Nachi RMU20-20 Instruction Manual page 163

Network logic condition
This is a software switch to decide if the "Motors ON condition" is included to the logical operation of the safety
network output signal or not. When "Enabled", the safety network output signal turns OFF if the "Motors ON
condition" is OFF. For details of the "Motors ON condition", see "2.6.2 Motors ON condition".
Network emergency stop signal
If this signal is assigned, the emergency stop condition will be made while the assigned signal is OFF.
Therefore, to release the emergency stop of the robot controller, it is necessary to satisfy the all of the
following conditions.
1. The emergency stop button on the robot controller is released.
2. The emergency stop button on the teach pendant is released.
3. The external emergency stop signal is released. (or the terminals are jumpered)
4. The network emergency stop signal is ON.
If "0" is set, this function is disabled.
Network safety plug signal
By assigning this signal, it becomes possible to get the safety plug input signal from the safety network.
If this signal is assigned, this signal must be kept ON to playback the robot program.
If "0" is set, this function is disabled.
Network protective stop signal
By assigning this signal, it becomes possible to get the protective stop input signal from the safety network.
While this signal is not ON, the Motors will not turn ON. However, only in TEACH mode, the protective stop
signal can be enabled/disabled using the setting item of "Teach protect stop".
(For details, refer to "4.2.4 Setting of signal parameters").
If "0" is set, this function is disabled.
Network external enable signal
By assigning this signal, it becomes possible to get the external enable input signal from the safety network.
If this signal is not ON, the Motors cannot be turned ON in the TEACH mode.
If "0" is set, this function is disabled.
Network remote mode signal
It is possible to change the robot controller's operation mode using the safety network signals.
The operation mode can be changed using the combination of the following signals.
"NetWork remote sig."
"NetWork Ext. teach sig."
"NetWork Ext. playback sig."
"NetWork Ext. H-teach sig."
If the "Network remote mode signal" is OFF, the mode selection switch on the robot controller becomes
"Enabled" and if the signal is ON, the mode selection using the safety network signals becomes "Enabled".
Concerning the signal combinations, refer to the Table 6.3-1
Table 6.3-1 The combinations of the remote mode selection using the network signals
TEACH mode
PLAYBACK mode
Hi-speed TEACH
mode
Even if the mode is changed using the "Network remote mode signal", it is not possible to
turn ON the motor power if the teach pendant's "TP SELECTOR SWITCH" is not set to
CAUTION proper position.
(Network remote mode signal)
(Network external TEACH signal)
(Network external PLAYBACK signal)
(Network external High-speed TEACH signal)
Network remote Network external
mode signal TEACH signal
ON
ON
ON
6.3Safety network parameters
Network external
PLAYBACK signal
ON OFF
OFF ON
ON OFF
Network external
Hi-speed TEACH
signal
OFF
OFF
ON
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