Nachi RMU20-20 Instruction Manual page 64

2.7 Logical operation output function
Group No.
Safety out.relay 1
2
3
4
Internal relay 1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
Safety in. 1
network :
64
Safety Out. 1
network :
64
2-36
Item
Rob.Power-ON Turns ON when the "Robot Power-ON" turns ON.
Safety out.1 Turns ON when the "General safety output 1" turns ON.
Safety out.2 Turns ON when the "General safety output 2" turns ON.
Safety out.3 Turns ON when the "General safety output 3" turns ON.
Teach mode Turns ON when the "Teach mode" input turns ON.
Playback mode Turns ON when the "Playback mode" input turns ON.
H-Spd. teach mode Turns ON when the "High-speed teach mode" input turns ON.
Inside fence Turns ON when the robot is inside the Safety motion range.
Inside fence#2
Inside fence#3
Inside fence#4
Inside area Turns ON when each axis of the robot is inside the Safety range.
Outside Part#1 Turns ON when the "Part range 1" is enabled and the robot is not in the range.
Outside Part#2 Turns ON when the "Part range 2" is enabled and the robot is not in the range.
Outside Part#3 Turns ON when the "Part range 3" is enabled and the robot is not in the range.
Outside Part#4 Turns ON when the "Part range 4" is enabled and the robot is not in the range.
Outside Part#5
Turns ON when the "Part range 5" is enabled and the robot is not in the range.
Outside Part#6
Turns ON when the "Part range 6" is enabled and the robot is not in the range.
Outside Part#7
Turns ON when the "Part range 7" is enabled and the robot is not in the range.
Outside Part#8
Turns ON when the "Part range 8" is enabled and the robot is not in the range.
Turns ON while the robot is in the defined area for the "Monitoring of stop in area"
Inside area stop
function.
Turns ON while the "Stop watch signal (a signal assigned to one of the general
Inside safe stop
safety input signal (1-5))" is OFF and the robot is stopping.
Turns ON while the robot is moving in a speed slower than 250mm/sec in TEACH
Inside Low Spd.
mode.
Inside High spd.
Inside High spd.#2 Turns ON while the robot is moving in a speed slower thant the restricted speed in
Inside High spd.#3 PLAYBACK mode.
Inside High spd.#4
Inside Axes spd.
Inside Axes spd.#2 Turns ON while each axis of the robot is moving in a speed slower than the
restricted speed.
Inside Axes spd.#3
Inside Axes spd.#4
Inside Zone#1
Inside Zone#2
Turns ON while each axis of the robot is in the pre-defined zone.
Inside Zone#3
Inside Zone#4
Inside Tool pos.#1
Inside Tool pos.#2
Turns ON while the tool posture is in the pre-defined range.
Inside Tool pos.#3
Inside Tool pos.#4
Emg. Stop. none Turns ON when "Network Emergency Stop signal" is not assigned.
Safety plug. None Turns ON when "Network safety plug signal" is not assigned.
Prot. stop None Turns ON when "Network Protective stop signal" is not assigned.
Ext. enable None
Turns ON when "Network External enable signal" is not assigned.
Safety in.1
:
The input signals of the safety network function.
Safety in.64
Safety Out.1
: The output signals of the safety network function.
Safety Out.64
Description