Nachi RMU20-20, Instruction Manual

Page: 162 / 190

6.3Safety network parameters
6-6
6.3 Safety network parameters
The setting of the safety network parameters can be done in the menu of <Constant setting> [3 Machine
constant] [34 Robot Monitoring Unit] [1 Setting] [9 Safety network parameters].
For details, refer to “4.2.8 Setting the safety network parameters (RMU20-40)”.
When setting the safety PLC, please refer to the instruction manual provided by the PLC manufacturer.
The GSDML file that is necessary to setup this controller as a SLAVE device is in the system memory of this
robot controller. The file name is ; “
PLCEngine/GSDML-V2.3-NACHI-COMX 100 RE PNS-20140317.xml
”.
IMPORTANT
This RMU is designed intending that the minimum watch-dog time is 70ms. But, there is a
possibility that the communication speed cannot work in time depending on the network
configuration. Please set the appropriate watch-dog time without fail considering the
configuration of the network and perform the risk assessment for the parameter.
6.3.1
Assignment of the network I/O signals
In the I/O signal assignment screen, it is possible to assign the functions to the network signals.
The "Signal parameters" can be set in the menu of <Constant settings> - [3 Machine constant] [34 Robot
Monitoring Unit] [1 Settings] [7 Signal parameters].
(For details, refer to "4.2.4 Setting of signal parameters".)
In this section, the specific functions that use the network signals are explained.
Those functions can be assigned to the network signals in the following screen.