Nachi RMU20-20 Instruction Manual page 4

Contents
2.6.2 Motors ON condition........................................................................................................ 2-32
2.6.3 Motor power-ON control .................................................................................................. 2-32
2.6.4 Timing chart ..................................................................................................................... 2-33
2.7 Logical operation output function............................................................................................. 2-35
2.8 RMU error signal output (Application signals) ......................................................................... 2-37
2.9 Enabling RMU.......................................................................................................................... 2-38
Chapter 3 Virtual Safety Fence Function
3.1 Outline of Virtual Safety Fence Function............................................................................. 3-1
3.2 Operation procedure ........................................................................................................... 3-2
3.2.1 Installation angle............................................................................................................. 3-2
3.2.2 Virtual safety fence settings............................................................................................ 3-4
3.2.3 Range setting..................................................................................................................3-5
3.2.4 Tool limit setting ............................................................................................................ 3-13
3.2.5 Arm limit setting ............................................................................................................ 3-20
3.2.6 Other settings ............................................................................................................... 3-22
3.2.7 "VSF approach area" output signal............................................................................... 3-23
3.2.8 Setting example of the limit line .................................................................................... 3-24
3.2.9 Creation of data file....................................................................................................... 3-25
3.2.10 Convenient shortcut.................................................................................................... 3-25
3.3 List of Error Codes ............................................................................................................3-26
3.4 Setting when a slider unit is used...................................................................................... 3-27
3.4.1 Mechanism relation....................................................................................................... 3-27
3.4.2 Installation angle (Example1) ....................................................................................... 3-28
3.4.3 Installation posture (Example2) ....................................................................................3-29
Chapter 4 Monitoring Unit Settings
4.1 Configuration flow of setting procedure..................................................................................... 4-1
4.2 Setting of parameters ................................................................................................................ 4-4
4.2.1 Setting of mechanism parameters..................................................................................... 4-5
4.2.2 Setting of axis parameters................................................................................................. 4-6
4.2.3 Tool parameters ................................................................................................................. 4-8
4.2.4 Setting of stop parameters ................................................................................................ 4-9
4.2.5 Setting of signal parameters............................................................................................ 4-10
4.2.6 Setting the logical operation parameters......................................................................... 4-12
4.2.7 Setting the Safety network parameters (RMU20-30) ...................................................... 4-14
4.2.8 Setting the Safety network parameters (RMU20-40) ...................................................... 4-15
4.3 Confirmation of parameters ..................................................................................................... 4-16
4.3.1 Conformation of mechanism parameters ........................................................................ 4-17
4.3.2 Conformation of axis parameters ....................................................................................4-19
4.3.3 Conformation of tool parameters.....................................................................................4-21
4.3.4 Conformation of area parameters ...................................................................................4-22
4.3.5 Conformation of limit parameters ....................................................................................4-24
4.3.6 Conformation of stop parameters....................................................................................4-26
4.3.7 Conformation of signal parameters .................................................................................4-27
4.3.8 Confirmation of Logic parameters ...................................................................................4-29
4.3.9 Confirmation of Safety network parameter (RMU20-30)................................................. 4-30
4.3.10 Confirmation of Safety network parameter (RMU20-40)............................................... 4-31
4.4 Approval................................................................................................................................... 4-32
4.4.1 Approval procedure ......................................................................................................... 4-32
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