Comau C3G Plus, Руководство по эксплуатации и обслуживанию, Страница: 44 / 266

Fault Check Suggestions/Possible causes
3. Checking manual robot movement
The axis intended to be moved is
still
Check that: the Enabling Device
button is pressed and the motors
are on DRIVE ON (led on); the but-
ton of the axis to be moved is
pressed
Incorrect pressing of buttons, keys
or sequence of commands
If the clamping brackets for trans-
porting the robot have been re-
moved Remove the brackets
The axis to be moved moves badly Check the mechanical geometry of
the axis for distortion or interfer-
ence
Removed the damaged robot parts
4. Checking TURN_SET
Difficulty in performing the opera-
tion Correct command sequence and
correct robot positioning Carry out the procedure carefully
following the instructions. Consult
chapter 3 of this manual for further
information about commands
5. Check the robot calibration position
The robot does not position cor-
rectly in the calibration position
(fixed and mobile indexes mis-
aligned, on all or on some axes) Check that the controller is the one
associated with the robot con-
nected
(serial numbers corre-
sponding)
Correctly associate controller and
robot
Check that the robot geometry has
no distortions or interferences Replace the damaged robot parts
This step of the procedure must be carried out if the word TURN appears in the PTU4 status window. TURN
may be shown following movement of one or more axes of the robot with the C3G
Plus
CONTROL UNIT off.
If TURN is not shown on the PTU4 carry out the next step of the procedure.
PROCEDURE
1. Set the status selector on the control panel to the PROGRAMMING position
2.
On the PTU4 select the JNT type of movement using the TYP key
3. Reduce the robot speed to 20% using the key
4. Pressing the PTU4 Enabling Device button the robot motors turn on (green led lit in correspondence
with the DRIVE ON button)
5. Position the robot aligning the reference notches (fixed and mobile index) of the axis on which Turn_set
is to be performed using the key corresponding to the axis.
After executing the CAT command (Configure Arm Turn_Set) the following messages may
appear: Joints position insufficiently accurate and/or Negative (positive) adjustment is
required. In which case position the robot on the reference notches more accurately, as de-
scribed.
6. From the PTU4 command menu execute: Conf (F1) Arm (F1) Turn (F3)
7. Repeat the operation on all the robot axes.
INSTALLATION C3G
Plus
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+
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11. TURN_SET OPERATION
INSTALLATION
10.