Nachi RMU20-20 Instruction Manual page 5

4.4.2 Robot Monitoring Unit simple approval operation ........................................................... 4-34
4.5 Setting of disconnection .......................................................................................................... 4-37
4.5.1 Setting of disconnection .................................................................................................. 4-37
4.6 Menu list .................................................................................................................................. 4-39
4.6.1 Operating range monitoring............................................................................................. 4-39
4.6.2 Angle monitoring.............................................................................................................. 4-39
4.6.3 Speed monitoring............................................................................................................. 4-39
4.6.4 Stop monitoring................................................................................................................ 4-39
4.6.5 Tool number monitoring ...................................................................................................4-40
4.6.6 Safety network parameters (RMU20-40) ........................................................................ 4-40
Chapter 5 EtherNet/IP Safety network
5.1 Outline of the EtherNet/IP safety network function ............................................................. 5-1
5.2 Setting for RMU................................................................................................................... 5-2
5.2.1 Safety network parameter............................................................................................... 5-2
5.2.2 Assignment of the network I/O signals ........................................................................... 5-2
5.3 Settings for the safety PLC ................................................................................................. 5-4
5.3.1 Setting procedure ........................................................................................................... 5-4
5.4 Trouble shooting.................................................................................................................. 5-9
5.4.1 Trouble shooting via the LEDs........................................................................................ 5-9
5.4.2 Error codes ..................................................................................................................... 5-9
Chapter 6 PROFINET Safety network function
6.1 Outline of the PROFINET safety network function.............................................................. 6-1
6.2 Setting for PROFINET module............................................................................................ 6-2
6.2.1 Fieldbus settings............................................................................................................. 6-2
6.2.2 Setting for the PROFINET Safety ................................................................................... 6-4
6.3 Safety network parameters ................................................................................................. 6-6
6.3.1 Assignment of the network I/O signals ........................................................................... 6-6
6.4 Trouble shooting.................................................................................................................. 6-8
6.4.1 Trouble shooting via the LEDs........................................................................................ 6-8
6.4.2 Error codes ..................................................................................................................... 6-9
Chapter 7 Maintenance and Inspections
7.1 Periodic Inspections ............................................................................................................ 7-1
7.1.1 Inspection schedule ........................................................................................................ 7-2
7.1.2 Routine inspection items ................................................................................................ 7-2
7.1.3 Periodic inspection items................................................................................................ 7-3
7.1.4 Replacing of the RMU..................................................................................................... 7-4
7.2 Troubleshooting................................................................................................................... 7-5
7.2.1 Example of trouble shooting ......................................................................................... 7-16
7.2.2 Procedures to be performed after encoder replacement work..................................... 7-16
7.2.3 Trouble shooting example for input signal inconsistency failure .................................. 7-19
Contents
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