Nachi RMU20-20, Инструкция по эксплуатации

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2.3 Connected signals
2-22
2.3.7 Motion controller interface
This communication line is for receiving the parameters required for the purpose of the position and speed
monitoring function.
Table 2-15 Motion interface
Signal name Description
D-/D+
GND
FG The interface connects these signals for communicating with the motion controller.
Communication specification: USB1.1
2.3.8 Encoder interface
This line is for communication with the encoder for obtaining the current position of the robot for the purpose of
the position and speed monitoring function.
Table 2-16 Encoder interface
Signal name Description
S1+ ~ S8+
S1- ~ S8- The interface connects these signals for communicating with the encoder.
Communication specification: RS485 (two wires, half-duplex channel , multi point
serial communication)
Panasonic N400 format is supported
Nikon A format is supported
2.3.9 Motor interface
Signals are connected through this interface to the servo amplifier by the motor position detection function.
Table 2-17 Motor position detection interface
Signal name Description
U1~U8
V1~V8
W1~W8
L1~L8 The interface inputs the motor position detection signals.
2.3.10 Power supply
Supplies power to the RMU.
Table 2-18 Power supply
Signal name Description
U24V/U0V This is the main drive power supply of the RMU.
U24A/U0A This is the IO drive power supply of the RMU.