Nachi RMU20-20, Инструкция по эксплуатации

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2.7 Logical operation output function
2-36
Group No. Item Description
1 Rob.Power-ON Turns ON when the "Robot Power-ON" turns ON.
2 Safety out.1 Turns ON when the "General safety output 1" turns ON.
3 Safety out.2 Turns ON when the "General safety output 2" turns ON.
Safety out.relay
4 Safety out.3 Turns ON when the "General safety output 3" turns ON.
1 Teach mode Turns ON when the "Teach mode" input turns ON.
2 Playback mode Turns ON when the "Playback mode" input turns ON.
3
H-Spd. teach mode
Turns ON when the "High-speed teach mode" input turns ON.
4 Inside fence Turns ON when the robot is inside the Safety motion range.
5 Inside fence#2
6 Inside fence#3
7 Inside fence#4
8 Inside area Turns ON when each axis of the robot is inside the Safety range.
9 Outside Part#1 Turns ON when the "Part range 1" is enabled and the robot is not in the range.
10 Outside Part#2 Turns ON when the "Part range 2" is enabled and the robot is not in the range.
11 Outside Part#3 Turns ON when the "Part range 3" is enabled and the robot is not in the range.
12 Outside Part#4 Turns ON when the "Part range 4" is enabled and the robot is not in the range.
13 Outside Part#5 Turns ON when the "Part range 5" is enabled and the robot is not in the range.
14 Outside Part#6 Turns ON when the "Part range 6" is enabled and the robot is not in the range.
15 Outside Part#7 Turns ON when the "Part range 7" is enabled and the robot is not in the range.
16 Outside Part#8 Turns ON when the "Part range 8" is enabled and the robot is not in the range.
17 Inside area stop
Turns ON while the robot is in the defined area for the "Monitoring of stop in area"
function.
18 Inside safe stop
Turns ON while the "Stop watch signal (a signal assigned to one of the general
safety input signal (1-5))" is OFF and the robot is stopping.
19 Inside Low Spd.
Turns ON while the robot is moving in a speed slower than 250mm/sec in TEACH
mode.
20 Inside High spd.
21 Inside High spd.#2
22 Inside High spd.#3
23 Inside High spd.#4
Turns ON while the robot is moving in a speed slower thant the restricted speed in
PLAYBACK mode.
24 Inside Axes spd.
25 Inside Axes spd.#2
26 Inside Axes spd.#3
27 Inside Axes spd.#4
Turns ON while each axis of the robot is moving in a speed slower than the
restricted speed.
28 Inside Zone#1
29 Inside Zone#2
30 Inside Zone#3
31 Inside Zone#4
Turns ON while each axis of the robot is in the pre-defined zone.
32 Inside Tool pos.#1
33 Inside Tool pos.#2
34 Inside Tool pos.#3
35 Inside Tool pos.#4
Turns ON while the tool posture is in the pre-defined range.
36 Emg. Stop. none Turns ON when "Network Emergency Stop signal" is not assigned.
37 Safety plug. None
Turns ON when "Network safety plug signal" is not assigned.
38 Prot. stop None Turns ON when "Network Protective stop signal" is not assigned.
Internal relay
39 Ext. enable None Turns ON when "Network External enable signal" is not assigned.
Safety in.
network
1
:
64
Safety in.1
:
Safety in.64
The input signals of the safety network function.
Safety Out.
network
1
:
64
Safety Out.1
:
Safety Out.64
The output signals of the safety network function.