Nachi RMU20-40 Robotics System Monitoring Manuals

Manuals and User Guides for Nachi RMU20-40 Robotics System Monitoring. We have 1 Nachi RMU20-40 Robotics System Monitoring manual available for free PDF download: Instruction Manual

Nachi RMU20-40 Instruction Manual

Nachi RMU20-40 Instruction Manual (190 pages)

FD/CFD CONTROLLER Robot Monitoring Unit

Brand: Nachi | Category: Robotics | Size: 3 MB

Table of Contents

Table of Contents
3
Chapter 1 Introduction

7
Chapter 2 Monitoring Unit Configuration

27
- Connections with External Equipment
  29
- Description of Exterior and Parts
  31
- View of Exterior
  31
- Led
  33
- Connector
  35
- Connected Signals
  42
- Signal Connection Diagram
  42
- Safety Inputs
  43
- Safety Outputs
  46
- Back Check Circuit
  47
- Monitor Inputs
  48
- Monitor Outputs
  49
- Motion Controller Interface
  50
- Encoder Interface
  50
- Motor Interface
  50
- Power Supply
  50
- Precautions When Installing RMU Inside the Controller
  51
- Low-Voltage Directive Requirements to be Satisfied (Compliance with EN50178)
  51
- Other: Processing the Cables Connected to RMU20
  52
- Operating Range, Angle and Speed Monitoring Function
  53
- Collaborative Operation with Human
  53
- Operating Range Monitoring
  54
- Angle Monitoring
  55
- How to Reset Operating Range and Angle Monitoring Function
  55
- Speed Monitoring
  55
- Stop Monitoring
  55
- Stop Control Monitoring Function in Area
  56
- Tool Number Monitoring Function
  57
- Motor Power Control Sequence
  59
- Outline of Motor Power Control Sequence
  59
- Motors on Condition
  60
- Motor Power-ON Control
  60
- Timing Chart
  61
- Logical Operation Output Function
  63
- RMU Error Signal Output (Application Signals)
  65
- Enabling RMU
  66
- Outline of Virtual Safety Fence Function
  71
- Operation Procedure
  72
- Installation Angle
  72
- Virtual Safety Fence Settings
  74
- Range Setting
  75
- Tool Limit Setting
  83
- Arm Limit Setting
  90
- Other Settings
  92
- VSF Approach Area" Output Signal
  93
- Setting Example of the Limit Line
  94
- Creation of Data File
  95
- Convenient Shortcut
  95
- List of Error Codes
  96
- Setting When a Slider Unit Is Used
  97
- Mechanism Relation
  97
- Installation Angle (Example1)
  98
- Installation Posture (Example2)
  99
Chapter 4 Monitoring Unit Settings

101
- Configuration Flow of Setting Procedure
  103
- Setting of Parameters
  106
- Setting of Mechanism Parameters
  107
- Setting of Axis Parameters
  108
- Tool Parameters
  110
- Setting of Stop Parameters
  111
- Setting of Signal Parameters
  112
- Setting the Logical Operation Parameters
  114
- Setting the Safety Network Parameters (RMU20-30)
  116
- Setting the Safety Network Parameters (RMU20-40)
  117
- Confirmation of Parameters
  118
- Conformation of Mechanism Parameters
  119
- Conformation of Axis Parameters
  121
- Conformation of Tool Parameters
  123
- Conformation of Area Parameters
  124
- Conformation of Limit Parameters
  126
- Conformation of Stop Parameters
  128
- Conformation of Signal Parameters
  129
- Confirmation of Logic Parameters
  131
- Confirmation of Safety Network Parameter (RMU20-30)
  132
- Confirmation of Safety Network Parameter (RMU20-40)
  133
- Approval
  134
- Approval Procedure
  134
- Robot Monitoring Unit Simple Approval Operation
  136
- Setting of Disconnection
  139
- Menu List
  141
- Operating Range Monitoring
  141
- Angle Monitoring
  141
- Speed Monitoring
  141
- Stop Monitoring
  141
- Tool Number Monitoring
  142
- Safety Network Parameters (RMU20-40)
  142
- Outline of the Ethernet/Ip Safety Network Function
  145
- Setting for RMU
  146
- Safety Network Parameter
  146
- Assignment of the Network I/O Signals
  146
- Settings for the Safety PLC
  148
- Setting Procedure
  148
- Trouble Shooting
  153
- Trouble Shooting Via the Leds
  153
- Error Codes
  153
Chapter 6 PROFINET Safety Network Function

155
- Outline of the PROFINET Safety Network Function
  157
- Setting for PROFINET Module
  158
- Fieldbus Settings
  158
- Setting for the PROFINET Safety
  160
- Safety Network Parameters
  162
- Assignment of the Network I/O Signals
  162
- Trouble Shooting
  164
- Trouble Shooting Via the Leds
  164
- Error Codes
  165
Chapter 7 Maintenance and Inspections

167
- Periodic Inspections
  169
- Inspection Schedule
  170
- Routine Inspection Items
  170
- Periodic Inspection Items
  171
- Replacing of the RMU
  172
- Troubleshooting
  173
- Example of Trouble Shooting
  184
- Procedures to be Performed after Encoder Replacement Work
  184
- Trouble Shooting Example for Input Signal Inconsistency Failure
  187

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