection of the power supply.
4.1.18 Connect the earth wire and the signals and power cables between the control unit and the robot.
4.1.19 Check that the control unit door(s) is/are locked with the special key.
4.1.20 The components of the control unit may be permanently damaged if the connectors are con-
nected incorrectly.
4.1.21 The C3G
Plus
internally makes the main safety interlocks (gates, enable button, etc.). Should it be
necessary to connect to the signals provided to make additional external circuits, make sure that
these signals are used according to safety regulations. The safety of interlock signals leading from
the transfer line (emergency stop, gates safety, etc.), i.e. providing correct and safe circuits is the
task of the robot system integrator.
System safety cannot be guaranteed if these interlocks are missing, incomplete or incorrectly es-
tablished.
4.1.22 Stopping due to tripping of the protective barrier safety devices causes uncontrolled stopping of
the robot with possible loss of the trajectory programmed. To stop the robot with controlled
ramping down, it is advisable to connect the interlock signals so as to activate a Drive Off com-
mand before the emergency stop.
Example: opening of the protective barrier safety locks causes Remote Drive Off; opening of the
protective barriers causes an emergency stop..
4.1.23 If the C3G-CSM (Controlled Stop Module) is installed on the controller, in AUTO LOCAL and
AUTO REMOTE states, an emergency stop and/or opening of the safety gates causes controlled
stopping of the robot (EN 60204-1), category 1 stop). In this way, power is cut off (opening of the
power contactor) after 1 second. In PROGR. programming status, the power is cut off immediately
(EN 60204-1, category 0 stop). These times must be taken into account when installing the pro-
tective barriers in particular if light curtains are used.
4.1.24 Check that the environmental and operating conditions do not exceed the limits specified in the
product User Manual.
C3G
Plus
SAFETY REGULATIONS
02/1299 1-3
SAFETY
REGULATIONS