Nachi RMU20-20, Instruction Manual

Page: 18 / 190

1.1 Outline
1-10
1.3 Connection
1.3.1 Required parts and installation (FD controller)
To use this unit, the following optional products are also necessary.
These parts are already installed in robot controllerr before shipment, so customer does not have to do
installatrion work.
Table 1-1 Optional products for RMU of FD controller
Product name Model number
Sequence board UM367-20
RMU unit FD11-OP145-A
An IPM drive unit
that supports the position detection function
ROX****T or ROX****CT
1.3.2 Required parts and installation (CFD controller)
Table 1-2 Optional products for RMU of CFD controller
Product name Model number
RMU unit
CFD-OP145-A
(UM367-20 is included)
In case of CFD controller, RMU needs separated box. Customer needs to install sequence board in robot
controller and needs to connect RMU with robot controller.
Please refer to “CFD controller Technical Document 1”, “Chapter 21 Robot Monitoring Unit” for the detail of
work.
Robot
Monitoring Unit
CFD
controller
T/P
Safety signals such as
emergency stop, safety
plug and or so
Normal I/O
signals
Robot
Fig.1.3.1 CFD controller image of RMU system