Nachi RMU20-20 Instruction Manual page 104

4.1Configuration flow of setting procedure
<1> In case that the RMU has been replaced or the data was initialized
When the RMU is replaced, or backup-restore is executed, perform the settings in the following sequence.
When the power is turned on, "E1107 Robot monitoring unit is not approved" will occur. But this is normal.
In that case, perform the following steps.
4.2Setting of
parameters
4.3Confirmation of
parameters
4.4Approval
Power OFF and ON
(*) At first visually check that these parameters are the same between the RMU and the controller by referring
to "4.3Confirmation of parameters". Next perform "Approval" procedure (This means that the setting is correct).
If this approval procedure is not finished, robot can not be operated.
4-2
1 Setting of parameters
Set the parameter for the RMU.
2 Confirmation of parameters
Confirm the parameters which have been set.
Please make sure the parameter values are changed correctly
in the confirmation screen of the parameter. If the parameter is
not set correctly, the robot does not work in the intended
DANGER
function will be death or serious injury accidents.
3 Approval (*)
Confirm that the monitoring unit parameters and robot controller parameters
are the same. Robot can not be operated without approval.
4 Turn OFF and ON the power of the robot controller.