Professional Documents
Culture Documents
Instruction Handbook
Control Unit
Standard Version
Reproduction of text and illustrations is not permitted without prior written approval by COMAU S.p.A.
COMAU S.p.A. reserves the right to alter product specifications at any time without notice or obligation.
SUMMARY
PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
Reference documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Content of the C5G Control Unit manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Document preservation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Manual content limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Symbols in the manual. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
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Summary
Teach Pendant with cable connection (C5G-iTP), selecting mode T1, AUTO and REMOTE 35
Teach Pendant with cable connection (C5G-iTP2), selecting mode T1 and REMOTE . . . . . 36
Teach Pendant with wireless connection (C5G-WiTP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Connection cables between C5G and Robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5. OPTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..61
Information about the options installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Options Circuit diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Opzions for the C5G Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
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Preface
PREFACE
This chapter deals with the following topics:
– Reference documents
– Content of the C5G Control Unit manuals
– Document preservation
– Manual content limits
– Symbols in the manual.
Reference documents
This document refers to the C5G Control Unit.
The complete set of manuals concerning the C5G control units consists of:
The above mentioned manuals shall be preserved in good repair for the entire
Robot System operating life and shall always be available for the staff members
carrying out activities on the Robot System.
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Preface
Document preservation
All documents forwarded shall be preserved nearby the Robot System and be at the
disposal of all staff members, who carry out activities on the Robot System. Moreover
the documents shall be preserved in good repair for the entire Robot System operating
life.
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Symbols in the manual
Find below the symbols highlighting WARNING, CAUTION and NOTES together with
their meaning
This symbol concerns the material disposal procedures ruled by the RAEE
Directive.
This symbol reminds the user to avoid polluting the environment and stimulate a
sustainable attitude, i.e. disposing of the materials in the suitable waste collection
sites.
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General Safety Precautions
It deals with a general specification that apply to the whole Robot System. Due to
ist significance, this document is referred to unreservedly in any system
instruction manual.
1.1 Responsibilities
– The system integrator is responsible for ensuring that the Robot System (Robot
and Control System) are 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 protection and safety devices necessary, the issuing of declarations
of conformity and any CE markings of the system are the responsibility of the
Integrator.
– COMAU Robotics & Service shall in no way be held liable for any accidents caused
by incorrect or improper use of the Robot System (Robot and Control System), by
tampering with circuits, components or software, or the use of spare parts that are
not included in the spare parts list.
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General Safety Precautions
1.2.2 Definitions
Robot System (Robot and Control System)
The Robot System is a functional unit consisting of Robot, Control Unit, Programming
terminal and possible options.
Protected Area
The protected area is the zone confined by the safety barriers and to be used for the
installation and operation of the robot
Authorised Personnel
Authorised personnel defines the group of persons who have been trained and assigned
to carry out the activities listed in the Applicability section.
Assigned Personnel
The persons assigned to direct or supervise the activities of the workers referred to in
the paragraph above.
Programming Mode
Operating mode under the control of the operator, that excludes automatic operation
and allows the following activities: manual handling of robot axes and programming of
work cycles at low speed, programmed cycle testing at low speed and, when allowed,
at the working speed.
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General Safety Precautions
Integrator
The integrator is the professional expert responsible for the installation and putting into
service of the Robot and Control System.
Incorrect Use
Incorrect use is when the system is used in a manner other than that specified in the
Technical Documentation.
Range of Action
The robot range of action is the enveloping volume of the area occupied by the robot
and its fixtures during movement in space.
1.2.3 Applicability
These Specifications are to be applied when executing the following activities:
– Installation and Putting into Service;
– Programming Mode;
– Auto / Remote Automatic Mode;
– Robot axes release;
– Maintenance and Repairs;
– Putting Out of Service and Dismantling
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General Safety Precautions
– Connection between the Control Unit and the three-phase supply mains at the
works, is to be with a four-pole (3 phases + earth) armoured cable dimensioned
appropriately for the power installed on the Control Unit. See the product
Technical Documentation.
– The power supply cable is to enter the Control Unit through the specific fairlead and
be properly clamped.
– Connect the earth conductor (PE) then connect the power conductors to the main
switch.
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General Safety Precautions
– Connect the power supply cable, first connecting the earth conductor to the circuit
breaker on the mains line, after checking with a tester that the circuit breaker
terminals are not powered. Connect the cable armouring to the earth.
– 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 could cause permanent damage to the
Control Unit components.
– The C5G Control Unit manages internally the main safety interlocks (gates,
enabling pushbuttons, etc.). Connect the C5G 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
(emrgency stop, gates safey 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 the contacts must be included of the control
unit emergency stop buttons, which are on X30. The push buttons are not
interlocked in the emergency stop circuit of the Control Unit.
– The safety of the system cannot be guaranteed if these interlocks are wrongly
executed, incomplete or missing.
– The safety circuit executes a controlled stop (IEC 60204-1 , class 1 stop) for the
safety inputs Auto Stop/ General Stop and Emergency Stop. The controlled stop is
only active in Automatic states; in Programming the power is cut out (power
contactors open) immediately. The procedure for the selection of the controlled
stop time (that can be set on SDM board) is contained in the Installation manual .
– When preparing protection barriers, especially light barriers and access doors,
bear in mind that the robot stop times and distances are according to the stop
category (0 or 1) and the weight of the robot.
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 board.
– Check that the environment and working conditions are within the range specified
in the specific product Technical Documentation.
– The calibration operations are to be carried out with great care, as indicated in the
Technical Documentation of the specific product, and are to be concluded
checking the correct position of the machine.
– To load or update the system software (for example after replacing boards), use
only the original software handed over by COMAU Robotics & Service.
Scrupulously follow the system software uploading procedure described in the
Technical Documentation supplied with the specific product. After uploading,
always make some tests moving the robot at slow speed and remaining outside the
protected area.
– Check that the barriers of the protected area are correctly positioned.
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General Safety Precautions
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.
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General Safety Precautions
Before using the manual release devices, it is strongly recommended to sling the
robot, or hook to an overhead travelling crane.
– 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.
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General Safety Precautions
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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General Safety Precautions
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General Safety Precautions
1.2.5 Performance
The performances below shall be considered before installing the robot system:
– Stop distances
– Mission time (typ. case).
Stop distances
– With Robot in programming modality (T1), if you press the sttop pushbutton (red
mushroom-shaped one on WiTP) in category 0 (secondo norma EN60204-1), you
will obtain:
– Considering the Robot in automatico modality, under full extension, full load and
maximmum speed conditions, if you press the stop pushbutton (red
mushroom-shaped one on WiTP) in category 1 (according to norm EN60204-1)
you will trigger the Robot complete stop with controlled deleration ramp.
Example: for Robot NJ 370-2.7 you will obtain the complete stop in about 85 °
motion, that correspond to about 3000 mm movement measured on TCP flange.
Under the said conditions, the stopping time for Robot NJ 370-2.7 is equal to 1,5
seconds.
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Introduction to the control unit: reliability and safety
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Introduction to the control unit: reliability and safety
This Control Unit shall be matched to a SMART5 series Comau robot only.
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Introduction to the control unit: reliability and safety
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Introduction to the control unit: reliability and safety
2.3 Expandability
The expandability is based on the usage of standard protocols and connections, usually
available in industrial environments.
The C5G Control Unit is supplied with 6 base axes that can be expanded up to 11 inside
the same cabinet.
Modules are available on the Ethernet POWERLINK network for the interfacing with field
and application control Bus and parallel I/O signals.
The safety circuit basic prearrangement, that can be easily integrated on the line, can
be expanded using modules for the safe control on Safety Bus and axes safe shutting.
Moreover, several options allow to adapt and customize the C5G Control Unit such as
to fulfil the different installation requirements.
2.4 Programming
The programming features:
– on-line and off-line programming facilities through a graphic Teach Pendant,
Personal computer and dedicated CAD (e.g. RobCad)
– PDL2 easy language combined with the potential to guarantee the robot integration
in the most demanding applications
– possibility to run simultaneously more PDL2 programmes
– possibility to customize application programmes through Java graphics and
language.
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Introduction to the control unit: reliability and safety
2.5 Safety
– Compliance with the norms in force
– Directives and norms
– Statement of incorporation of partly completed machinery
– Manufacturer’s details
– Safety devices control procedures
– Safety solutions installed.
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Introduction to the control unit: reliability and safety
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Introduction to the control unit: reliability and safety
it is forbidden to set the group consisting of the C5G Control Unit and the
SMART5 series Robot at work before the machinery in which it is to be installed
is declared to be in compliance with the provisions in directive 2006/42/EC.
COMAU S.p.A.
Robotics Business Line
Via Rivalta, 30
10095 Grugliasco (TO) - ITALY
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Introduction to the control unit: reliability and safety
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Introduction to the control unit: reliability and safety
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Versions and Technical features
B: Teach Pendant
B -: Connection cables between C5G
and Robot
-: Options
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Versions and Technical features
*¹ As for the information related to the Robot features and available versions, please
refer to the Robot specific “Technical Specifications” manuals
*²
The power value does not vary with the powering voltage fluctuations, as the system
works at constant power.
*³
Besides the 8 kVA installed the option C5G-AFK: Auxiliary Fan Kit is required.
*4
Refer to section Additional axes.
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Versions and Technical features
This picture shows the C5G Control Unit already supplied with iTP Teach Pendant.
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Versions and Technical features
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Versions and Technical features
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Versions and Technical features
More details about the control modes are to be found in the par. 2.6 Control
modes on page 26.
The Teach Pendant functions are complex and are dealt with in details in the
usage manual.
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Versions and Technical features
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Versions and Technical features
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Versions and Technical features
Tab. 3.4 - Teach Pendant with cable, selector switch for 3 modes,
supplied with medium: available station versions
Description Cable length Abbreviation Comau Code
Station C5G-iRT10 10 m (33 ft) C5G-iRT10 CR17431980
When only the Teach Pendant with cable is needed, it is possible to choose among the
versions listed below.
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Versions and Technical features
When only the Programing terminal with cable is needed, it is possible to choose among
the versions listed below.
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Versions and Technical features
When components are to be purchased separately (e.g. Teach Pendant) the user may
choose among the ones listed in the table below.
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Versions and Technical features
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Overview of the connections to the C5G Control Unit
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Overview of the connections to the C5G Control Unit
B - Line
B C - Application
from (Line)
D X30 D - Programming and
(Programming) user’s interface on
PC
from
X93
....
A
(Robots)
C from
(Applications) X10
X60
....
Field Bus
The picture shows the main connections between the Control Unit and the peripherals
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Overview of the connections to the C5G Control Unit
Involved
C5G peripheral Description
connector
the main Robot is connected through the Connection cables between
X10
Robot C5G and Robot with the X10 connector (Robot signals) and the X60
X60
connector (Robot Power)
the positioning device (e.g. series SMART5 PTDV, PTDORB, other
ones) is connected through the Connection cables between C5G and
X10-EXT Robot (uses the same Robot cables exploiting only the necessary wires,
Positioning device
X60-EXT depending on the no. of available axes) with the X10-EXT connector
(Extension, Positioning device signals) and the X60-EXT connector
(Extension, motors and brakes of the positioning device)
the single auxiliary axes (e.g. saddle on axis 7, electric gripper for spot
X61
welding on axis 8, other ones) are connected through the Connection
X62
Auxiliary axes cables between C5G and Robot, each one with only one connector that
X63
includes both the power and the control signal, with the X61..X64
X64
connectors (Signals and power for auxiliary Axes)
The X10, X60, X10-EXT, X60-EXT, X61..X63 connector pin structure is available in
the wiring diagram of the C5G Control Unit.
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Overview of the connections to the C5G Control Unit
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Overview of the connections to the C5G Control Unit
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Overview of the connections to the C5G Control Unit
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Overview of the connections to the C5G Control Unit
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Overview of the connections to the C5G Control Unit
The X61, X62, X63 or X64 connectors are installed on one or more plates fastened on
the Connector Interface Panel (CIP) and connect to the connector on the motor
switching case through the corresponding cables. Each plate can take up to 3
connectors.
Fin below some typical match examples:
– X61..X63 connector in a solution featuring up to 3 axes: structure
– X61 connector in a solution featuring 1 axis matched to X60-EXT and X10-EXT
already available: structure
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Overview of the connections to the C5G Control Unit
X63
Pin
No
Pin
Axis 7 Axis 8 Axis 9 Axis 10
X61
The cables, connector polarization, the connections between X61..X64 and the
motors are dealt with in details in the instruction manuals of the auxiliary axes.
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Overview of the connections to the C5G Control Unit
4.3 Line
The connection with the line is accomplished through special connectors installed on the
Connector Interface Panel (CIP) by the C5G Control Unit base.
The typical configurations include the solutions described below.
ETH2
COM2
X30
X90 X20 modules
Peripheral
Involved
connected to the Description
connector
C5G
the safety signals (e.g. emergency stop, cell access door limit switch,
Safety item X30
other ones) are available on the X30 connector (Safety items)
the communication with the Host systems (e.g. line PLC) can be
Host system -- controlled through field Bus (see Field Bus Modules on the X20
interface: principles (see par. 9.4.5 on page 167)).
Host system for the communication with the Host systems (e.g. line PLC, factory
ETH2 / production control PC, analysis devices, other ones) can be controlled
monitoring
APC820 through Ethernet connections (see ETH2 connector on AMS-APC820
(Ethernet) (Ethernet) (see par. 4.3.2 on page 50))
the communication with the Host systems (e.g. line PLC, factory
Host system for production control PC, analysis devices, other ones) can be controlled
COM2 /
monitoring through the RS422 serial connection (see COM2 connector on
APC820
(Serial) AMS-APC820 (RS422 serial) (see par. 4.3.3 on page 50)).
Also the RS232 serial connection is available.
Other connections
The cables that do not features a specific optional connector by the
(e.g. net or serial
X90 cabinet base and exit the Control Unit to reach the device on the line,
communication
use the way provided by the I X90 cable gland connector.
cables output)
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Overview of the connections to the C5G Control Unit
More details about the safety signals connection are to be found in par. 7.1 Safety
circuits: particulars about the E-Stop, Auto-Stop (Fence) and General Stop
signals on page 126.
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Overview of the connections to the C5G Control Unit
A
ETH1 XD2 XD3
COM2 COM1
X3A
Further details about the connection with the Ethernet network are available in
Chap. Ethernet network communication on page 221.
A
ETH1 XD2 XD3
COM2 COM1
X3A
Further details about the serial connection are available in par. 10.3 RS232 serial
connection cable to PC on page 219.
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Overview of the connections to the C5G Control Unit
Further details about the Field Bus are available in par. 9.4.5 Field Bus Modules
on the X20 interface: principles on page 167.
The connections with Ethernet network are described in par. 4.3.2 ETH2
connector on AMS-APC820 (Ethernet) on page 50.
The connection with serial protocols are described in par. 4.3.3 COM2 connector
on AMS-APC820 (RS422 serial) on page 50.
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Overview of the connections to the C5G Control Unit
4.4 Application
Under application we understand a set consisting of one or more tool or machine parts
connected to the Robot and/or used in the production process associated to the Robot,
typically integrated to obtain a homogeneous solution.
The typical configurations include the solutions described below.
COM2
X310/SDM
X311/SDM
X312/SDM
X20 modules
Peripheral
Involved
connected to the Description
connector
C5G
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Overview of the connections to the C5G Control Unit
Peripheral
Involved
connected to the Description
connector
C5G
Analysis, the communication with the systems (e.g. measurement systems, other
measurement COM2 / ones) can be controlled through the serial RS232 on COM2 connector
systems APC820 on AMS-APC820 (RS232 serial).
(serial) The serial connection RS422 is also available.
Other connections
The cables that do not features a specific optional connector by the
(e.g. net or serial
X90 cabinet base and exit the Control Unit to reach the device on the line,
communication
use the way provided by the I X90 cable gland connector.
cables output)
Other connections The powering cables can exit from the box base through the cable
(e.g. output for glands (that are not part of the supply volume), which are to be fastened
--
electrode dresser to the 25,5 mm dinking holes (M25 cable glands) located on the central
powering cables) panel.
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Overview of the connections to the C5G Control Unit
The options for the signal expansion are described in par. 9.4.9.4 Overview of
prearranged solutions related to the digital and analog I/O on page 197 (solutions
with connection on connector and terminal board)
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A
X94
Further details on the Field Bus are available in par. 9.4.5 Field Bus Modules on
the X20 interface: principles on page 167.
The usage, connector pin structure and connection cables examples are to be
found in the manuals of the corresponding application.
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Overview of the connections to the C5G Control Unit
A
ETH1 XD2 XD3
COM2 COM1
X3A
Further details about the serial connection are available in par. 10.3 RS232 serial
connection cable to PC on page 219.
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Overview of the connections to the C5G Control Unit
A - Teach Pendant
B - Personal
Computer
A B
The usage modalities for the Teach Pendant and program WinC5G are described
in details in the Usage Manual of the Control Unit or in chapter “Program WinC5G
– Interface to the C5G on Personal Computer”.
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Overview of the connections to the C5G Control Unit
USB
ETH
ETH2
XD2:
XD3:
ETH
XD:
Peripheral device
Involved
connected to the Description
connectors
C5G
Ethernet net connection for automation applications with Host systems.
Available as standard on Modulo AMS-APC820 (see par. 4.4 on
ETH2
page 49) or Ethernet connector C5G-ETHK: Kit Ethernet (see par. 11.4
PC via Ethernet on page 220) as optional.
Optional Ethernet net connection for programming.
ETH
Available with the option C5G-U2E: Adattatore USB to Ethernet (see
additional
par. 11.5 on page 221).
Connection for USB storage media (e.g. C5G-FDU: Flash Disk USB
(see par. 14.2 on page 256).
USB
Available as standard:
USB storage
XD: – XD: on Modulo AMS-APC820 (see par. 4.4 on page 49)
media
XD2: – XD2: on Operator Panel Devices (OPD).
XD3: Available with options:
– XD3: on Operator Panel Devices (OPD) with option C5G-USBK: Kit
USB.
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Overview of the connections to the C5G Control Unit
X61/CIP The single auxiliary axis (e.g. saddle on axis 7, electric gripper for spot
welding, other ones) are connected through the Connection cables
X62/CIP
Auxiliary axes between C5G and Robot, each one with an only one connector that
X63/CIP
includes both the power and the control signals, with the X61..X64
X64/CIP connectors (Signals and power for auxiliary Axes)
Multiple cable The cables can be connected inside the Control Unit through the X90
X90/CIP
input/output cable gland connector with no interruption
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Overview of the connections to the C5G Control Unit
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Options
5. OPTIONS
This chapter deals with the following topics:
– Information about the options installation
– Options Circuit diagram
– Opzions for the C5G Control Unit
The option listed here can be installed and used solely for the C5G Contrl Unit.
All circuit diagrams are available in the CD-ROM supplied together with the C5G
Control Unit. Refere also to par. Reference documents a pag. 5.
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Options
To facilitate the search, the options below are grouped according to the topic and
application field, while the details are to be found in the corresponsing chapters.
Available optioni
Field Bus
DeviceNet
– Bus Coupler PFG-BCO module on X20 interface
– C5G-DNM-DNMI: DeviceNet Master Interface
– C5G-DNM-DNSI: DeviceNet Slave Interface
– C5G-DNPC: movable connector for Devicenet modules
– C5G-DMI: Multibus cable interface for Devicenet module
Profibus-DP
– Bus Coupler PFG-BCO module on X20 interface
– C5G-PFM-PDPM: Profibus-DP Master Interface
– C5G-PFM-PDPS: Profibus-DP Slave Interface
– C5G-PFPC: movable connector for Profibus-DP modules
– C5G-PMI: Multibus cable interface for Profibus-DP module
Profinet
– Bus Coupler PFG-BCO module on X20 interface
– C5G-PNC: Profinet I/O Controller interface
– C5G-PND: Profinet I/O Device interface
Profinet (protocol solution only)
– Profinet I/O Device (software protocol)
I/O modules
optional movable connectors
– C5G-UCK: user connector kit, for SDM module
on X20 interface
– Bus Coupler PFG-BCO module on X20 interface
– C5G-D12 - C5G-D24: Digital I/O options (12 I / 12 O or 24 I / 24 O)
– C5G-AI2 - C5G-AO2, Analog I/O options (2 I or 2 O)
on multipole connector
– C5G-EDI: Digital I/O external interface (24 I / 12 O)
Safety
– C5G-PSB: PILZ safety Bus
Communication
– C5G-ETHK: Ethernet kit
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Options
Available optioni
Installation customization
Structural items
– C5G-AEB: Empty Box for application
– C5G-APK1 kit Auxiliary Plate 1
– C5G-APK2 kit Auxiliary Plate 2
– C5G-APK3 kit Auxiliary Plate 3
– C5G-APK4 kit Auxiliary Plate 4
– C5G-HFK kit fastening hangers
– C5G-OPK: Option Panel kit
– C5G-RSK100: 100-mm rising socket kit
Services
– C5G-ACO / C5G-ACBO: Conditioner
– C5G-AFK: Auxiliary Fan Kit
– C5G-ETHK: Ethernet kit
– C5G-HMK: Hour-meter kit
– C5G-MCK: Powering connector kit
– C5G-USBK: USB kit
Special applications
– C5G-HSK5: High Speed Input Kit
– C5G-OTK: Axis Over Travel kit
– C5G-SMK: Signal Machine Kit
– C5G-TDC400: 400V Tip Dresser Command kit
– C5G-TDC400-2: 400V Double Tip Dresser Command kit
– C5G-TDS400: 400V Tip Dresser Supply kit
Fittings
– C5G-FDU: Flash Disk USB
Software
– The software options are listed in the Control Unit Usage Modalities manual.
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COMAU Robotics services
Repair: repairs.robotics@comau.com
Training: training.robotics@comau.com
Spare parts: spares.robotics@comau.com
Technical service: service.robotics@comau.com
comau.com/robotics Original instructions