Nachi RMU20-20 Instruction Manual page 125

5 Check all parameters for interference area.
Change the page until desired page is displayed.
When all parameters are correct, press <OK> key.
If wrong parameters are displayed, please try to perform the writing procedure.
If some of them were incorrect even after writing procedure, the RMU may
malfunction. Please consult with each NACHI-FUJIKOSHI service office.
Parameter
Fence range Outside the area defined by maximum of 8 lines (from the center of the robot) is the
Line 1 to 8 restricted area.
Fence range Parameter to define the height of Fence range. This is the upper limit.
Z range upper
Fence range Parameter to define the height of Fence range. This is the lower limit.
Z range lower
Exit permit signal This is a signal that is required to be ON when the robot is trying to go outside of the
range
Part. range Inside the area defined by maximum of 4 lines (from the center of the robot) is the
Line 1 to 4 restricted area.
Up to 8 Part.range can be defined.
Part. range Parameter to define the height of Part.range. This is the upper limit.
Z range upper
Part. range Parameter to define the height of Part.range. This is the lower limit.
Z range lower
Entry permit signal This is a signal that is required to be ON when the robot enters the range
Table 4-13 Area parameters
Function
4.3Confirmation of parameters
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