Chapter 2 Monitoring Unit Configuration - Nachi RMU20-20 Instruction Manual

Chapter 2 Monitoring Unit Configuration

This chapter shows the exterior of the RMU and its parts, and presents details on the
connection signals supplied to the monitoring unit. Furthermore, the functions of the RMU
are described.
2.1 Connections with External Equipment .........................................................................2-1
2.2 Description of Exterior and Parts .................................................................................2-3
2.2.1 View of exterior......................................................................................................2-3
2.2.2 LED .......................................................................................................................2-5
2.2.3 Connector..............................................................................................................2-7
2.3 Connected signals .....................................................................................................2-14
2.3.1 Signal connection diagram ..................................................................................2-14
2.3.2 Safety inputs........................................................................................................2-15
2.3.3 Safety outputs .....................................................................................................2-18
2.3.4 Back check circuit................................................................................................2-19
2.3.5 Monitor inputs......................................................................................................2-20
2.3.6 Monitor outputs....................................................................................................2-21
2.3.7 Motion controller interface ...................................................................................2-22
2.3.8 Encoder interface ................................................................................................2-22
2.3.9 Motor interface ....................................................................................................2-22
2.3.10 Power supply.....................................................................................................2-22
2.4 Precautions when Installing RMU inside the Controller .............................................2-23
2.4.1 Low-Voltage Directive requirements to be satisfied (compliance with EN50178) 2-23
2.4.2 EMC Directive requirements to be satisfied (compliance with EN61326-3-1) .....2-23
2.4.3 Other: processing the cables connected to RMU20 ............................................2-24
2.5 Operating Range, Angle and Speed Monitoring Function ..........................................2-25
2.5.1 Collaborative operation with human ....................................................................2-25
2.5.2 Operating range monitoring.................................................................................2-26
2.5.3 Angle monitoring..................................................................................................2-27
2.5.4 How to reset operating range and angle monitoring function ..............................2-27
2.5.5 Speed monitoring ................................................................................................2-27
2.5.6 Stop monitoring ...................................................................................................2-27
2.5.7 Stop Control monitoring Function in Area ............................................................2-28
2.5.8 Tool Number monitoring Function........................................................................2-29
2.6 Motor Power Control Sequence.................................................................................2-31
2.6.1 Outline of motor power control sequence............................................................2-31
2.6.2 Motors ON condition............................................................................................2-32
2.6.3 Motor power-ON control ......................................................................................2-32
2.6.4 Timing chart.........................................................................................................2-33