Nachi RMU20-20 Instruction Manual page 130

4.3Confirmation of parameters
Parameter
Tool number watch
Teach protect stop
H-teach (safety plug)
Logic condition
Tool number watch sig.
Stop watch signal
Robot select sig.
TCP Speed watch signal 1 – 4
AXES speed watch signal 1 -4
Zone limit sig. 1 – 4
Tool posture watch sig. 1 - 4
Tool number input sig. 1 - 5
Network logic condition
Network Emg.Stop sig.
Network safety plug sig.
Network Prot. stop sig.
Network Ext.enable sig.
Network remote sig.
Network Ext.teach sig.
Network Ext.playback sig.
Network Ext.H-teach sig.
4-28
Table 4-16 Signal parameters
Enable / Disable the Tool number watch function.
Enable / Disable the protective stop function in the Teach mode.
Enable / Disable the safety plug condition in the High-speed teach mode.
Enable / Disable the MOTORS ON condition of the logical operation function.
This is to set the input signal number of Tool number watch signal.
This is to set the input signal number of Stopping watch signal.
This is to set the input signal number of Robot selection signal.
This is to set the input signal number of TCP speed monitoring in playback.
This is to set the input signal number of AXES speed monitoring in playback.
This is to set the input signal number of Zone limit signal in playback.
This is to set the input signal number of Tool posture watch sig.
This is to set the input signal number of Tool number input signal.
These items are displayed in case of RMU20-30 or RMU20-40.
See "5.2.2 Assignment of the network I/O signals".
Function