Nachi RMU20-20, Instruction Manual

Page: 103 / 190

4.1Configuration flow of setting procedure
4-1
4.1 Configuration flow of setting procedure
This section describes the initial settings for the RMU.
The parameters required for monitoring the operating ranges, angles and speeds are stored inside the RMU.
So parameters must be set for both robot controller and RMU.
All settings have been completed for the RMU when shipped.
IMPORTANT
When shipped, safety fence parameter is defined at the area that exists outside the robot
standard operating range.
So, after installation of the robot, the safety fence parameter must be set depending on the
operating status of the robot,
POINT
The setting operations in this chapter require an operator class of
EXPERT
or
SPECIALIST
. For details of the operator class, please refer to the chapter 4 of the
instruction manual "SETUP".
In advance of RMU setting
If a new RMU is connected to the robot controller, it is necessary to enable the setting for the concerned RMU.
If the RMU itself is not enabled, the parameter setting menu for the RMU is not displayed.
For details, refer to “2.9 Enabling RMU”.
POINT
(In case of the FD controller)
If the RMU has already been connected to the FD controller when shipping from our factory,
The RMU setting is enabled.
(In case of the CFD controller)
When shipping from out factory, the RMU is disabled.
To use the RMU, enable the RMU after connecting it to the CFD controller.
In the following cases, you will need to set up the RMU.
(1) When the RMU (Robot monitoring unit) has been replaced.
(2) When Memory format (initialization), Backup-restore, Constant file copy operation etc. are executed.
(This includes cases that CPU board or system CF is replaced and backup-restore is executed)
(3) When RMU related settings (e.g. tool constants, software limit settings, etc.) are changed
(4) When the encoder or the motor is replaced
If these works were executed, please perform the works of (1) or (2).
1. (RMU related) Parameter settings (writing), confirmation, and approval
2. (RMU related) Parameter confirmation and approval
○ ： necessary －： not necessary
Content of work Example Setting Confirmation Approval
(1) RMU was replaced Replacement of RMU
○ ○ ○
(2) Format (memory initialization)
Backup-restore
Copy of Constant file - CPU board replacement
- System CF replacement
- Memory format (initialization)
- Backupfile restore operation
- VSF file copy
○ ○ ○
(3) Modification of settings that is
related to RMU - Tool constant modification
- Software limit modification
- Encoder correction
- VSF setting modification
－ ○ ○
(4) Encoder (Motor) replacement - Encoder reset
－ ○ ○