Nachi RMU20-20, Instruction Manual

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Contents
1
Contents
Chapter 1 Introduction
1.1 Outline ....................................................................................................................................... 1-1
1.1.1 Features of robot monitoring unit ...................................................................................... 1-1
1.1.2 Functions of robot monitoring unit ..................................................................................... 1-1
1.1.3 Specifications..................................................................................................................... 1-2
1.1.4 Type and serial number ..................................................................................................... 1-8
1.2 Risk Assessment ....................................................................................................................... 1-9
1.3 Connection...............................................................................................................................1-10
1.3.1 Required parts and installation (FD controller)................................................................1-10
1.3.2 Required parts and installation (CFD controller) .............................................................1-10
1.3.3 Sequence board UM367-20 ............................................................................................ 1-11
1.3.4 Connection of safety inputs .............................................................................................1-12
1.3.5 Connection of safety outputs...........................................................................................1-16
1.4 EC DECLARATION OF CONFORMITY FOR MACHINERY...................................................1-17
Chapter 2 Monitoring Unit Configuration
2.1 Connections with External Equipment....................................................................................... 2-1
2.2 Description of Exterior and Parts............................................................................................... 2-3
2.2.1 View of exterior.................................................................................................................. 2-3
2.2.2 LED.................................................................................................................................... 2-5
2.2.3 Connector .......................................................................................................................... 2-7
2.3 Connected signals ...................................................................................................................2-14
2.3.1 Signal connection diagram ..............................................................................................2-14
2.3.2 Safety inputs ....................................................................................................................2-15
2.3.3 Safety outputs..................................................................................................................2-18
2.3.4 Back check circuit............................................................................................................2-19
2.3.5 Monitor inputs ..................................................................................................................2-20
2.3.6 Monitor outputs................................................................................................................2-21
2.3.7 Motion controller interface ...............................................................................................2-22
2.3.8 Encoder interface ............................................................................................................2-22
2.3.9 Motor interface.................................................................................................................2-22
2.3.10 Power supply .................................................................................................................2-22
2.4 Precautions when Installing RMU inside the Controller ..........................................................2-23
2.4.1 Low-Voltage Directive requirements to be satisfied (compliance with EN50178)...........2-23
2.4.2 EMC Directive requirements to be satisfied (compliance with EN61326-3-1) ................2-23
2.4.3 Other: processing the cables connected to RMU20 .......................................................2-24
2.5 Operating Range, Angle and Speed Monitoring Function .......................................................2-25
2.5.1 Collaborative operation with human ................................................................................2-25
2.5.2 Operating range monitoring.............................................................................................2-26
2.5.3 Angle monitoring..............................................................................................................2-27
2.5.4 How to reset operating range and angle monitoring function .........................................2-27
2.5.5 Speed monitoring.............................................................................................................2-27
2.5.6 Stop monitoring................................................................................................................2-27
2.5.7 Stop Control monitoring Function in Area........................................................................2-28
2.5.8 Tool Number monitoring Function ...................................................................................2-29
2.6 Motor Power Control Sequence ..............................................................................................2-31
2.6.1 Outline of motor power control sequence .......................................................................2-31