Professional Documents
Culture Documents
Lb-gl-0-Sw en Lepak
Lb-gl-0-Sw en Lepak
Comau Robotics
SMART NH2 - Manuals list
Instruction handbook
Sealant system
SmartGlue
Application Software 100.xx
CR00757666_en-01/2011.11
The information contained in this manual 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 S.p.A. reserves the right to alter product specifications at any time without notice or obligation.
5. PROGRAMMING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..5.43
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.43
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Technological instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.43
General routines. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.43
Service routine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.47
General routines of the NODAL system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.49
Service routines NODAL system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.55
Use of shared System sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.58
Cosmetic Sealer application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.61
6. CUSTOMIZATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6.62
Configuration I/O towards PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.62
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Preface
PREFACE
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Preface
Reference documents
This document concerns the application Sistema per la spalmatura.
The complete set of Sistema per la spalmatura manuals consists of:
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4 00/0211
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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Description of sealant application system
2. DESCRIPTION OF SEALANT
APPLICATION SYSTEM
2.1 Introduction
This chapter introduces to the COMAU Stud Welding, in particular to the SmartGlue
application software.
SmartGlue application, provided by Comau, is a software tool for managing sealant
systems.
SmartGlue handles several sealant systems and the most common types of fieldbuses.
By means of a PC application provided by Comau, the User is able to select the being
handled devices and to generate a specific application Software for his/her own
configuration (see par. 3.4 Use of the WinApplicationCreator tool for C5G (WAC5G) a
pag. 19 )
The installation procedure automatically and transparently executes some operations.
In particular:
– it copies the needed files onto the Control Unit;
– it makes the application software resident: at each Control Unit restart, the
application software is loaded into memory and activated;
– it autonomously configures the signals towards the devices which are connected
to the fieldbus handled by the robot. At the end of the installation procedure, the
communication is active, with all the connected devices;
– it autonomously configures the Input/Output signals towards the devices and
provides a textual description.
SmartGlue application provides a set of Technological instructions for the process
complete handling, ready to to be used within the User program. It is not needed to
integrate the process instructions by means of writing further programming code. The
Technological Instructions take care of anomalies and resume handling.
Other features of the SmartGlue as follows:
– a standard profile of signals towards PLC (application inclusion, process activation,
dry-cycle, alarm reset and corresponding state feedbacks towards PLC), common
to all application software provided by Comau;
– a graphic environment composed by:
• main page providing the most important state information (last executed
welding program, electrodes state, welding phase, etc.), configuration
information and Software version, User informational area available;
• process control keys: the most common functionalities are associated to the
process keys (application inclusion, weld activation, open/close gun) and the
corresponding icons are created;
• setup environment: to modify and save the general settings (not included as
parameters of the Technological Instructions) which control the application
way of operating;
The name of the module (s) and the related address to set in the net is provided by the
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Description of sealant application system
tool WAC5G by means of a PDF file that reports an example of how the configuration
should be managed (as shown by the arrow in the example of Fig. 2.1).
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Installing / Activating / Deactivating
3. INSTALLING / ACTIVATING
/ DEACTIVATING
3.1 Introduction
This chapter describes the procedures for installing, activating, deactivating SmartGlue
application.
In particular, the following topics are dealt with:
– System requirements
– Preparation for installation
– Use of the WinApplicationCreator tool for C5G (WAC5G)
– Installation procedure
– Uninstall procedure
3.2.2 Hardware
The following basic hardware components are needed to use the SmartGlue
application:
– Robot Control Unit C5G
– one of the following interface:
• C5G-Devicenet
• C5G-Profibus
• C5G-Profinet.
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Installing / Activating / Deactivating
NOTE: For the setting of the net Fieldbus Master (by means of SYCON.net and
WINC5G), refer to the manual Use of the Control Unit C5G - cap. Project of the net
Fieldbus Master.
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Installing / Activating / Deactivating
For a detailed description, about use and functionality of WAC5G tool, please
refer to the dedicated manual.
The installation file which is generated by WACC5G is an archive file (.zip extension)
whose name is composed by
The configuration name is asked by WACC5G before generating the installation file.
The user can choose any string that helps to better identify the configuration. Such a
string is the one displayed on the Teach Pendant in the application About pages.
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Installing / Activating / Deactivating
c. Press ENTER again, then down arrow key, to select the device (COMP:, XD:, UD:,
TX:) containing the project/application to be installed, i.e SmartGlue (seeFig. 3.2).
In case of installation of big projects, select the desired project (seeFig. 3.3),
confirm with ENTER and choose the connected Type.
f. Press the key corresponding to the Install (F5) command, to perform the
installation;
g. If any error occurs while installing, messages and suggestions are issued.
h. In case of any error, the installation is stopped, the error is indicated with a
message and the C5G red alarm lamp of the Control Unit lights up. The system
remains in such a condition until the RESET key is pressed.
The installation will continue from the point where it was interrupted, as soon as the
condition that caused the error is removed.
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Installing / Activating / Deactivating
i. After the installation has been accomplished, it is necessary to restart the system
(Restart Cold).
e. At the end of the procedure the User is requested to restart the System (Restart
Cold).
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User interface on the Teach Pendant
4.1 Introduction
This chapter describes the user interface on the Teach Pendant,corresponding to
SmartGlue application.
It is composed of the following environments:
– Process control keys (menu on the right)
– Specific application environments
– Integration of the application package with System environment
– Integration with IDE.
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User interface on the Teach Pendant
When the corresponding softkey is enabled, the icon that represents the
function is seen in colours.
When the corresponding softkey is disabled, the icon that represents the
function is seen in grey.
The colour of the software led is always displayed to show the component
status.
The "led software" present in each softkey shows the status of the component,
according to the colour displayed. Please see the description in the following Tab. 4.2.
When the led colour is yellow, it means that the command ($DOUT) is given to
the component, but the confirmation of executed function ($DIN) did not arrive
jet.
In the case in the figure, the function of the key is disabled (for example when the
command derives from remote) but the LED software continues to indicate the
status of the component: in the example beside, the green indicates that the
function has be performed in the right way.
In particular, there have been given description for each softkey, by referring all the
possible positions in the selector status of the Control Unit C5G:
– T1 Position (System in Prog mode)
– AUTO Position (system in Local)
– REMOTE Position (System in Remote status)
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User interface on the Teach Pendant
Hardware inclusion/exclusion
It is useful in order to exclude (figure on the left) or include (figure on the right)
the hardware devices of the application (specified in the summary present on
R1
the related icon). If the hardware is excluded, the operation are executed
without using those devices (BUT those that could injury the user's and tools
security).
Doser
It allows to display / command Glue YES’(green) / Glue NO (grey).
R2
When the status selector is in T1 position, this softkey is enabled only if the
system is in DRIVE ON.
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User interface on the Teach Pendant
Here follows a detailed description of the following topics related to the Application
Page:
– Areas Description
– About
– Object
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User interface on the Teach Pendant
– In the end, the fourth area (bottom right area - (4)) it is the User dedicated area and
therefore it is called User Area. A table is made up in which the user can see the
information that he considers opportune in form of strings (no more than four).
The strings for the application SmartGlue are:
glxs_user_1 : ARRAY [ki_row] OF STRING [19] EXPORTED FROM gl_dd
glxs_user_2 : ARRAY [ki_row] OF STRING [19] EXPORTED FROM gl_dd
where:
– ki_row, is the highest number of strings, that is 4
– glxs_user_1 it is the reference variable of the first column
– glxs_user_2 it is the reference variable of the second column
In the central menu of the Application Page there are two softkey available connected
to the following function:
– About (F5)
– Object (F1)
A detailed description of each one follows.
4.3.1.2 About
It displays a drop menu containing the following information on the selected application:
– Configuration: this function displays the application name and the installation
version, the application configuration name which is the User assigned identifier (at
the .zip file generation time, by means of the WAC tool) and the application
hardware configuration.
– Version: this function displays the application name and the installation version,
the application configuration name which is the User assigned identifier and the
existing software modules version.
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User interface on the Teach Pendant
– Version CL: it displays the Common Libraries version, shared by the installed
applications.
4.3.1.3 Object
Object (F1) softkey, if present, allows accessing to further object pages, related to the
selected application.
It also allows to go back to the Application Page environment if the currently displayed
page is different (e.g. About environment or Object Pages).
The application SmartGlue does not contain other pages than the Application Page
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User interface on the Teach Pendant
Select the icon of the desired application and press ENTER. The Setup page of the
application, in this specific case the one of the SmartStud application, is shown as in
Fig. 4.6.
It presents as many panels (System, Doser, Pump, Vision) as the number of the object
pages, or sub-pages, that allow to modify the parameters of the application.
The access to the Object Pages menus depends on the performed login; the default is
no menus available.
There exist two login levels that enable different menu grade:
– Technology level 1 - enables only first type type menus (for example 'DOSER_X'),
in each Object Page
– Tecnology livello 2 - enables all high level menus (HI’) of the Object Pages (for
example 'SYSTEM X HI' )
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User interface on the Teach Pendant
The user can use the Object Pages of the Setup environment, in order to modify the
application configuration parameters, only during the Programming status (status
selector in T1 position).
In general, to access any Object Page and their associated menus, perform the
following steps:
a. choose the wished Object Page, by means of the left/right arrow keys;
b. press ENTER again, or down arrow, to move the focus to the menu and press
ENTER to open it;
d. move focus onto the fields to be modified, using the arrow keys, perform the wished
modifications;
e. apply the modifications, using the available softkeys in the bottom menu, as
explained in the following par. 4.3.2.2 Softkeys description a pag. 29.
In particular, Save, Apply, and Reload act on the adjustment made. When
adjustments are made on the displayed data, the new values are displayed in italics.
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User interface on the Teach Pendant
Object Page still remains open. The new value is displayed in the default style again. If
some values are saved which are different than the default ones, the files gl_conf.var (*)
including the new configuration values are saved in UD:\data\glue directory.
(*) This file will be automatically generated by the application only when user
modifications are made on the SETUP page. Therefore after a first installation this
file may not be present. In case of software updating, this file will be preserved in
order not to risk to loose the user configuration.
4.3.2.3.1 SYSTEM
In this sub-page the user can operate on the settings of the DOSERS.
The configurations of the doser are basically included in two menu entries
– SYSTEM X (configuration for non expert users) - it is required the login type
Technology 1
– SYSTEM X HI LEVEL (configuration for expert users) - it is required the login type
Technology 2
Where X is the number of sealant system.
SYSTEM X
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User interface on the Teach Pendant
SYSTEM X HI LEVEL
4.3.2.3.2 DOSER
In this Object Page, the user can operate on the settings of the DOSERS.
The configurations of the doser are basically included in two menu entries:
– DOSER X (configuration for non expert users) - it is required the login type
Technology 1
– DOSER X HI LEVEL (configuration for expert users) - it is required the login type
Technology 2
Where X is the doser number.
DOSER X
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User interface on the Teach Pendant
DOSER X HI LEVEL
(*) only if the swirl is enabled, that is only if the Flow air > 0 (seeTab BEAD)
4.3.2.3.3 PUMP
In this kind of Object Page, the user can operate on the settings of the PUMP.
In order to choose the pump to use, open the combobox PUMP 1, select the required
one and confirm with ENTER.
4.3.2.3.4 VISION
In this type of Object Page, the user can operate on the settings of the VISION.
NOTE - This object page is present only if the chosen hardware configuration
foresees the vision system (that is with SCA sealant system).
In order to choose the pump to use, open the combobox VISION 1, select the required
one and confirm with ENTER.
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User interface on the Teach Pendant
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User interface on the Teach Pendant
(*) - Depending on the hardware configuration this field can be present or not
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User interface on the Teach Pendant
In the displayed tab, the User has to insert the required glue beads.
In order to do this, press Modify (F2) and then choose the entry Insert: it will be required
to specify the name of the element and therefore it will be created a new line in the tab.
(seeFig. 4.11).
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User interface on the Teach Pendant
– ALARM Page
– I/O Page
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User interface on the Teach Pendant
For any other information on the sub-pages and the use of the general use
softkeys of the Alarm Page, please refer to the manual Use of the Control Unit,
chapter Use of the Teach Pendant - paragraph Alarm Page.
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User interface on the Teach Pendant
By selecting the required component, it is possible to obtain the screen with the I/O
connected to it.
The Fig. 4.16 represents an example of how the I/O are displayed.
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User interface on the Teach Pendant
For a system configured as NODAL, please follow the description of par. 4.5.1
Entering technological instructions by NODAL system a pag. 41.
Inserting technological instructions from within the IDE environment, is made in the
following way:
b. press ENTER to open the program in IDE environment, in order to edit it and insert
the required Technological instructions;
c. move the cursor to the line in which the required instruction is to be added, press
PDL2 (F3) key, choose Empty Line and confirm with ENTER.
e. Select the directory Smartglue and confirm with ENTER, the Technological
Instruction of the application SmartGlue will be presented among them, to allow
the User to select the wished one which is to be inserted in the program.
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User interface on the Teach Pendant
g. The System inserts the corresponding template (mask) for the required instruction
(seeFig. 4.19) and the User must fill all the fields in and press ENTER to confirm.
The above described insertion procedure is the same for all Technological Instructions.
A functionality exists which makes inserting an application instruction faster, in IDE
environment.
Press SHIFT + '1' to activate such a functionality; a table is open, called Numeric
Keypad, which associates the numeric keys of the TP Alphanumeric Keypad, to the
application Technological Instructions. (see Fig. 4.20).
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User interface on the Teach Pendant
By pressing any numeric key corresponding to an instruction, that same instruction will
be entered in the program.
It is possible to enter instructions in an even quicker way: in the IDE environment, press
SHIFT + the numeric key associated to the desired instruction, at the same time,
without opening the numeric Keypad; the system will add the instruction to the program.
For example, (refer to Fig. 4.20) if the user presses SHIFT and 5 at the same time,
without opening the keypad, glue_end technological instruction will be added to the
program.
Summarizing, the keys to control the numeric Keypad are the following ones:
– SHIFT + ‘1’ - opens the numeric Keypad
– ‘n’ - when the numeric Keypad IS OPEN, adds the instruction corresponding to ‘n’
key and closes the numeric Keypad.
– SHIFT + ‘n’ - when the numeric Keypad IS NOT OPEN, adds the instruction
corresponding to ‘n’ key, to the program.
– PAGE UP / PAGE DOWN - changes the page of the numeric Keypad.
– arrows up/down/r/l- for circular navigation in the numeric keypad.
– ESC - closes the numeric keypad without inserting any instruction in the program.
– ENTER - inserts the currently selected instruction on the numeric keypad into the
program and closes.
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Programming
5. PROGRAMMING
5.1 Introduction
This chapter gives detailed information for the User that has to write programs related
to the manipulation application. The instructions here described are classifiable as
PROCESS INSTRUCTIONS.
In particular, the following topics are detailed described:
– Technological instructions
– Use of shared System sources
– Cosmetic Sealer application.
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Programming
5.2.1.1 Glue_init
Syntax: glue_init (ai_sys_id<, ai_num_gun>)
This routine starts the application depending on the doser.
Parameters Range
ai_sys_id: Number of the system we want to use (INTEGER) 1..4
ai_num_gun: optional parameter that shows the number of (INTEGER) 1..4
the gun to be used to seal. It is used when more sealant
devices are used (dosers, nozzles) for a system.
Call example:
5.2.1.2 Glue_prepara
Syntax: glue_prepara (ai_bead_type)
It prepares the sealant system using the selected bead. After setting the values, the
application software waits for it to be ready.
It shall be recalled any time the user wishes to glue a new stretch using a different bead.
Parameters Range
ai_bead_type: index of the bead to be used (Tab BEAD of the [1..99] (INTEGER)
DATA Pageenvironmen)
Call example:
5.2.1.3 Glue_prepara_set
Syntax: glue_prepara_set (ai_bead)
This routine prepares the sealant system using the selected bead. After having set the
values, it does NOT wait for it to be ready: it is very useful to reduce the cycle time.
Parameters Range
ai_bead: index of the bead to be used (Tab BEAD of the [1..99] (INTEGER)
DATA Pageenvironment)
Call example:
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5.2.1.4 Glue_prepara_check
Syntax: Glue_prepara_check
This routine waits for the system to be active and ready, for the selected bead.
Call example:
5.2.1.5 Glue_opengun
Syntax: glue_opengun
This routine controls the selected doser opening, at the motion Start.
Call example:
...
END prog_1
5.2.1.6 Glue_switchpara
Syntax: glue_switchpara (ai_bead, ai_dist)
It enables the bead parameters modification during the gluing procedure It must be used
in a motion instruction, through the clause WITH CONDITION.
Parameters Range
ai_bead: index of the bead to be enabled (Tab BEAD of the [1..99] (INTEGER)
DATA Pageenvironment)
ai_dist: distance at which the new bead shall be enabled, [1..200] (INTEGER)
during the MOVE in progress
Call example:
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Programming
5.2.1.7 Glue_closegun
Syntax: glue_closegun
It controls the doser closing. The closing is performed at the END of the corresponding
motion. It must be used in a motion instruction, through the clause WITH CONDITION.
Call example:
5.2.1.8 Glue_end
Syntax: glue_end
This routine checks whether the gluing bead has been carried out properly.
Call example:
5.2.1.9 Vision_prepara
Syntax: vision_prepara (ai_prog_idx, ai_vision_system)
It prepares the vision system to capture the images by using the specified program.
The application waits that the system is ready, and then it sends to the system the trigger
signal.
Parameters Range
ai_prog_idx: program code [1..15] (INTEGER)
ai_vision_system: it indicates the vision system [1..3] (INTEGER)
Call example:
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Programming
5.2.1.10 Vision_end
Syntax: vision_end
This routine waits that the vision system accomplishes the measurement and controls
that no errors occurred.
Call example:
5.2.2.1 Glue_fill
Syntax: glue_fill (ai_tool, ab_wait_check)
This routine fills the specified doser, and controls the request by the sealant system.
Parameters Range
ai_tool: it shows the required doser [1..4] (INTEGER)
ab_wait_check: it is a flag that indicates whether during the filling, the [TRUE/FALSE] BOOLEAN
application must wait until the doser is full
– TRUE =it waits,
– FALSE = it does not wait. In this case, in order to check if the doser is
full, it is necessary to run the routine Glue_fill_wait.
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Programming
5.2.2.2 Glue_fill_wait
Syntax: glue_fill_wait (ai_tool)
When the routine Glue_fill is called but the application does not stop to wait the doser
refilling in order to reduce the cycle time, it is necessary to call this routine to check
whether the doser is still full.
Parameters Range
ai_tool: it shows the required doser [1..99] (INTEGER)
5.2.2.3 Glue_purge
Syntax: glue_purge (ai_tool)
This routine manages the purge of the specified doser and controls the request by the
sealant system.
Parameters Range
ai_tool: it shows the required doser [1..99] (INTEGER)
5.2.2.4 Glue_fix_purge
Syntax: glue_fix_purge (ai_tool)
This routine manages the specified fix doser purge, and controls the request by the
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Programming
sealant system.
Parameters Range
ai_tool: it shows the required doser [1..99] (INTEGER)
5.2.2.5 Glue_fix_purge_wait
Syntax: glue_fix_purge_wait (ai_tool)
When the routine Glue_fix_purge is called but the application, in order to reduce the
cycle time, does not stop to wait cycle completion, it is necessary to call this routine in
order to check whether the purge operation is finished.
Parameters Range
ai_tool: it shows the required doser [1..99] (INTEGER)
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Programming
Parameters Range
ei_syst_id: index of the system to use, it is the index of the ToolMap that TOOLMAP
the User has to modify.
ai_num_gun: optional parameter that shows the number of the gun to be 1..4
used to seal. It is used when more sealant devices are available for a
system (dosers, nozzles). (INTEGER).
Parameters Range
ei_bead_id: bead index to use. BEAD_DATA
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Programming
Parameters Range
ei_bead_id: bead index to use. BEAD_DATA
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Programming
Compulsory Parameters
Obbligatori:
– Target : position, jointpos, xtndpos
– TargetVia: name of Via position (for MC only) - position, jointpos, xtndpos
– Speed: variable created in the Speed table of the Data environment or stated in the
– Zone: variable created in the Zone table of the Data environment or stated in the User programme as zone
data type variable.
– Tool: variable created in the Tool table of the Data environment or stated in the user programme as
ttye_tool_table type variable
– Frame: variable created in the Uframe table of the Data environment or stated in the user programme as
tuye_frame_table type variable
– BeadD: variable created in the Bead table of the Data environment or stated in the user programme as
bead_data type variable.
Optional:
– Load: variable created in the Payload table of the Data environment or stated in the user programme as
ttye_payload_table type variable.
– OrnD: variable created in the Orient table of the Data environment or stated in the user programme as ornd
type variable.
This function, that is associated to the nodal motion instruction (ML or MC), carries out
the doser opening at the END of the motion.
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Programming
Compulsory Parameters
Obbligatori:
– Target : position, jointpos, xtndpos
– TargetVia: nome della Via position (only for MC) - position, jointpos, xtndpos
– Speed: variable created in the Speed table of the Data environment or stated in the
– Zone: variable created in the Zone table of the Data environment or stated in the user programme as zone
data type variable.
– Tool: variable created in the Tool table of the Data environment or stated in the user programme as
ttye_tool_table type variable
– Frame: variable created in the Uframe table of the Data environment or stated in the user programme as
tuye_frame_table type variable
– BeadD: variable created in the Bead table of the Data environment or stated in the user programme as
bead_data type variable.
Optional:
– Load: variable created in the Payload table of the Data environment or stated in the user programme as
ttye_payload_table type variable.
– OrnD: variable created in the Orient table of the Data environment or stated in the user programme as ornd
type variable.
This function, that is associated to the nodal motion instruction (ML or MC), enables to
change the bead parameters during the gluing procedure.
It delivers a NODAL effect, therefore the changes carried out will apply to this
programme line only
Compulsory Parameters
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Programming
Obbligatori:
– Target : position, jointpos, xtndpos
– TargetVia: nome della Via position (only for MC) - position, jointpos, xtndpos
– Speed: variable created in the Speed table of the Data environment or stated in the
– Zone: variable created in the Zone table of the Data environment or stated in the user programme as zone
data type variable.
– Tool: variable created in the Tool table of the Data environment or stated in the user programme as
ttye_tool_table type variable
– Frame: variable created in the Uframe table of the Data environment or stated in the user programme as
tuye_frame_table type variable
– BeadD: variable created in the Bead table of the Data environment or stated in the user programme as
bead_data type variable.
Optional:
– Load: variable created in the Payload table of the Data environment or stated in the user programme as
ttye_payload_table type variable.
– OrnD: variable created in the Orient table of the Data environment or stated in the user programme as ornd
type variable.
This function, that is associated to the nodal motion instruction (ML or MC), carries out
the doser closing at the END of the motion.
Compulsory Parameters
Obbligatori:
– Target : position, jointpos, xtndpos
– TargetVia: nome della Via position (only for MC) - position, jointpos, xtndpos
– Speed: variable created in the Speed table of the Data environment or stated in the
– Zone: variable created in the Zone table of the Data environment or stated in the user programme as zone
data type variable.
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Programming
– Tool: variable created in the Tool table of the Data environment or stated in the user programme as
ttye_tool_table type variable
– Frame: variable created in the Uframe table of the Data environment or stated in the user programme as
tuye_frame_table type variable
– BeadD: variable created in the Bead table of the Data environment or stated in the user programme as
bead_data type variable.
Optional:
– Load: variable created in the Payload table of the Data environment or stated in the user programme as
– ttye_payload_table variable type.
– OrnD: variable created in the Orient table of the Data environment or stated in the user programme as ornd
type variable.
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Programming
Parameters Range
ai_tool : indicates the required doser TOOLMAP
ab_wait_check: flag - TRUE indicates that the application waits until the FALSE / TRUE
doser is full; FALSE indicates that during the filling the application does not
wait. In this case, in order to check if the doser is full, it is necessary to run
the routine Glue_fill_wait.
BEGIN
...
glue_fill(TM1,ON)
...
END prog_1
Parameters Range
ai_tool: indicates the required doser TOOLMAP
BEGIN
...
glue_purge(TM1,ON)
...
END prog_1
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Programming
sealant system.
Parameters Range
ai_tool: indicates the required doser TOOLMAP
Parameters Range
ai_tool : indicates the required doser TOOLMAP
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Programming
$DIN
256 -- 512 USER To map on the Fieldbus Slave Interface (line PLC)
$FMI
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Programming
NUMBER OF ERR_POST
1 -- 24 USER
EVENTS PDL2
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Programming
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Customizations
6. CUSTOMIZATIONS
For a detailed description of I/O modules and I/O ports configuration programs,
IO_CNFG and IO_MAP programs, please refer to C5G Control Unit use manual,
chap. 11 - I/O Configuration Programs.
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COMAU Robotics services
Repair: [email protected]
Training: [email protected]
Spare parts: [email protected]
Technical service: [email protected]
comau.com/robotics Original instructions