Nachi RMU20-20, Instruction Manual

Page: 12 / 190

1.1 Outline
1-4
7 Method of restriction
If the restricted object exceeds the restricted range,
perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Safety output OFF (Stop Category 0)
Errors can be cleared by inputting the “LS release SW”
signal.
Signal can be outputted when robot is in the restricted
area.
It is also
possible to
output a signal
by using the
logical operation
function when
the robot enters
the restricted
area. And, it is
possible to
assign the
safety network
signals.
8 Restricted object
Only manipulator is restricted.
However, for the manipulator on the traverse unit, position
of traverse axis is considered.
Monitoring of position (joint angle)
Item Specifications Remarks
1 Basic functions
Monitor operating range of each joint. If the angle limit is
exceeded, set to the condition set by the “method of
restriction”.
8axes * 4 sets
can be set
It is possible to
switch using
the selection
signal from
safety
network.
2 Method of restriction
If the restricted object exceeds the restricted range,
perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Safety output OFF (Stop Category 0)
Errors can be cleared by pressing LSSW button (LS
releasing button).
Monitoring of speed
Item Specifications Remarks
1 Basic functions
<TEACH mode>
Monitor the linear speed of TCP does not exceed the
250mm/sec.
<PLAYBACK mode>
Monitor linear speed of TCP and angular speed of
each axis are less than the determined speed
8axes * 4 sets
can be set
It is possible to
switch using
the selection
signal from
safety
network.
2 Method of restriction
If the speed is exceeded, perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Safety output OFF (Stop Category 0)
3 Restricted object
Only manipulator is restricted.
However, for the manipulator on the traverse unit, position
of traverse axis is considered.
Monitoring of stop
Item Specifications Remarks
Monitor the suspension of TCP
1 Basic functions
If the robot is moved, safety output is turned OFF. (Stop
Category 0) This function is enabled only when
general-purpose safety input is inputted.