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Rel. 2.0
Technical Specifications
CR00758095-en_00/2015.10
The information contained in this handbook is the property of COMAU S.p.A.
Reproduction of text and illustrations is not permitted without prior written approval by COMAU S.p.A.
COMAU reserves the right to modify, without notice, the features of the product presented in this handbook.
SUMMARY
SUMMARY
PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
Reference documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Documents storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Limits on the handbook contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Symbols used in the handbook . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
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Comau Robotics Product Instruction
SUMMARY
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Comau Robotics Product Instruction
SUMMARY
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Comau Robotics Product Instruction
PREFACE
PREFACE
This chapter contains:
Reference documents
Documents storage
Limits on the handbook contents
Symbols used in the handbook.
Reference documents
This document refers to the Robots with standards outfitting listed below:
Racer 999 Plus Rel. 2.0
The structure of the complete set of handbooks describing the Robot and Control Unit
is detailed in the following table:
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Comau Robotics Product Instruction
PREFACE
Documents storage
All the provided documents must be placed in close proximity to the area where is
installed the robotic system, maintained available for all people that work on it, and
preserved intact for the entire operational life of the robotic system.
The symbol indicates operating procedures, technical information and precautions that
if are not observed and/or correctly performed could cause injuries to the personnel.
The symbol indicates operating procedures, technical information and precautions, that
if are not observed and/or correctly performed may cause damages to the equipment.
The symbol indicates operating procedures, technical information and precautions that
must be underlined.
The symbol draws the attention to materials disposal that is regulated by the WEEE
Directive.
The symbol points out to avoid environmental contamination and to properly dismiss the
materials in the appropriate collection sites.
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Comau Robotics Product Instruction
This chapter deals with general specifications that apply to the whole Robot System.
Considering its significance, this chapter is referred unreservedly in each system
instructions handbook.
1.1 Responsibilities
The system integrator is responsible for ensuring that the Robotic system (Robot
and Control Unit) is installed and handled in accordance with the Safety Standards
in force in the country where the installation takes place. The application and use
of the necessary protection and safety devices, the issuing of declaration of
conformity and any EC marking of the system are the responsibility of the
Integrator.
The installation shall be carried out by qualified Personnel and must conform to all
National and Local standards.
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Comau Robotics Product Instruction
1.2.1 Purpose
These safety requirements are aimed to define the behaviour and obligations to be
observed when performing the activities listed in the Applicabilitysection.
1.2.2 Definitions
Robotic system (Robot and Control Unit)
Robotic system is the workable assembly composed of: Robot, Control Unit, Teach
Pendant and other possible options.
Protected Area
The protected area is the zone confined by the protection barriers and intended to be
used for the installation and operation of the Robot.
Authorised Personnel
Authorised personnel defines the group of persons who have been appropriately trained
and assigned to carry out the activities listed in the section Applicability.
Staff in Charge
The staff in charge defines the personnel who manage or supervise the activities of the
employed persons defined in the preceding point.
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Comau Robotics Product Instruction
Integrator
The integrator is the professional expert responsible for the Robot and Control System
installation and startup.
Misuse
Misuse is defined as the use of the system outside the limits specified in the Technical
Documentation.
Action Area
The Robot action area is the enveloping volume of the area occupied by the Robot and
its equipment during movement in the area.
1.2.3 Applicability
These requirements must be applied when carrying out the following activities:
Installation and Startup
Functioning in Programming Mode
Functioning in Auto / Remote Mode
Robot axes brake release
Maintenance and Repair
Decommissioning and Dismantling.
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Comau Robotics Product Instruction
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Comau Robotics Product Instruction
Connect the signals and power cables between the Control Unit and the Robot.
Connect the Robot to earth or to the Control Unit or to a nearby earth socket.
Check that the Control Unit door (or doors) is/are locked with the key.
A wrong connection of the connectors may cause permanent damage to the
Control Unit components.
The Control Unit manages internally the main safety interlocks (gates, enabling
push-buttons, etc.). Connect the Control Unit safety interlocks to the line safety
circuits, taking care to connect them as required by the Safety Standards. The
safety of the interlock signals coming from the transfer line (emergency stop, gates
safety devices etc.) i.e. the realisation of correct and safe circuits, is the
responsibility of the Robot and Control System integrator.
In the cell/line emergency stop circuit it is necessary to include the contacts of the
Control Unit emergency stop push-buttons, available on X30. The push-buttons are not
interlocked inside the emergency stop circuit of the Control Unit.
Check that the controlled stop time is consistent with the type of Robot connected to the
Control Unit. The stop time is selected using selector switches SW1 and SW2 on the
SDM module.
Check that the environmental and operating conditions do not exceed the limits
specified in the Technical Documentation of the specific product.
The calibration operations must be carried out with great care, as indicated in the
Technical Documentation of the specific product, and should be concluded by
checking the correct position of the machine.
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Comau Robotics Product Instruction
To load or update the system software (for example after replacing boards), use
only the original software handed over by COMAU Robotics. Scrupulously follow
the system software loading procedure described in the Technical Documentation
supplied with the specific product. After loading, always make some Robot moving
tests at low speed remaining outside the protected area.
Check that the barriers of the protected area are correctly positioned.
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Comau Robotics Product Instruction
In both cases operate cautiously, always remaining out of the Robot range of action
and test the cycle at low speed.
Before using the manual brake release devices, it is recommended to sling the Robot,
or hook it to an overhead travelling crane.
The use of brake releasing device may cause the axes falling due to gravity, as well
as possible impacts due to an incorrect reset, 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
handbooks.
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Comau Robotics Product Instruction
When after the interruption of an unfinished MOVE the motion is enabled again, the
typical function of trajectory recuperation may generate unpredictable paths that
may imply the risk of impact. This same condition arises at the next restart of the
automatic cycle. Avoid moving the Robot in positions that are distant from the ones
required for the motion restarting; alternatively disable the outstanding MOVE
programmes and/or instructions.
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.
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Comau Robotics Product Instruction
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Comau Robotics Product Instruction
ROBOT DESCRIPTION
2. ROBOT DESCRIPTION
This chapter contains:
Robot general description
Robot axes identification
Declaration of incorporation of partly completed machinery
Name and address of the manufacturer.
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Comau Robotics Product Instruction
ROBOT DESCRIPTION
Ax Robot axis
Mtr Motor axis
It is forbidden to put into service of the assembly composed of the SMART5 Robot series
and the Control Unit before the machinery in which it is to be installed is declared to be
in compliance with the provisions of Directive 2006/42/EC.
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Comau Robotics Product Instruction
ROBOT DESCRIPTION
B CRxxxxxxxx
D xx lb / xx kg
COMAU S.p.A.
Via Rivalta, 30
10095 Grugliasco (TO) - ITALY
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Comau Robotics Product Instruction
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Notes:
*: See the par. 5.2.3 Determination of the max loads to the wrist flange (QF) on pag. 29 and the par. 5.2.4
Additional loads (QS) on pag. 32.
*: Other colours are available on request. The images contained in this handbook, are referred to standard
colours.
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Comau Robotics Product Instruction
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Comau Robotics Product Instruction
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Dimensions in millimetres
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Dimensions in millimetres
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5.2.1 Abbreviations
The following abbreviations have been used throughout the chapter:
QF = Max load applied to the flange
QS = Additional load applied to the forearm
QT = Max. total load applicable on the Robot
LZ = Distance barycentre load P from the tool coupling flange
LXY = Distance barycentre load P from axis 6
M = Mass
Ly
Robot
Racer 999 Plus Lx Lxy
P Lz
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Comau Robotics Product Instruction
The inertia specified in the graph curves refers to the centre of gravity of the load applied
on the flange.
When applying loads different from the values specified in the graphs, check the use
restrictions by means of the SMART Payload software function.
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Comau Robotics Product Instruction
Fig. 5.4 - Maximum load capacity to the Robot flange Racer 999 Plus
D
E
(O)
A: M = 3 kg
B: M = 4 kg
C: M = 5 kg
D: M = 6 kg
E: M = 7 kg
(O)
M: weight
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Comau Robotics Product Instruction
(O)
E
D
C
B
A: M = 4 kg
B: M = 5 kg
C: M = 6 kg
D: M = 8 kg
E: M = 10 kg
(O)
M: weight
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Comau Robotics Product Instruction
QF QS QT
Robot type Max load applicable on Max additional load Total max applicable load
the flange applicable on the forearm on the Robot
5 > 7 kg (> 15.43 lb) 8 kg (17.64 lb)
Racer 999 Plus 15 kg (33 lb)
0 5 kg (11.02 lb)* 10 kg (22.05 lb)
*: Nominal load
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Qs
Qf
Dimensions in millimetres
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Dimensions in millimeters
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Comau Robotics Product Instruction
FURTHER INFORMATION
6. FURTHER INFORMATION
This chapter contains:
Description of the Robot mechanics
Calibration principles.
Degrees of freedom
The Robot is an anthropomorphic type with 6 degrees of freedom.
Robot configuration
A- Base
B- Column
C- Arm
D- Wrist
E- Flange
The fixed Robot base is anchored to a supporting structure (fixing plate or supporting
structure).
On the fixed Robot base, a column rotates with vertical rotating axis (axis 1); the column
supports the axis 2 motorizations.
One arm connects axis 2 to the wrist and includes the gear motors of the axes 3 and 4.
At the front end of the wrist there is the flange tool connection.
Inside the wrist are integrated gear motors for the axes 5 and 6.
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Comau Robotics Product Instruction
FURTHER INFORMATION
For all details on options useful for safety areas sectoring, see the par. 8.3 Solutions to
integrate the Robot in production cells on pag. 74.
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Comau Robotics Product Instruction
A Robot
B C5Compact Control
Unit
C Connection cables kit
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Comau Robotics Product Instruction
A Robot
B C5G Control Unit
C Connection cables kit
The Control Unit (B) and the connection cables (C) are described in the respective
instruction handbooks Technical Specifications of the Control Unit C5Compact e C5G.
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Comau Robotics Product Instruction
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Comau Robotics Product Instruction
Conductor connection of the For further information on the connection to the equalizer
GND
equalizer circuit circuit:
Control Unit: see the Control Unit Technical
Specifications" instructions handbook.
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Comau Robotics Product Instruction
AIR AIR fitting for air input Depending on the function see:
Handling: see the par. 7.5 Solutions for Automations
on Robot Series Racer on pag. 43
In addition see the Instructions handbook of the application installed on the Robot
(Handling / Arc welding).
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Comau Robotics Product Instruction
In addition see the Instructions handbook of the application installed on the Robot
(Handling / Arc welding).
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X310
X126
X311
C5G-SMKC*
C5G-SDM
X2B/CAB
X2
AIR X70
Service cable**
AMS-IAM
AIR INPUT
AIR
X50***
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Comau Robotics Product Instruction
Item
Description For details see
Fig. 7.1
Optional components needed on the Control Unit
C5G-SMKC Signal Machine Kit Compact (CR17130282) Cap.11. on pag. 94
Standard components
AMS-IAM Axes control module Cap.11. on pag. 94
C5G-SDM Safety Distribution Module (SDM) Cap.11. on pag. 94
C5Compact Control
Connection cable between the C5Compact Control Unit and Unit Technical
Facility cable
Robot (CR1724446x) Specifications
Manual
X70 I/O signals connector and field bus installed on distribution panel par. 7.5.1.1
AIR Compressed air outlet installed on distribution panel par. 7.5.1.2
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Comau Robotics Product Instruction
Fig. 7.2 - I/O Principle Electrical Diagram on SDM (C5G Control Unit)
X310
X126
X311
C5G-SMK*
C5G-SDM
X90
X3A/CAB
X2
AIR X70
Service cable**
AMS-IAM
AIR INPUT
AIR
X50***
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Comau Robotics Product Instruction
Item
Description For details see
Fig. 7.2
Optional components needed on the Control Unit
C5G-SMK Signal Machine Kit (CR17130280) Cap.11. on pag. 94
Standard components
AMS-IAM Axes control module Cap.11. on pag. 94
C5G-SDM Safety Distribution Module (SDM) Cap.11. on pag. 94
C5G Control Unit
Connection cable between Control Unit C5G and Robot Technical
Facility cable
(CR1743328x) Specifications
Manual
C5G Control Unit
Technical
X90/CAB Cable gland connector on the cabinet base
Specifications
Manual
X70 I/O signals connector installed on a distribution panel par. 7.5.1.1
AIR Compressed air outlet installed on distribution panel par. 7.5.1.2
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7 5
6
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The connectors pinout corresponds to the fixed connectors installed on the distribution
panel of Robot axis 3.
7 5
6
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Comau Robotics Product Instruction
C5Compact
5 2 2 2
SDM
2
0V
1 +24 SAFE
+24int/ext
3 +24 I/O
8
0V
X311
1 3 3 3
INP 1
2 4 4 4
INP 2
3 5 5 5
INP 3
4 6 7 7
INP 4
5
X310
1
3 7 8 8
OUT 4
4 8 9 9
OUT 3
5 9 10 10
OUT 2
6 10 11 11
OUT 1
7
X2/CAB
1 24VR 6 6
+24int
6 0V 12 12
0V
15 15
HSI1+
+24V
HSI1-
0V
1
X136
2
IAM1 X2 X138
1 1 X50/DS X70
2 2
3 8
0V
+24/0.5A
4 3 X2C/CAB
5 4 9 HSI3+ 1 13 13
6 5 10 HSI3- 2 14 14
7 3
X138
8
HSM
X137
1
4
HSI3+
+24V
HSI3-
0V
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Comau Robotics Product Instruction
C5G Robot
X50
Alarm
Input
Input
Output
*1
HSI3 *1
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X124
C5G-PMI* X311
C5G-SDM
X93* or X94*
AIR X70
Multibus cable**
X20 Modules*
AIR
AIR INPUT
X50***
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Comau Robotics Product Instruction
X124
C5G-CPC* X311
C5G-SDM
X93*
AIR X70
Multibus cable**
X20 Modules*
AIR
AIR INPUT
X50***
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Comau Robotics Product Instruction
Tab. 7.5 - Structure of the Solution with I/O signals through Fieldbus
Item
Description For details see
Fig. 7.5, Fig. 7.6
Optional components needed on the C5G Control Unit
X20 Module Field bus module on interface X20 (depending on the protocol) Cap.11. on pag. 94
X93 or X94 Multibus connector on the cabinet base Cap.11. on pag. 94
Connection Multibus cable between the C5G Control Unit and
Multibus cable par. 7.5.4
Robot
Optional components needed on the C5Compact Control Unit
X20 Module Field bus module on interface X20 (depending on the protocol) Cap.11. on pag. 94
X93 Multibus connector on the cabinet base Cap.11. on pag. 94
Connection Multibus cable between the C5G Control Unit and
Multibus cable par. 7.5.4
Robot
Optional components needed on Robot
Adapter multibus
Multibus cable adapter par. 7.5.3
cable
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Comau Robotics Product Instruction
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KSR / HSI + *
KSR / HSI - *
TX-
TX+
RX-
RX+
* The conductor is defined HSI in case of HANDLING applications, and KSR in case of
SPOT WELDING application.
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Comau Robotics Product Instruction
Because of the considerable stress discharged to the ground by the Robot, and the need
to have an appropriate supporting surface, direct fixing on the floor or ceiling is not
foreseen.
Depending on the application and operating requirements, the Robot can be installed on
the floor or on ceiling.
For all possible solutions, the Robot must always be installed on a supporting structure
interposed between the Robot base and the installation surface.
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Comau Robotics Product Instruction
Purpose
The level-adjustable plate option for Robot allows to fix properly the Robot on the floor.
The unit allows to meet the following requirements:
secure a good flatness of the resting surface, to avoid abnormal stresses on the
Robot base frame.
possibility for rigging Robot mounting to simplify the off-line programming
applications
La Fig. 8.1 shows the optional fixing plate which can be provided by Comau.
Other solutions may be realized by the installer as long as the stresses produced by the
Robot and the resistance conditions of fixing surface are verified (see par. 8.2 Stresses
on the supporting structure on pag. 72)
To fix the Robot on the plate the Screws and Pins Kit for Robot Fixing
(CR82226800)option is available.
Restrictions
Use quantity 1 plate to fix of a Robot.
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Comau Robotics Product Instruction
Fixing components
Completely threaded hex head screw M20x100 (8.8)
Hex nut M20-8 Fe/Zn
Chemical sleeve anchors (not provided)
Installation components
Self-leveling mortar
Weight
About 106 kg (233.68 lb)
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Comau Robotics Product Instruction
2
3
4
5
Dimensions in millimetres
1. Level-adjustable plate (q.ty = 1)
2. Plate (q.ty = 4)
3. Straight edge (q.ty = 8)
4. Hex head screw M20x100 (8.8) (q.ty = 4)
5. Hex nut M20-8 Fe/Zn (q.ty = 4)
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Comau Robotics Product Instruction
Purpose
The support helps to lift the Robot from floor level; the Robot is fixed on the upper base
of the support.
Different types of supports are available for Robots with different heights.
The following figures Fig. 8.2, Fig. 8.3, Fig. 8.4 and Fig. 8.5 show the optional fixing
benches that can be provided by Comau.
Other solutions may be realized by the installer as long as the stresses produced by the
Robot and the resistance conditions of fixing surface are verified (see par. 8.2 Stresses
on the supporting structure on pag. 72)
For fixing the Robot on the stand is available the option Screws and Pins Kit for Robot
Fixing (CR82226800).
Restrictions
Use quantity 1 stand for a Robot fixing.
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Comau Robotics Product Instruction
Fixing components
Chemical sleeve anchors (not provided)
Installation components
Self-leveling mortar
Weight
Bench CR82221809: About 39 kg (85.98 lb)
Bench CR82221810: About 53 kg (116.84 lb)
Bench CR82221811: About 59 kg (130.07 lb)
Bench CR82221812: About 76 kg (167.55 lb)
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0.2
0.2
Dimensions in millimetres
1. Support (q.ty = 1)
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0.2
0.2
Dimensions in millimetres
1. Support (q.ty = 1)
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Comau Robotics Product Instruction
0.2
0.2
Dimensions in millimetres
1. Support (q.ty = 1)
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0.2
0.2
Dimensions in millimetres
1. Support (q.ty = 1)
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Comau Robotics Product Instruction
Purpose
The option for fixing screws and pins allows properly fix the Robot both on the floor or
ceiling.
Restrictions
Use quantity 1 unit to fix 1 Robot.
Fixing components
Socket hex head screw M16x50 (8.8) ISO 4762
Socket hex head screw M6x50 (8.8)
Socket hex head screw M6x60 (8.8)
Self locking washer 16x25.4x3.4
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Comau Robotics Product Instruction
3
5
6
2
3
6
4 3
1 6
Dimensions in millimetres
1. Centering device =16 mm L=53 mm (q.ty = 1)
2. Centering device =16 mm L=43 mm (q.ty = 1)
3. Socket hex head screw M16x50 (8.8) ISO 4762 (q.ty = 4)
4. Socket hex head screw M6x50 (8.8) (q.ty = 1)
5. Socket hex head screw M6x60 (8.8) (q.ty = 1)
6. Self locking washer 16x25.4x3,4 (q.ty = 4)
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Comau Robotics Product Instruction
Any possible vibrations transmitted by machines nearby the Robot installation area, may
reduce the precision and repeatability of the Robot movements.
It is recommended to prepare a suitable foundation in order to reduce at minimum level
the transmitted vibrations.
Because of the considerable stresses discharged to the ground by the Robot and the
need to have appropriate backing plans, the direct fixing on the floor is not foreseen.
The values of stresses created by the Robot on the supporting structure are described
in he following Fig. 8.7 - Stresses on the supporting structure on pag. 73.
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Comau Robotics Product Instruction
The figure represents the Robot installed on the floor but it is valid for the Robot installed
on ceiling or sloped surface.
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Comau Robotics Product Instruction
Type of
Available solutions for area restriction Supply Application
intervention
Axis 1
Axis 2
Axis 3
Software limit switch Standard Software *
Axis 4
Axis 5
Axis 6
Type of
Available solutions for safety areas sectorisation Supply Application
intervention
Axis 1 Adjustable Mechanical Limit Switch Unit (CR82226900) Axis 1
Axis 2 Adjustable Mechanical Limit Switch Unit (CR82227000) Optional Axis 2 Mechanical *
Axis 3 Adjustable Mechanical Limit Switch Unit (CR82227100) Axis 3
--- --- --- Electrical *
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Comau Robotics Product Instruction
Purpose
The adjustable mechanical limit switch of axis 1 limits the stroke of axis 1 in both work
directions in steps of 15.
Once the stop has been used (impact), the following parts must be replaced:
stopping buffer and fixing screws;
rubber dowel on Robot base and fixing screws.
Verify the integrity of the Robot parts involved in the impact, for example:
column in the fastening zone of the assembly;
the base in the fixing areas of the rubber blocks;
The equipment moved by the Robot.
In case of crush, failure in replacement replace any damaged parts will undermine
correct operation (and thus stopping) in future.
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Comau Robotics Product Instruction
Restrictions
Fixing components
Socket hex head screw ISO 4762 - M10x20 (12.9)
2
Dimensions in millimetres
1. Stop buffer Ax.1 (q.ty: 1 already provided with the Robot + 1 optional)
2. Socket hex head screw M10x20 - 12.9 (q.ty: 4)
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Comau Robotics Product Instruction
Purpose
The option mechanical block (adjustable mechanical limit switch) of axis 2 allows to
reduce the stroke of axis 2 in both work directions in steps of 11.25.
Once the stop has been used (impact), the following parts must be replaced:
stopping blocks on column and rubber blocks on arm
fixing screws and blocks pins;
Verify the integrity of the Robot parts involved in the impact, for example:
the column in the area of stop buffers fixing
the arm in the area of rubber blocks fixing
the equipment moved by the Robot
In case of crush, failure in replacement replace any damaged parts will undermine
correct operation (and thus stopping) in future.
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Comau Robotics Product Instruction
Restrictions
Use maximum 2 stop buffers for each Robot.
Fixing components
Socket hex head screw M8x45 (12.9) - ISO 4762
Dimensions in millimetres
1. Stopper ax.2 (Q.ty 2)
2. Socket hex head screw M8x45 - 12.9 (Q.ty 8)
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Comau Robotics Product Instruction
Dimensions in millimetres
1. Stopper ax.2 (Q.ty 2)
2. Socket hex head screw M8x45 - 12.9 (Q.ty 8)
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Comau Robotics Product Instruction
Purpose
The option mechanical block (adjustable mechanical limit switch) of axis 3 allows to
reduce the stroke of axis 3 in both work directions in steps of 15.
Once the stop has been used (impact), the following parts must be replaced:
stopping buffers on forearm and gum buffers on the arm
fixing screws and blocks pins;
Verify the integrity of the Robot parts involved in the impact, for example:
the arm in the fixing areas of the stopping buffers
the forearm in the fixing areas of the stopping buffers
the equipment moved by the Robot
In case of crush, failure in replacement replace any damaged parts will undermine
correct operation (and thus stopping) in future.
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Comau Robotics Product Instruction
Restrictions
Use maximum 2 stop buffers for each Robot.
Fixing components
Socket hex head screw M6x35 (12.9) - ISO 4762
Dimensions in millimetres
1. Stopper ax.3 (Q.ty 2)
2. Socket hex head screw M6x35 - 12.9 (Q.ty 6)
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Comau Robotics Product Instruction
The stop in category 0 (zero) given with Robot in automatic mode with high speed
generates drift risks of the motion because of lack of trajectory control. Moreover the
Robot mechanics is solicited and can loose its efficiency.
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Comau Robotics Product Instruction
Purpose
The calibration kit with dial gauge is used to enable the correct manual calibration of
each Robot axis.
Restrictions
None
For details on calibration procedure, see the Robot maintenance instructions handbook.
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Comau Robotics Product Instruction
Purpose
This unit permits to use the Calibration Tool (82314100) assembly to carry out the
proper calibration of axes 5 and 6 in manual mode.
Restrictions
None
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Comau Robotics Product Instruction
For details on calibration procedure, see the Robot maintenance instructions handbook.
Purpose
The calibrated tool unit is used to calculate the TCP (Tool Center Point) for the Robot
flange.
Restrictions
None
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Comau Robotics Product Instruction
Dimensions in millimetres
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Dimensions in millimetres
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Comau Robotics Product Instruction
Racer 999 Plus C5G-SBR: Robot Axis Brake Releasing Module (CR17133882) par. 9.2.1
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Comau Robotics Product Instruction
Purpose
The C5G-SBR (Small Brake Release) option makes available a transportable module
that must be connected to a Control Unit and that allows to brake release singularly the
Robot axes.
Restrictions
It is possible to use maximum 1 option for each Robot Control Unit.
It is required that the Control Unit is powered on.
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Comau Robotics Product Instruction
OPTIONS
10. OPTIONS
This chapter contains:
Options installation information
Options wiring diagram
Available options for Robot
The options listed below can be installed and used only on the Robots.
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OPTIONS
All electrical diagrams are available in the Complete CD-ROM provided together with
the Robot.
In addition see par. Reference documents on pag. 6.
For a better finding, the options are listed below organised according to the topic and
application field, while the details are directly described in the related chapter.
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Reference
Component Description
manual
Components available only on C5Compact and C5G Control Unit
C5G /
AMS-IAM modules are axes control boards dedicated to the axes
C5Compact
management.
AMS-IAM Control Unit
Modules set to manage 1 axis or 2 axes are available; depending on
Technical
the power class, the modules take up from 1 to 2 slots.
Specifications
The SDM module is mechanically fastened on the ACC rack and
C5G /
occupies therefore the space of a slot. The 24 Vdc power supply of
C5Compact
the module and all the signals are connected by means of connectors;
C5G-SDM Control Unit
the bus on the rack is not displayed.
Technical
The module has an internal logic with double processor to manage the
Specifications
safety signals and the communication via CAN Bus with APC module.
The fieldbus module is available in the master and slave versions,
they can be chosen among Profibus-DP, Profinet and DeviceNet C5G /
protocols. C5Compact
Modulo X20 The fieldbus modules can be installed only on the slots 1 and 2 of the Control Unit
Bus Coupler PFG-BCO Module on X20 interface. Technical
It is possible to install contemporaneously the fieldbus modules and Specifications
I/O modules.
Components available only on C5G Control Unit
The C5G-DMI (Devicenet Multibus Interface cable) option provides
available a connector on the cabinet basis that includes 24 Vdc, C5G Control Unit
C5G-DMI Devicenet Master network and some I/O digital signals; able to Technical
connect slave external devices (e.g. Robot) by means of Multibus Specifications
Cable.
The C5G-PMI (Profibus-DP Multibus Interface cable) option sets
available a connector on the cabinet basis that includes 24 Vdc, C5G Control Unit
C5G-PMI Profibus-DP Master network and some I/O digital signals; able to Technical
connect slave external devices (e.g. Robot) by means of Multibus Specifications
Cable.
The C5G-PNMI (ProfiNet Multibus Interface cable) option provides
available a cable with connector on the cabinet basis that includes 24 C5G Control Unit
C5G-PNMI Vdc, ProfiNet I/O Controller (Master) network and some I/O digital Technical
signals; able to connect slave external devices (e.g. Robot) by means Specifications
of Multibus Cable.
The X10 connector is a multi-pin connector that collects all the
position management signals of the Robot (Encoders with EnDat 2.2
C5G Control Unit
interface), up to the configuration of 6 axis in total.
X10 Technical
The X10 connector is installed on Connector Interface Panel (CIP)
Specifications
and, it is connected to X1 connector on the Robot base, by means of
Connection cables between C5G and Robot.
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Component Description
manual
The X60 connector is a multi-pin connector that collects all the Robot
axis power signals (motors) and brakes, up to the configuration of 6
C5G Control Unit
axis in total.
X60 Technical
The X60 connector is installed on Connector Interface Panel (CIP)
Specifications
and, it s connected to X2 connector on the Robot base, by means of
Connection cables between C5G and Robot.
The C5G-SMK option (Signal Machine Kit) sets available two alarm
inputs 24 Vdc, 4 inputs 24Vdc and 4 outputs 24Vdc on the Robot, to C5G Control Unit
C5G-SMK be used for small applications by user. The option uses some inputs Technical
and outputs already existing as standards on Safety Distribution Specifications
Module (SDM).
The (X93 / X94) connectors for the Master Fieldbus allows the
X93 connection of the Fieldbus between Control Unit master module and
the slave modules on tooling and / or on Robot.
C5G Control Unit
The connector is installed on the Control Unit base on the Connector
Technical
Interface Panel (CIP).
Specifications
X94 The X93 connector is combined with the first Fieldbus Master module
available on ARM1, while the X94 connector, if existing, with the
second master module available on ARM2.
Components available only on C5Compact Control Unit
The C5G-SMKC (Signal Machine Kit Compact) option sets available
C5Compact
two alarm inputs 24 Vdc, 4 inputs 24Vdc and 4 outputs 24Vdc on the
Control Unit
C5G-SMKC Robot, to be used for small applications by user. The option uses
Technical
some inputs and outputs already existing as standards on Safety
Specifications
Distribution Module (SDM).
The C5G-CDC (Cable Devicenet Compact) option provides available C5Compact
a connector on the cabinet basis that includes 24 Vdc, Devicenet Control Unit
C5G-CDC
Master network and some I/O digital signals; able to connect slave Technical
external devices (e.g. Robot) by means of Multibus Cable. Specifications
The C5G-PMI (Cable Profibus Compact) option provides available a C5Compact
connector on the cabinet basis that includes 24 Vdc, Profibus-DP Control Unit
C5G-PMI
Master network and some I/O digital signals; able to connect slave Technical
external devices (e.g. Robot) by means of Multibus Cable. Specifications
The X93 connector for the Master FieldBus allows the connection of
the Fieldbus between the master module inside the Control Unit and C5G Control Unit
X93 slave modules present on tooling and / or on Robot. Technical
The connector is installed in the back of the Control Unit on the Specifications
Connector Interface Panel (CIP).
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Comau Robotics Product Instruction
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Original instructions
Made
in
Comau