Setting Of Disconnection - Nachi RMU20-20 Instruction Manual

4.5 Setting of disconnection

In case of "Axis disconnection utility" and or so, RMU will detect the encoder error because the specified axis
is physically disconnected. Therefore, monitoring function must be set to disabled for this specified axis before
utilizing these utility.
Concerning the axis that the "Connection" is set to "1"(=disconnection), the all of monitoring
function is disabled.
Therefore, pay utmost attention to operate the robot.
If the specified axis moves unexpectedly, coming into contact with or getting caught in the
DANGER
robot will result in death or serious injury.
And, after using the "Axial separation" menu, do not forget to make the setting that was
changed here to the original setting. If this is forgotten, the robot may not work normally.

4.5.1 Setting of disconnection

1
2
3
SPECIALIST
or higher operator class is necessary to change this parameter.
Open <Constants> - [3 Machine constants] – [34 Robot monitoring unit] – [1
Setting] – [2 Axis parameters].
>> The following screen will be displayed.
(NOTE) The parameters are displayed in the following order;
JT1 JT2 JT3
JT4 JT5 JT6
JT7 JT8
Align the cursor to the axis of [Connection] line which to be disconnected, and
enter [1]. Also check another axis is set to [0].
4.5Setting of disconnection
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