Comau C3G Plus, Руководство по эксплуатации и обслуживанию, Страница: 76 / 266

DISPLAY COMMAND
Arm Close Fieldbus Input Output Program Rll Vars
Configure Display Execute Filer Memory Program Set Utility
The DISPLAY command displays a command menu for opening display windows in the scroll window. These
windows show continuously updated information until they are closed with the CLOSE command. Multiple
windows can be opened at the same time. Display commands are always available.
When issuing a SYS_CALL instruction from inside a PDL2 programme, the DISPLAY command includes the
/T option which can redirect the output to the programming terminal display. Without this option the DISPLAY
commands, in the case of SYS_CALL, are sent to the PC screen (if the PCINT programme is active).
Arm
Currents Data Following Joint Position Resolver Status Temp
Arm Close Fieldbus Input Output Program Rll Set
The ARM command displays a command menu to display information related to an arm.
For systems equipped with multiple arms, an arm number parameter can be specified. A maximum of four
arms can be displayed at the same time. In the case of systems with the C3G-MMUX (Motor Multiplex 8/10)
device, some commands belonging to the DISPLAY ARM category display information regarding the active
set of auxiliary axes.
·
Currents displays the motor currents of the axes in amperes.
Syntax: DAC <arm_num>
·
Data displays arm interpolator data.
Syntax: DAD <arm_num>
·
Following displays following errors of the axes in bit units.
Syntax: DAF <arm_num>
·
Joint displays the current position target of each axis in degrees.
Syntax: DAJ <arm_num>
·
Position displays the current Cartesian position target as an x,y,z location, Eular angle and configura-
tion string; the values of the joints (in mm, in the case of translating axes, or in degrees, in the case of
rotating axes) of the auxiliary component in a system fitted with auxiliary axes.
Syntax: DAP <arm_num>
·
Resolver displays the current resolver position of each axis in bit units, read from the resolvers and
added to the calculated resolver turn.
Option: /Hex displays the data in hexadecimal format
Syntax: DAR <arm_num>
·
Status displays the current status of the arm, including calibration and LOCK. If the system is equipped with
the C3G-MMUX device, this command displays the active set of auxiliary axes, its status, the servo board to
which the auxiliary axes belong and correspondence between the logic axis and the physical axis, the cooper-
ative motion and auxiliary axes disabled. It is also displayed if the robot is along the programmed trajectory.
Syntax: DAS <arm_num>
·
Temp displays the motor temperatures of the axes as a percentage of the maximum allowable tempera-
ture for the motor.
Syntax: DAT <arm_num>
OPERATOR INTERFACE C3G
Plus
3-28 07/1200
DISPLAY
COMMAND