Comau Robotics C5G机器人控制器详细技术手册

需积分: 31 157 浏览量更新于2024-07-16 收藏 6.95MB PDF 举报

Comau Robotics C5G机器人是一款先进的工业级控制器，该硬件手册提供了对这款控制器的深入介绍。C5G Control Unit是Comau Robotics产品线中的核心组件，其标准版本的技术规格详尽阐述了其设计、功能和特性。手册中首先强调了安全预防措施，包括操作责任、明确的安全指南，以及对适用范围的界定。它确保用户在各种操作模式下都能遵循适当的安全标准，以保障人员和设备的安全。控制单元的设计旨在提供高度的可靠性，手册详细描述了产品的可靠性特点，以及如何通过正确的选择和配置来确保系统的长期稳定运行。用户可以根据具体应用需求来选择控制单元的不同版本，手册中指导了如何进行版本选择，考虑了扩展性，如I/O信号处理、通信网络支持以及安全装置的集成。手册还涵盖了关于可选模块的描述和订单代码，CR00757596_en-00/1010版本的文档中，强调了未经Comau Robotics事先书面许可，不得复制文本和插图的版权政策。公司保留随时更改产品规格的权利，无需通知或义务。本手册的目的是作为用户操作和维护C5G机器人控制单元的权威参考，包括了系统概述、操作流程、故障排查和维护保养等内容。为了确保信息的准确性和持久性，文档管理和存储也有专门的说明。此外，手册中使用的符号和术语都经过精心编排，便于理解和应用。 Comau Robotics C5G机器人控制单元硬件介绍PDF文件是一个全面的技术文档，涵盖了从安全操作到技术细节的方方面面，对于任何使用或维护C5G机器人的专业人士来说，都是不可或缺的参考资料。通过阅读和理解这份手册，用户能够充分利用C5G的性能，提升生产效率并确保操作过程中的安全。

General Safety Precautions

ge-0-0-0_01.FM

00/0710

Programming Mode

– The robot is only to be programmed by the authorised personnel.

– Before starting to program, the operator must check the Robot System (Robot and

Control System) to make sure that there are no potentially hazardous irregular

conditions, and that there is nobody inside the protected area.

– When possible the programming should be controlled from outside the protected

area.

– Before operating inside the Protected Area, the operator must make sure from

outside that all the necessary protections and safety devices are present and in

working order, and especially that the hand-held programming unit functions

correctly (slow speed, emergency stop, enabling device, etc.).

– During the programming session, only the operator with the hand-held terminal is

allowed inside the

Protected Area.

– If the presence of a second operator in the working area is necessary when

checking the program, this person must have an enabling device interlocked with

the safety devices.

– Activation of the motors (Drive On) is always to be controlled from a position

outside the range of the robot, after checking that there is nobody in the area

involved. The Drive On operation is concluded when the relevant machine status

indication is shown.

– When programming, the operator is to keep at a distance from the robot to be able

to avoid any irregular machine movements, and in any case in a position to avoid

the risk of being trapped between the robot and structural parts (columns, barriers,

etc.), or between movable parts of the actual robot.

– When programming, the operator is to avoid remaining in a position where parts of

the robot, pulled by gravity, could execute downward movements, or move

upwards or sideways (when installed on a sloped plane).

– Testing a programmed cycle at working speed with the operator inside the

protected area, in some situations where a close visual check is necessary, is only

to be carried out after a complete test cycle at slow speed has been executed. The

test is to be controlled from a safe distance.

– Special attention is to be paid when programming using the hand-held terminal: in

this situation, although all the hardware and software safety devices are active, the

robot movement depends on the operator.

– During the first running of a new program, the robot may move along a path that is

not the one expected.

– The modification of program steps (such as moving by a step from one point to

another of the flow, wrong recording of a step, modification of the robot position out

of the path that links two steps of the program), could give rise to movements not

envisaged by the operator when testing the program.

– In both cases operate cautiously, always remaining out of the robot’s range of

action and test the cycle at slow speed.

General Safety Precautions

ge-0-0-0_01.FM

00/0710

Auto / Remote Automatic Mode

– The activation of the automatic operation (AUTO and REMOTE states) is only to

be executed with the

Robot System (Robot and Control System) integrated inside

an area with safety barriers properly interlocked, as specified by Safety Standards

currently in force in the Country where the installation takes place.

– Before starting the automatic mode the operator is to check the Robot and Control

System and the protected area to make sure there are no potentially hazardous

irregular conditions.

– The operator can only activate automatic operation after having checked:

• that the Robot and Control System is not in maintenance or being repaired;

• the safety barriers are correctly positioned;

• that there is nobody inside the protected area;

• that the Control Unit doors are closed and locked;

• that the safety devices (emergency stop, safety barrier devices) are

functioning;

– Special attention is to be paid when selecting the automatic-remote mode, where

the line PLC can perform automatic operations to switch on motors and start the

program.

Robot axes release

– In the absence of motive power, the robot axes movement is possible by means of

optional release devices and suitable lifting devices. Such devices only enable the

brake deactivation of each axis. In this case, all the system safety devices

(including the emergency stop and the enable button) are cut out; also the robot

axes can move upwards or downwards because of the force generated by the

balancing system, or the force of gravity.

– Enabling the brake releasing device may cause the axes falling due to gravity as

well as possible impacts due to an incorrect restoration, after applying the brake

releasing module. The procedure for the correct usage of the brake releasing

device

(both for the integrated one and module one) is to be found in the

maintenance manuals.

– When the motion is enabled again following the interruption of an unfinished

MOVE, the track recovery typical function may generate unpredictable paths that

may imply the risk of impact. This same condition arises at the next automatic cycle

restarting. Avoid moving the Robot to positions that are far away from the ones

provided for the motion restart; alternatively disable the outstanding MOVE

programmes and/or instructions.

Maintenance and Repairs

– When assembled in COMAU Robotics & Service, the robot is supplied with

lubricant that does not contain substances harmful to health, however, in some

cases, repeated and prolonged exposure to the product could cause skin irritation,

or if swallowed, indisposition.

First Aid. Contact with the eyes or the skin: wash the contaminated zones with

abundant water; if the irritation persists, consult a doctor.

If swallowed, do not provoke vomiting or take anything by mouth, see a doctor as

soon as possible.

Before using the manual release devices, it is strongly recommended to sling the

robot, or hook to an overhead travelling crane.

General Safety Precautions

ge-0-0-0_01.FM

00/0710

– Maintenance, trouble-shooting and repairs are only to be carried out by authorised

personnel.

– When carrying out maintenance and repairs, the specific warning sign is to be

placed on the control panel of the Control Unit, stating that maintenance is in

progress and it is only to be removed after the operation has been completely

finished - even if it should be temporarily suspended.

– Maintenance operations and replacement of components or the Control Unit are to

be carried out with the main switch in open position and locked with a padlock.

– Even if the Control Unit is not powered (main switch open), there may be

interconnected voltages coming from connections to peripheral units or external

power sources (e.g. 24 Vdc inputs/outputs). Cut out external sources when

operating on parts of the system that are involved.

– Removal of panels, protection shields, grids, etc. is only allowed with the main

switch open and padlocked.

– Faulty components are to be replaced with others having the same code, or

equivalent components defined by COMAU Robotics & Service.

– Trouble-shooting and maintenance activities are to be executed, when possible,

outside the protected area.

– Trouble-shooting executed on the control is to be carried out, when possible

without power supply.

– Should it be necessary, during trouble-shooting, to intervene with the Control Unit

powered, all the precautions specified by Safety Standards are to be observed

when operating with hazardous voltages present.

– Trouble-shooting on the robot is to be carried out with the power supply cut out

(Drive off).

– At the end of the maintenance and trouble-shooting operations, all deactivated

safety devices are to be reset (panels, protection shields, interlocks, etc.).

– Maintenance, repairs and trouble-shooting operations are to be concluded

checking the correct operation of the

Robot System (Robot and Control System)

and all the safety devices, executed from outside the protected area.

– When loading the software (for example after replacing electronic boards) the

original software handed over by COMAU Robotics & Service is to be used.

Scrupulously follow the system software loading procedure described in the

specific product Technical Documentation; after loading always run a test cycle to

make sure, remaining outside the protected area

– Disassembly of robot components (motors, balancing cylinders, etc.) may cause

uncontrolled movements of the axes in any direction: before starting a disassembly

procedure, consult the warning plates applied to the robot and the Technical

Documentation supplied.

– It is strictly forbidden to remove the protective covering of the robot springs.

After replacement of the SDM module, check on the new module that the setting

of the stop time on selector switches SW1 and SW2 is consistent with the type of

Robot connected to the Control Unit.

剩余197页未读，继续阅读

weixin_38744270

粉丝: 328
资源: 2万+

Comau Robotics C5G机器人控制器详细技术手册

柯马最新一代机器人控制柜C5G产品概述.pdf

COMAU柯马机器人C3G编程手册(英文).pdf

COMAU柯马机器人C3G使用手册(英文).pdf

Comau Robotics机器人C5G控制单元使用手册.pdf

COMAU柯马机器人C4G维护手册.pdf

COMAU机器人外轴调制手册.pdf

COMAU柯马机器人C4G动作编程手册.pdf

意法半导体(ST)和柯马(Comau)合作开发机器人创新方案.pdf

柯马COMAU SMART5 NJ4 90-2.2 中空腕机器人（产品手册）.pdf

机器人实验室建设方案.pdf

最新资源