Outline Of Virtual Safety Fence Function - Nachi RMU20-20 Instruction Manual

3.1

Outline of Virtual Safety Fence Function

The "Virtual Safety Fence Function" is a system to monitor with software so that the "robot wrist / tool /
work-piece / arm / rear" limits will not go beyond the movement area. By making setting of movement limit
area (linear limit and partial limit) and the shape of the robot, this function prevents the robot body or the tool
from going outside of the movement limit area.
While in TEACH mode, when the robot comes close to the movement limit area, the buzzer of the teach
pendant will sound to warn that effect. Even so, if the robot is about to go beyond the movement limit area,
an error will occur to stop the robot while in TEACH mode or turn OFF the motors while in PLAYBACK
mode.
Furthermore, data on the Virtual Safety Fence (hereinafter referred to as the "VSF") is saved to the
constant file and the VSF file. To execute the "VSF", the presence of the VSF file in the internal memory is a
prerequisite condition.
Before making the settings for this function, please switch to the operator class to
The data of motion limit area, arm shape, and tool shape defined in this VSF function are
sent to the Robot monitoring unit (RMU20), and the RMU20 also execute the monitoring in
the same way with this robot controller. Therefore, when changing the setting for this VSF
IMPORTANT
function, do not forget to check the setting in the RMU20 and to execute the confirmation
operation.
- This VSF function checks the position of the robot based on the world coordinate system.
So it is necessary to setup the relationship (between the parent mechanism and the child
mechanism), the installation position, and the installation angle, etc. of the mechanisms like
the robots, the sliders, etc. (In case of the initial setting, the base coordinate system of the
robot matches the world coordinate system.)
IMPORTANT
See "3.4 Setting when a slider unit is used"
- Also in case of the wall mount type or the ceiling mount type, please set those parameters
correctly.
See "3.2.1 Installation angle"
Even if the "Virtual Safety Function" is enabled, it is not possible to avoid accidents e.g.
being hit or pinched by a robot completely. If the robot moves in unexpected way and a
person is hit or pinched, death or serious injury may occur. Therefore, when operating a
DANGER
robot, please pay enough attention.

3.1 Outline of Virtual Safety Fence Function

Safety fence area
Arm
Form
(Rectangular)
EXPERT
Part range
Sphere
or higher.
3-1