Nachi RMU20-20, Instruction Manual

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Contents
2
2.6.2 Motors ON condition........................................................................................................2-32
2.6.3 Motor power-ON control ..................................................................................................2-32
2.6.4 Timing chart .....................................................................................................................2-33
2.7 Logical operation output function.............................................................................................2-35
2.8 RMU error signal output (Application signals).........................................................................2-37
2.9 Enabling RMU..........................................................................................................................2-38
Chapter 3 Virtual Safety Fence Function
3.1 Outline of Virtual Safety Fence Function............................................................................. 3-1
3.2 Operation procedure ........................................................................................................... 3-2
3.2.1 Installation angle.............................................................................................................3-2
3.2.2 Virtual safety fence settings............................................................................................ 3-4
3.2.3 Range setting..................................................................................................................3-5
3.2.4 Tool limit setting ............................................................................................................3-13
3.2.5 Arm limit setting ............................................................................................................3-20
3.2.6 Other settings ...............................................................................................................3-22
3.2.7 “VSF approach area” output signal...............................................................................3-23
3.2.8 Setting example of the limit line....................................................................................3-24
3.2.9 Creation of data file.......................................................................................................3-25
3.2.10 Convenient shortcut....................................................................................................3-25
3.3 List of Error Codes ............................................................................................................3-26
3.4 Setting when a slider unit is used......................................................................................3-27
3.4.1 Mechanism relation.......................................................................................................3-27
3.4.2 Installation angle (Example1) .......................................................................................3-28
3.4.3 Installation posture (Example2) ....................................................................................3-29
Chapter 4 Monitoring Unit Settings
4.1 Configuration flow of setting procedure..................................................................................... 4-1
4.2 Setting of parameters ................................................................................................................ 4-4
4.2.1 Setting of mechanism parameters..................................................................................... 4-5
4.2.2 Setting of axis parameters................................................................................................. 4-6
4.2.3 Tool parameters................................................................................................................. 4-8
4.2.4 Setting of stop parameters ................................................................................................ 4-9
4.2.5 Setting of signal parameters............................................................................................4-10
4.2.6 Setting the logical operation parameters.........................................................................4-12
4.2.7 Setting the Safety network parameters (RMU20-30) ......................................................4-14
4.2.8 Setting the Safety network parameters (RMU20-40) ......................................................4-15
4.3 Confirmation of parameters .....................................................................................................4-16
4.3.1 Conformation of mechanism parameters ........................................................................4-17
4.3.2 Conformation of axis parameters ....................................................................................4-19
4.3.3 Conformation of tool parameters.....................................................................................4-21
4.3.4 Conformation of area parameters ...................................................................................4-22
4.3.5 Conformation of limit parameters ....................................................................................4-24
4.3.6 Conformation of stop parameters....................................................................................4-26
4.3.7 Conformation of signal parameters .................................................................................4-27
4.3.8 Confirmation of Logic parameters ...................................................................................4-29
4.3.9 Confirmation of Safety network parameter (RMU20-30).................................................4-30
4.3.10 Confirmation of Safety network parameter (RMU20-40)...............................................4-31
4.4 Approval...................................................................................................................................4-32
4.4.1 Approval procedure .........................................................................................................4-32