Setting Of Stop Parameters - Nachi RMU20-20 Instruction Manual

4.2.4 Setting of stop parameters

1
Open <Constant Setting> - [3 machine constants] – [34 Robot monitoring unit] –
[1 Setting] – [6 Stop parameters].
>> The following screen will be displayed.
2 Set the required parameters with reference to the following table.
If there is no parameter to be updated, following operation is necessary.
If the RMU had been replaced or backup-restore operation had
been executed, perform writing operation even if there are no
IMPORTANT
modified parameters.
3 After setting, press f12 <Complete>.
>> When setting is done correctly, following message is displayed. But this is normal.
After closing this message with [R] key, perform the confirmation operation.
Parameter
Free running time This is the free running time (sec) of the robot to stop.
This parameter is set at the factory.
Operator class
This value varies due to the robot type.
Braking This is to define the deceleration rate (pulse/ms
deceleration This parameter is set at the factory.
Operator class
This value varies due to the robot type.
When both " Free running time" and "Braking deceleration" is se to "0.00", this utility (stop
monitoring in area) is disabled.
CAUTION
Table 4-6 Stop parameters
Function
SPECIALIST
is necessary to change this parameter.
SPECIALIST
is necessary to change this parameter.
4.2 Setting of parameters
2
) for each joint.
Default
value
－
－
4-9