Nachi RMU20-20 - User Manual

FD/CFD CONTROLLER
INSTRUCTION MANUAL
Robot Monitoring Unit
RMU20-20/30/40
・Before attempting to operate the robot, please read through this operating manual
carefully, and comply with all the safety-related items and instructions in the text
.
・
The installation, operation and maintenance of this robot should be undertaken only
by those individuals who have attended one of our robot course
.
・When using this robot, observe the low related with industrial robot and with
safety issues in each country.
・
This operating manual must be given without fail to the individual who will be actually
operating the robot
.
・
Please direct any queries about parts of this operating manual which may not be
completely clear or any inquiries concerning the after-sale service of this robot to any
of the service centers listed on the back cover.
8th edition
1505, TFDEN-143-008, 001

Summary

Chapter 1 Introduction

1.1 Outline

Provides an overview of the robot monitoring unit (RMU) functions.

1.1.1 Features of robot monitoring unit

Details the key characteristics and capabilities of the RMU.

1.1.2 Functions of robot monitoring unit

Explains the specific safety functions performed by the RMU.

1.1.3 Specifications

Lists the technical specifications and parameters of the RMU.

1.2 Risk Assessment

Outlines the process for identifying and mitigating potential dangers.

1.3 Connection

Details requirements and procedures for connecting the RMU.

1.4 EC DECLARATION OF CONFORMITY FOR MACHINERY

States compliance with relevant EC machinery directives.

Chapter 2 Monitoring Unit Configuration

2.1 Connections with External Equipment

Illustrates how the RMU connects to the robot and external systems.

2.2 Description of Exterior and Parts

Details the physical layout and components of the RMU unit.

2.3 Connected signals

Explains the various signals connected to the RMU.

2.3.2 Safety inputs

Describes the redundant safety input signals for the RMU.

2.3.3 Safety outputs

Details the general safety output signals from the RMU.

2.4 Precautions when Installing RMU inside the Controller

Provides safety and compliance guidelines for RMU installation.

2.5 Operating Range, Angle and Speed Monitoring Function

Overview of the RMU's monitoring capabilities for robot operation.

2.6 Motor Power Control Sequence

Describes the sequence for controlling robot motor power.

2.7 Logical operation output function

Explains how to set logical operations for safety output signals.

2.8 RMU error signal output (Application signals)

Details assigning RMU errors to specific output signals.

2.9 Enabling RMU

Provides steps for enabling the RMU setting.

Chapter 3 Virtual Safety Fence Function

3.1 Outline of Virtual Safety Fence Function

Introduces the Virtual Safety Fence (VSF) system.

3.2 Operation procedure

Details the steps for configuring the Virtual Safety Fence.

3.2.1 Installation angle

Defines the robot's positional and angular relationship for VSF.

3.2.3 Range setting

Configuration for defining safety fence areas and part ranges.

3.2.4 Tool limit setting

Sets spherical or rectangular limits for tools.

3.2.5 Arm limit setting

Defines movement limits based on the robot arm's geometry.

3.3 List of Error Codes

Provides a list of error codes specific to the VSF function.

3.4 Setting when a slider unit is used

Specific configuration settings for robots mounted on sliders.

Chapter 4 Monitoring Unit Settings

4.1 Configuration flow of setting procedure

Outlines the steps for the initial RMU setup and configuration.

4.2 Setting of parameters

Details the process for configuring RMU parameters.

4.2.1 Setting of mechanism parameters

Configures robot mechanism-specific parameters.

4.2.2 Setting of axis parameters

Sets parameters for each individual robot axis.

4.2.5 Setting of signal parameters

Configures the assignment of input and output signals.

4.2.6 Setting the logical operation parameters

Defines logical operations for the safety output signals.

4.2.7 Setting the Safety network parameters (RMU20-30)

Configures EtherNet/IP safety network parameters for RMU20-30.

4.3 Confirmation of parameters

Verifies that the RMU parameters have been set correctly.

4.4 Approval

Finalizes RMU settings by confirming parameters and enabling functions.

4.5 Setting of disconnection

Configures settings for axis disconnection utility.

4.6 Menu list

Provides an overview of the RMU settings menus.

Chapter 5 EtherNet;IP Safety network

5.1 Outline of the EtherNet;IP safety network function

Introduces the EtherNet/IP safety network capabilities.

5.2 Setting for RMU

Details the configuration steps for the RMU within EtherNet/IP.

5.3 Settings for the safety PLC

Explains how to configure the safety PLC for RMU integration.

5.4 Trouble shooting

Provides guidance for diagnosing issues in the EtherNet/IP safety network.

Chapter 6 PROFINET Safety network function

6.1 Outline of the PROFINET safety network function

Introduces the PROFINET safety network capabilities.

6.2 Setting for PROFINET module

Details the configuration of the PROFINET module.

6.3 Safety network parameters

Configures the safety network parameters for PROFINET.

6.4 Trouble shooting

Provides guidance for diagnosing issues in the PROFINET safety network.

Chapter 7 Maintenance and Inspections

7.1 Periodic Inspections

Details routine and periodic checks for the RMU.

7.1.1 Inspection schedule

Outlines the recommended schedule for RMU inspections.

7.1.3 Periodic inspection items

Lists specific items and methods for periodic RMU inspections.

7.1.4 Replacing of the RMU

Provides the procedure for replacing the RMU unit.

7.2 Troubleshooting

Guides users through diagnosing and resolving RMU errors.

7.2.2 Procedures to be performed after encoder replacement work

Steps to follow after replacing or resetting the encoder.

7.2.3 Trouble shooting example for input signal inconsistency failure

Example troubleshooting for input signal inconsistency.

Nachi RMU20-20 Specifications

General

Manufacturer	Nachi
Category	Robotics
Model	RMU20-20
Payload	20 kg
Number of Axes	6
Type	Articulated Robot
Degrees of Freedom	6
Protection Class	IP67
Installation	Floor, Ceiling