Nachi RMU20-20 Instruction Manual page 11

Safety performance
Motor power control sequence.
Monitoring of position (operating range,
joint angle)
Monitoring of speed
Monitoring of stop
1
Monitoring of stop in area
Safety network(RM20-30 only)
EtherNet/IP Safety communication
Safety network(RMU20-40 only)
PROFINET Safety communication
Response time of safety signals
1 Motor power control sequence
Monitoring of position (operating range,
2
joint angle)
3 Monitoring of speed
4 Monitoring of stop
5 Monitoring of stop in area
6 Safety network
Monitoring of operating range
Item
Restricted range 1
1
Safety fence
Restricted range 2
2
Partial range
Restricted object 1
3 Restriction on
spheres
Restricted object 2
4
Arm restriction
5 Tool
6 Restricted coordination
Item
Category 4
PL(Performance Level)=e
SIL3
Item
Less than 30msec.
(Except the one that can
be set by parameter )
Less than 50msec.
Less than 70msec.
Less than 50msec.
Less than 50msec.
Less than 50msec
The outside of the straight line randomly defined from the
center of the robot is a restricted area.
Up to 8 straight restricted lines can be defined.
The partial inside of the area enclosed by straight lines
within the restricted range is defined as a restricted area.
A restricted range can be defined using a maximum of 4
straight lines, and up to 8 locations can be specified.
A three-line triangle or a four-line rectangle can be
specified. For the z direction, the upper and lower limits
can be specified in the world coordinate system.
This function will enabled by general-purpose safety input.
Specify 20 spheres or cubes for each tool. If the restricted
tool range is exceeded, set to the condition conforming to the
method of restriction.
Specify 10 spheres or cylinders on the robot arm. If the
restricted range is exceeded, set to the condition
conforming to the method of restriction.
Up to 32 tools are supported.
Monitors by the tool number from the robot controller.
The world coordinates system in the JIS coordinate is
used for operating range monitoring.
Therefore, for a robot placed on a stand or wall-mounted
robot, specify using "constant: format and initial setting:
installation position".
Specifications
MTTFd = 75.15
DC = 94.34
CCF = 75
-4
PFD = 4.35e
-8
PFH = 1.99e
proof test interval 5years
Specifications
Specifications
1.1 Outline
Remarks
Remarks
The time from inputting of the
safety input to shutting off of
the safety output
The time from the error
occurrence to shutting off of
the safety output
Remarks
Up to 4 sets can
be set
It is possible to
switch using the
selection
signal from
safety network.
Monitor input 4 ch
16 tools are
available
For more, please
use the safety
network function.
1-3