Nachi RMU20-20, Instruction Manual

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1.1 Outline
1-6
Encoder and motor interface
Item Specifications Remarks
1 Basic functions
<Encoder>
It is possible send/receive data to/from the bidirectional
serial communication encoder.
It is possible to read communication between servo
amplifier and encoder together with request data and
encoder output data.
<Motor>
The motor position can be read out from the power line of
the motor.
2 Connection method
<Encoder>
For the method of connecting encoder, 1-axis individual
connection or bus connection is available.
For both individual and bus connections, up to 8 axes can
be connected.
The connection method can be specified, using the
parameter of “Encoder type”.
3 Error detection
<Encoder>
Encoder detection error
Timeout detection (hardware)
Encoder ID check (hardware)
Line disconnection detection (software)
<Motor>
Motor magnetic pole position is compared with the
encoder, and detects the mismatch of their angle.
Input/output signal, Motor power control sequence processing
Item Specifications Remarks
1 Safety inputs
This is to read the safety signal.
For further details, see “2.3.2 Safety inputs.”
Diagnoses system short circuit between inputs, input circuit
failure, disparity between two inputs, and over current.
If an error is detected, safety output is turned OFF.
2 Safety outputs
This is to output the safety signal.
For further details, see “2.3.3 Safety outputs.”
Diagnoses system short-circuit between outputs, output
circuit failure, and back check input circuit failure.
If an error is detected, safety output is turned OFF.
3 Monitor inputs
This is to the read non-safety signal.
For further details, see “2.3.5 Non-safety inputs.”
Diagnoses input circuit failure and over current.
If an error is detected, safety output is turned OFF.
4 Monitor outputs
This is to the output non-safety signal.
For further details, see “2.3.6 Non-safety outputs.”
If an error is detected, safety output is turned OFF.
5
Motor power control
sequence This is to set the safety output to ON/OFF depending on
input conditions such as emergency stop and enable switch.