Nachi RMU20-20, Инструкция по эксплуатации

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2.7 Logical operation output function
2-37
2.8 RMU error signal output (Application signals)
The errors of the RMU can be assigned to the output signals of application signals. By assigning those signals,
it is possible to detect the condition of the RMU from the external devices e.g. PLC etc. When shipping, those
signals are not assigned. If necessary, please make an assignment setting referring to this section.
RMU errors that can be outputted
(For details, refer to “6.2 Trouble shooting”)
No. Error message
1100 RMU Encoder failure
1101 RMU Joint angle exceeded
1102 RMU Pos. exceeded limit area
1103 RMU Speed failure
1104 RMU Over current
1105 RMU Disparity failure
1106 RMU Internal failure
1107 RMU Not approved
1108 RMU Communication stop
1109 RMU Stop monitor failure
1110 RMU Pos. monitor failure
1111 RMU Pos. disparity failure
1112 RMU Vel. Disparity failure
1113 RMU Connection failure
1114 RMU Tool monitor failure
Assignment for the output signals
To assign those signals, open “<Constant Setting> - [6 Signals] [3 Output Signal Assignment] [1 Standard
Outputs]”. For this setting, an operator class of
EXPERT
or higher is required (Please switch the operator class
level via R314 shortcut command in advance of this setting operation).
Concerning the signal assignment operations, refer to “FD CONTROLLER INSTRUCTION MANUAL SETUP
MANUAL” “4.6 Signal attribute setting“ .