FDCFD CONTROLLER INSTRUCTION MANUAL Robot Monitoring Unit RMU20-203040

1505, TFDEN-143-008, 001
FD/CFD CONTROLLER
INSTRUCTION MANUAL
Robot Monitoring Unit
RMU20-20/30/40
8th edition
・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.
Contents
Contents
Chapter 1 Introduction
1.1 Outline ....................................................................................................................................... 1-1
1.1.1 Features of robot monitoring unit ...................................................................................... 1-1
1.1.2 Functions of robot monitoring unit ..................................................................................... 1-1
1.1.3 Specifications..................................................................................................................... 1-2
1.1.4 Type and serial number ..................................................................................................... 1-8
1.2 Risk Assessment ....................................................................................................................... 1-9
1.3 Connection............................................................................................................................... 1-10

1.3.1 Required parts and installation (FD controller)................................................................ 1-10
1.3.2 Required parts and installation (CFD controller) ............................................................. 1-10
1.3.3 Sequence board UM367-20 ............................................................................................ 1-11
1.3.4 Connection of safety inputs ............................................................................................. 1-12
1.3.5 Connection of safety outputs ........................................................................................... 1-16
1.4 EC DECLARATION OF CONFORMITY FOR MACHINERY................................................... 1-17
Chapter 2 Monitoring Unit Configuration

2.1 Connections with External Equipment....................................................................................... 2-1
2.2 Description of Exterior and Parts............................................................................................... 2-3

2.2.1 View of exterior .................................................................................................................. 2-3
2.2.2 LED.................................................................................................................................... 2-5
2.2.3 Connector .......................................................................................................................... 2-7
2.3 Connected signals ................................................................................................................... 2-14
2.3.1 Signal connection diagram .............................................................................................. 2-14
2.3.2 Safety inputs .................................................................................................................... 2-15
2.3.3 Safety outputs.................................................................................................................. 2-18
2.3.4 Back check circuit............................................................................................................ 2-19
2.3.5 Monitor inputs .................................................................................................................. 2-20
2.3.6 Monitor outputs................................................................................................................ 2-21
2.3.7 Motion controller interface ............................................................................................... 2-22
2.3.8 Encoder interface ............................................................................................................ 2-22
2.3.9 Motor interface................................................................................................................. 2-22
2.3.10 Power supply ................................................................................................................. 2-22
2.4 Precautions when Installing RMU inside the Controller .......................................................... 2-23
2.4.1 Low-Voltage Directive requirements to be satisfied (compliance with EN50178)........... 2-23
2.4.2 EMC Directive requirements to be satisfied (compliance with EN61326-3-1) ................ 2-23
2.4.3 Other: processing the cables connected to RMU20 ....................................................... 2-24
2.5 Operating Range, Angle and Speed Monitoring Function ....................................................... 2-25
2.5.1 Collaborative operation with human ................................................................................2-25
2.5.2 Operating range monitoring............................................................................................. 2-26
2.5.3 Angle monitoring.............................................................................................................. 2-27
2.5.4 How to reset operating range and angle monitoring function ......................................... 2-27
2.5.5 Speed monitoring............................................................................................................. 2-27
2.5.6 Stop monitoring................................................................................................................ 2-27
2.5.7 Stop Control monitoring Function in Area........................................................................ 2-28
2.5.8 Tool Number monitoring Function ................................................................................... 2-29
2.6 Motor Power Control Sequence .............................................................................................. 2-31
2.6.1 Outline of motor power control sequence ....................................................................... 2-31
1
Contents
2.6.2 Motors ON condition........................................................................................................ 2-32

2.6.3 Motor power-ON control .................................................................................................. 2-32
2.6.4 Timing chart ..................................................................................................................... 2-33
2.7 Logical operation output function............................................................................................. 2-35
2.8 RMU error signal output (Application signals) ......................................................................... 2-37
2.9 Enabling RMU.......................................................................................................................... 2-38
Chapter 3 Virtual Safety Fence Function

3.1 Outline of Virtual Safety Fence Function............................................................................. 3-1
3.2 Operation procedure ........................................................................................................... 3-2

3.2.1 Installation angle............................................................................................................. 3-2
3.2.2 Virtual safety fence settings............................................................................................ 3-4
3.2.3 Range setting..................................................................................................................3-5
3.2.4 Tool limit setting ............................................................................................................ 3-13
3.2.5 Arm limit setting ............................................................................................................ 3-20
3.2.6 Other settings ............................................................................................................... 3-22
3.2.7 “VSF approach area” output signal............................................................................... 3-23
3.2.8 Setting example of the limit line .................................................................................... 3-24
3.2.9 Creation of data file....................................................................................................... 3-25
3.2.10 Convenient shortcut.................................................................................................... 3-25
3.3 List of Error Codes ............................................................................................................3-26
3.4 Setting when a slider unit is used...................................................................................... 3-27

3.4.1 Mechanism relation....................................................................................................... 3-27
3.4.2 Installation angle (Example1) ....................................................................................... 3-28
3.4.3 Installation posture (Example2) ....................................................................................3-29
Chapter 4 Monitoring Unit Settings

4.1 Configuration flow of setting procedure..................................................................................... 4-1
4.2 Setting of parameters ................................................................................................................ 4-4

4.2.1 Setting of mechanism parameters..................................................................................... 4-5
4.2.2 Setting of axis parameters................................................................................................. 4-6
4.2.3 Tool parameters ................................................................................................................. 4-8
4.2.4 Setting of stop parameters ................................................................................................ 4-9
4.2.5 Setting of signal parameters............................................................................................ 4-10
4.2.6 Setting the logical operation parameters......................................................................... 4-12
4.2.7 Setting the Safety network parameters (RMU20-30) ...................................................... 4-14
4.2.8 Setting the Safety network parameters (RMU20-40) ...................................................... 4-15
4.3 Confirmation of parameters ..................................................................................................... 4-16
4.3.1 Conformation of mechanism parameters ........................................................................ 4-17
4.3.2 Conformation of axis parameters ....................................................................................4-19
4.3.3 Conformation of tool parameters.....................................................................................4-21
4.3.4 Conformation of area parameters ...................................................................................4-22
4.3.5 Conformation of limit parameters ....................................................................................4-24
4.3.6 Conformation of stop parameters....................................................................................4-26
4.3.7 Conformation of signal parameters .................................................................................4-27
4.3.8 Confirmation of Logic parameters ...................................................................................4-29
4.3.9 Confirmation of Safety network parameter (RMU20-30)................................................. 4-30
4.3.10 Confirmation of Safety network parameter (RMU20-40)............................................... 4-31
4.4 Approval................................................................................................................................... 4-32
4.4.1 Approval procedure ......................................................................................................... 4-32
2
Contents
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
3
Contents
4
Chapter 1 Introduction
This chapter presents an outline of the robot monitoring unit (RMU) functions.
1.1 Outline ........................................................................................................1-1

1.1.1 Features of robot monitoring unit ..........................................................1-1
1.1.2 Functions of robot monitoring unit.........................................................1-1
1.1.3 Specifications ........................................................................................1-2
1.1.4 Type and serial number.........................................................................1-8
1.2 Risk Assessment ........................................................................................1-9
1.3 Connection................................................................................................1-10
1.3.1 Required parts and installation (FD controller) ....................................1-10
1.3.2 Required parts and installation (CFD controller) .................................1-10
1.3.3 Sequence board UM367-20 ................................................................ 1-11
1.3.4 Connection of safety inputs.................................................................1-12
1.3.5 Connection of safety outputs...............................................................1-16
1.4 EC DECLARATION OF CONFORMITY FOR MACHINERY.....................1-17
1.1 Outline
1.1 Outline
1.1.1 Features of robot monitoring unit
The robot monitoring unit (RMU20) is a Category 4 and PLe compliant system which monitors the robot
position and speed so as to shut off the power to the robot when its position or speed are deemed to be irregular.
The robot position monitoring system consists of safety circuits using microcomputers and semiconductors,
and input/output signals, redundant safety signals and other signals from the process control panel are
connected as the input/output signals from outside the robot controller.
Control signals of emergency stop button, operation switches, and magnetic switch of the robot controller are
connected as the internal input/output signals, and the unit has functions for monitoring the sequence and
status.
The robot monitoring unit is connected by a cable to the position encoder of the drive motor so that the unit
can monitor the robot operations, and the system ensures that the robot will stop safely when the robot has
operated irregularly.
1.1.2 Functions of robot monitoring unit

The robot monitoring unit is equipped with the following safety functions.
Operating range monitoring function

This function shuts off the safety outputs and stops the robot safely when the robot wrist, tool, work or robot
arm is about to move outside any of the operating ranges which have been set.
Angle monitoring function

This function monitors the operating ranges of the robot axes, and it shuts off the safety outputs and stops the
robot safely when movement along any one of the axes is about to exceed an operating range which has been
set.
Speed monitoring function

This function shuts off the safety outputs and stops the robot safely when the TCP speed exceeds 250
mm/sec. in TEACH mode.
Also this function shuts off the safety outputs and stops the robot safely when the TCP speed or each joint
speed has exceeded the pre-determined level in AUTO and MANUAL mode.
Stop monitoring function

When the "Stop watch signal" (stop monitoring input signal) has been cut off, this function monitors
whether the TCP and each joint angle are operating or not. This function shuts off the safety outputs and stops
the robot safely when they have exceeded the pre-determined level.
Robot controller communication

This function enables the parameters required for monitoring to be set from the robot controller.
Encoder and motor I/F

This function is for reading out the position information required for monitoring the robot position and speed
from the encoder and motor power lines.
Input/output signal, Motor power control sequence

This function always monitors statuses of redundant emergency stop and enable switch, and it executes the
servo power on/off sequences. It uses the B (normally closed) contact of the magnet switch that turns the drive
power of the motor on and off as a start condition of the robot, and enables the melting of the magnet switch to
be back-checked.
1-1
1.1 Outline
1.1.3 Specifications
General Specifications
Item Specifications Remarks
DC24V +10%
1 Rated voltage
-15%
This value
U24V 1.0A
2 Rated current depends on the
U24A 0.5V
connected devices
All 13 ports
 Robot Emergency stop
 Emergency stop
 Safety plug
 Protective stop
 Enable switch
Redundant
3 Safety input signals  External enable input safety input
 Robot over travel Limit Switch
 Slave error
 General-purpose safety input 1-5
Selctable as “area selection signal”, “stop monitoring
signal” or “playback speed monitoring signal”
All 4 ports
Redundant
 Robot servo ON
4 Safety output signals safety output
 General safety output (3 points)
with back-check
All 16 ports
5 Monitor input signals
All 9 ports
6 Monitor output signals
Number of axes to be Max. 8 axes
7
monitored
Serial encoder
Panasonic N400 format
8 Position detector
Nikon A format (also bus communication type)
Magnetic pole position detection circuit of the motor
Transferred from the robot controller
9 Parameter transfer
Communication of the USB
10
parameter
Including
11 External dimensions 54 (W) x 242 (H) x 251 (D) mm
mounting bracket
IP20
12 Protective structure
0 to 55 ℃
13 Ambient temperature
30 to 85% Without condensation
14 Ambient humidity
Safety network
15 CIP Safety on Ethernet/IP RMU20-30 only
(RMU20-30 only)
RMU20-40 only
The PROFINET
Device
16 PROFINET Safety PROFIsafe on PROFINET communication
board is also
necessary.
(FD11-OP162-B,
C,D)
1-2
1.1 Outline
Safety performance
Motor power control sequence.
Category 4
Monitoring of position (operating range,
PL(Performance Level)=e
joint angle)
MTTFd = 75.15
Monitoring of speed
DC = 94.34
Monitoring of stop
1 CCF = 75
Monitoring of stop in area
SIL3
Safety network(RM20-30 only) -4
PFD = 4.35e
EtherNet/IP Safety communication -8
PFH = 1.99e
Safety network(RMU20-40 only)
proof test interval 5years
PROFINET Safety communication
Response time of safety signals

Less than 30msec. The time from inputting of the
1 Motor power control sequence (Except the one that can safety input to shutting off of
be set by parameter ) the safety output
Monitoring of position (operating range,
2 Less than 50msec.
joint angle)
3 Monitoring of speed Less than 70msec. The time from the error
occurrence to shutting off of
4 Monitoring of stop Less than 50msec. the safety output
5 Monitoring of stop in area Less than 50msec.
6 Safety network Less than 50msec
Monitoring of operating range

Up to 4 sets can
be set
The outside of the straight line randomly defined from the It is possible to
Restricted range 1
1 center of the robot is a restricted area. switch using the
Safety fence
Up to 8 straight restricted lines can be defined. selection
signal from
safety network.
The partial inside of the area enclosed by straight lines
within the restricted range is defined as a restricted area.
A restricted range can be defined using a maximum of 4
Restricted range 2 straight lines, and up to 8 locations can be specified.
2
Partial range A three-line triangle or a four-line rectangle can be
specified. For the z direction, the upper and lower limits
can be specified in the world coordinate system.
This function will enabled by general-purpose safety input.
Restricted object 1 Specify 20 spheres or cubes for each tool. If the restricted
3 Restriction on tool range is exceeded, set to the condition conforming to the
spheres method of restriction.
Specify 10 spheres or cylinders on the robot arm. If the
Restricted object 2
4 restricted range is exceeded, set to the condition
Arm restriction
conforming to the method of restriction.
Monitor input 4 ch
16 tools are
Up to 32 tools are supported. available
5 Tool
Monitors by the tool number from the robot controller. For more, please
use the safety
network function.
The world coordinates system in the JIS coordinate is
used for operating range monitoring.
6 Restricted coordination Therefore, for a robot placed on a stand or wall-mounted
robot, specify using “constant: format and initial setting:
installation position”.
1-3
1.1 Outline
It is also
possible to
If the restricted object exceeds the restricted range, output a signal
perform operation as follows: by using the
<TEACH mode> logical operation
Safety output OFF (Stop Category 0) function when
<PLAYBACK mode> the robot enters
7 Method of restriction
Safety output OFF (Stop Category 0) the restricted
Errors can be cleared by inputting the “LS release SW” area. And, it is
signal. possible to
Signal can be outputted when robot is in the restricted assign the
area. safety network
signals.
Only manipulator is restricted.

8 Restricted object However, for the manipulator on the traverse unit, position
of traverse axis is considered.
Monitoring of position (joint angle)

8axes * 4 sets
can be set
Monitor operating range of each joint. If the angle limit is It is possible to

1 Basic functions exceeded, set to the condition set by the “method of switch using
restriction”. the selection
signal from
safety
network.
If the restricted object exceeds the restricted range,
perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
2 Method of restriction
<PLAYBACK mode>
Errors can be cleared by pressing LSSW button (LS
releasing button).
Monitoring of speed
8axes * 4 sets
<TEACH mode> can be set
Monitor the linear speed of TCP does not exceed the It is possible to
250mm/sec. switch using
1 Basic functions
<PLAYBACK mode> the selection
Monitor linear speed of TCP and angular speed of signal from
each axis are less than the determined speed safety
network.
If the speed is exceeded, perform operation as follows:
<TEACH mode>
2 Method of restriction Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Only manipulator is restricted.
3 Restricted object However, for the manipulator on the traverse unit, position
of traverse axis is considered.
Monitoring of stop
Monitor the suspension of TCP
1 Basic functions If the robot is moved, safety output is turned OFF. (Stop
Category 0) This function is enabled only when
general-purpose safety input is inputted.
1-4
1.1 Outline
Monitoring of stop in area

If the run-out and stopping distance estimated from
1 Basic functions the robot speed exceeds the restricted are, robot is
stopped.
If the restricted object exceeds the restricted
range, perform operation as follows:
<TEACH mode>
2 Parameter setting Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Errors can be cleared by inputting the “Error reset”.
Tool number verification

Comparing the tool number setting from robot
controller and the tool number signal from tool Monitor input 4 ch
itself. 16 tools are available
1 Basic functions Up to 16 tools can be monitored. For more, please use
This error occur when the tool number is unmatch the safety network
and the tool center point moves too far from the function.
setting value.
If the restricted object exceeds the restricted
range, perform operation as follows:
<TEACH mode>
2 Parameter setting Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Errors can be cleared by inputting the “Error reset”.
Robot controller communication

Parameters, error status and monitoring status are
1 Basic functions
communicated via USB with robot controller.
Parameters related to angle monitoring, operating
range monitoring, and speed monitoring can be
configured from the robot controller and saved in
2 Parameter setting
the monitoring unit.
Parameters are saved to ROM and are retained
even when the power has been turned off.
1-5
1.1 Outline
Encoder and motor interface

<Encoder>
It is possible send/receive data to/from the bidirectional
serial communication encoder.
It is possible to read communication between servo
1 Basic functions amplifier and encoder together with request data and
encoder output data.
<Motor>
The motor position can be read out from the power line of
the motor.
<Encoder>
For the method of connecting encoder, 1-axis individual
connection or bus connection is available.
2 Connection method For both individual and bus connections, up to 8 axes can
be connected.
The connection method can be specified, using the
parameter of “Encoder type”.
<Encoder>
Encoder detection error
Timeout detection (hardware)
Encoder ID check (hardware)
3 Error detection
Line disconnection detection (software)
<Motor>
Motor magnetic pole position is compared with the
encoder, and detects the mismatch of their angle.
Input/output signal, Motor power control sequence processing

This is to read the safety signal.
For further details, see “2.3.2 Safety inputs.”
1 Safety inputs Diagnoses system short circuit between inputs, input circuit
failure, disparity between two inputs, and over current.
If an error is detected, safety output is turned OFF.
This is to output the safety signal.
For further details, see “2.3.3 Safety outputs.”
2 Safety outputs Diagnoses system short-circuit between outputs, output
circuit failure, and back check input circuit failure.
This is to the read non-safety signal.
For further details, see “2.3.5 Non-safety inputs.”
3 Monitor inputs
Diagnoses input circuit failure and over current.
This is to the output non-safety signal.
4 Monitor outputs For further details, see “2.3.6 Non-safety outputs.”
Motor power control This is to set the safety output to ON/OFF depending on
5
sequence input conditions such as emergency stop and enable switch.
1-6
1.1 Outline
Environment
Item Description
Overvoltage category Overvoltage category 1
Protective class Protective class IP20
Temperature Operation temperature 0 to 55°C

Storage temperature -25 to +70°C
Ambient environment Degree of pollution 2

conditions Ambient humidity: Level RH1 30 to 85%RH (no condensation)
Free from corrosive gas
Altitude less than 1000m
Vibration 10-57Hz 0.075mm amplitude
57-150Hz 1G
10 sweep cycles per axis on each of three mutually perpendicular axes
The RMU20 is designed to operate in an environment whose degree of pollution is 2.

When installing it in the robot controller, use a hermetically sealed structure for the
IMPORTANT controller, and take measures to make it dust-proof and water-proof.
The degree of pollution of 2 is defined as follows.

“Environments in which electrically conductive dust and dirt are not normally generated, but in which electrical
conduction may be temporarily caused by the build-up of dust and dirt; approximate environments inside a
control panel equivalent to IP54 in the control rooms or on the floors of average factories.”
Applicable directive
Directive Description
Machinery directive EN ISO 13849-1 :2008 Safety of machinery
EN ISO 10218-1 :2011 Manipulating industrial robots – Safety
IEC 62061 :2005 Safety of machinery
EN 60204-1/A1 :2009 Safety of machinery – Electrical equipment of
machines
Low Voltage Directive EN50178 :1997 Electronic equipment for use in power installations
EMC directive IEC61326-3-1 :2008 Electrical equipment for measurement, control and
laboratory use - EMC requirements - Part 3-1:
Immunity requirements for safety-related systems
and for equipment intended to perform safety-related
functions (functional safety) - General industrial
applications
Functional safety IEC61508 :2010 Functional safety of
electrical/electronic/programmable electronic
safety-related systems
EN 61800-5-2 :2007 Adjustable speed electrical power drive systems -

Part 5-2: Safety requirements - Functional, and how it
can benefit machine builders.
1-7
1.1 Outline
1.1.4 Type and serial number
Model and serial number of the robot monitoring unit can be checked on the nameplate that is attached to the
monitoring unit.
Type RMU20-20 or RMU20-30 or RMU20-40
1-8
1.2 Risk Assessment
1.2 Risk Assessment

Risk assessment involves ascertaining the sources of danger latent in a machine, assessing the extent of
those dangers (risks) and reducing the risk until the system is deemed to be safe.
Proceed with the risk assessment in accordance with the IEC 61508 standard.
The procedure involved is as follows:
1) Analyze the robot and its peripheral equipment, assess the entire system including its operating modes,
identify the sources of danger, and estimate the risk of those dangers.
2) Assess the risks using SIL (safety integrity level) as per the IEC 61508 standard.
3) Take action to reduce the risks if the results of the risk assessment suggest that the system is not safe.
4) Keep repeating the above steps until the entire robot system is judged to be safe.
This procedure is stipulated in the ISO 12100 and ISO 14121 standards.
Safety integrity level (SIL)

SIL is stipulated in the IEC 61508 standard.
In this method of assessing risks, consideration is given to the extent of the effects of the danger events, the
frequency of the exposure to them, the possibility of avoiding them and their probability with which they occur,
and the frequency of parts failures is categorized into the four levels of 1 to 4. The target failure frequency is
established in accordance with each of these SIL levels, and if a system does not reach the frequency of that
level, it is deemed to be not safe.
In continuous operation mode (high-demand operation mode of the IEC 61508), RMU20 is has been designed
to conform to SIL3.
For further details, refer to the IEC 61508 standard.
Action for reducing risks

If, as a result of risk assessment, the robot and its peripheral equipment are deemed to be not safe, the risks
must be reduced. Measures to take for reducing risks are stipulated in the ISO 12100 and ISO 14121 standards
so implement one or more risk reduction measures until the robot and its peripheral equipment are made safe.
1-9
1.1 Outline
1.3 Connection
1.3.1 Required parts and installation (FD controller)

To use this unit, the following optional products are also necessary.
These parts are already installed in robot controllerr before shipment, so customer does not have to do
installatrion work.
Table 1-1 Optional products for RMU of FD controller
Product name Model number
Sequence board UM367-20
RMU unit FD11-OP145-A
An IPM drive unit

ROX****T or ROX****CT
that supports the position detection function
1.3.2 Required parts and installation (CFD controller)
Table 1-2 Optional products for RMU of CFD controller
Product name Model number
CFD-OP145-A
RMU unit
(UM367-20 is included)
In case of CFD controller, RMU needs separated box. Customer needs to install sequence board in robot
controller and needs to connect RMU with robot controller.
Please refer to “CFD controller Technical Document 1”, “Chapter 21 Robot Monitoring Unit” for the detail of
work.
Safety signals such as Normal I/O

emergency stop, safety signals
plug and or so
Robot T/P
Robot CFD
Monitoring Unit controller
Fig.1.3.1 CFD controller image of RMU system
1-10
1.1 Outline
1.3.3 Sequence board UM367-20

The sequence board UM367 controls the followings;
- The digital I/O signal between the robot controller and the peripheral equipments.
- Mode selection
JP3
JP1,2
Fig.1.3.2 Overview of the sequence board
Table 1.3.3 Connectors on the sequence board

Name Function Connected to
CNRWC Not used
CNOP2 Not used
CNRMU2 For the RMU Connected to the RMU
CNOP For the operation panel Connected to the operation panel
CNRBS For the RMU Connected to the RMU
CNSTP Not used
CNRMU1 For the RMU Connected to the RMU
CNTP TP connection Connected to the teach pendant
CNSV IPM drive unit Connected to the IPM drive unit
CNLINE Process control panel Connected to the terminal block TBX-1
CNARC - Not used
CNP24V 24V power Connected to the raiser board
[Jumper settings]
On this board, 3 jumper switches JP1, 2, and 3 are equipped.
To separate the emergency stop circuits from robot controller and connect it to the power source of external
devices like process controller, change the settings of JP1,2, and 3 for external power source specification as
follows. When shipped, JP1,2, and 3 are set for standard specification (internal power source specification).
Table 1.3.4 Jumper setting

Setting location Standard specification (Internal power supply) External power supply
JP1 2-3 is shorted 1-2 is shorted
1-11
1.1 Outline
1.3.4 Connection of safety inputs
Electrical Rating DC26V, 5mA max

specifications Connect the relay contacts (dry contacts).
To prevent defective contact and other problems, use a device which can turn on and off
the very small load specified above.
These input signals must have redundant circuit. The two separat signals with redundant contact inputs must
perform identical operations. Connect separate contacts between pins "INA+" – "INA-" and "INB+" – "INB-" for
each input as shown in the Fig.1-2. Bear in mind that the signals cannot be connected in ways such as the one
shown in Fig.1-3.
[Example] In case of robot emergency stop inputs

TBX-1 (RMU input) TBX-1 (RMU input)
External input
External input
Fig.1-3 Connection diagram of safety input signals

TBX-1 (RMU input)
External input
Fig.1-4 Example of how the safety input signals cannot be connected
Connection of monitor input

Electrical Rating DC26V, 5mA
specification Connect the dry contacts.
TBX-1 (RMU input)
External input
Fig. 1-5 Connection diagram of the monitor input signal
1-12
1.1 Outline
The teminal block type number (and its pin layout) differs from each other depending on the shipping date.
(1) In case of PM5DW-50V4 (Manufacture: Yoshida Electric) (FD controller)
129mm
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
0 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48
Table 1-5 Terminal block TBX-1 pin layout
Pin No. Marking I/O Signal name Pin No. Marking I/O Signal name
0 IN5A+ SI External emergency stop 1+ 1 IN5A- SI External emergency stop 1-
2 IN5B+ SI External emergency stop 2+ 3 IN5B- SI External emergency stop 2-
4 IN6A+ SI Safety plug 1+ 5 IN6A- SI Safety plug 1-
6 IN6B+ SI Safety plug 2+ 7 IN6B- SI Safety plug 2-
8 IN7A+ SI Protective stop 1+ 9 IN7A- SI Protective stop 1-
10 IN7B+ SI Protective stop 2+ 11 IN7B- SI Protective stop 2-
12 IN8A+ SI External enable SW 1+ 13 IN8A- SI External enable SW 1-
14 IN8B+ SI External enable SW 2+ 15 IN8B- SI External enable SW 2-
16 IN9A+ SI General safety input 11+ 17 IN9A- SI General safety input 11
18 IN9B+ SI General safety input 12+ 19 IN9B- SI General safety input 12-
20 IN10A+ SI General safety input 21+ 21 IN10A- SI General safety input 21-
36 GPIN13 I Tool number 1 37 GPIN14 I Tool number 2
38 GPIN15 I Tool number 3 39 GPIN16 I Tool number 4
40 P1 P 24V 41 P1 P 24V
42 INCOM I Tool No. input COM 43 M1 G 24V system GND
44 EX_EMG1+ SO Ext.l EMG stop out 1+ 45 EX_EMG1- SO Ext.l EMG stop out 1-
46 EX_EMG2+ SO Ext.l EMG stop out 2+ 47 EX_EMG2- SO Ext.l EMG stop out 2-
48 X24V P Ext. DC24V power 49 X0V P Ext. DC24V GND
SI:Safety Input, I:Monitor input, SO:Safety output, P:Power, G:Ground
1-13
1.1 Outline
(2) In case of PCX-1H50 (Manufacture: Toyo) (FD controller, CFD controller)
92.5mm
B1 B25
A1 A25
Table 1-6 Terminal block TBX-1 pin layout
A1 (1) IN5A+ SI External emergency stop 1+ B1 (2) IN5A- SI External emergency stop 1-
A2 (3) IN5B+ SI External emergency stop 2+ B2 (4) IN5B- SI External emergency stop 2-
A3 (5) IN6A+ SI Safety plug 1+ B3 (6) IN6A- SI Safety plug 1-
A4 (7) IN6B+ SI Safety plug 2+ B4 (8) IN6B- SI Safety plug 2-
A5 (9) IN7A+ SI Protective stop 1+ B5 (10) IN7A- SI Protective stop 1-
A6 (11) IN7B+ SI Protective stop 2+ B6 (12) IN7B- SI Protective stop 2-
A7 (13) IN8A+ SI External enable SW 1+ B7 (14) IN8A- SI External enable SW 1-
A8 (15) IN8B+ SI External enable SW 2+ B8 (16) IN8B- SI External enable SW 2-
A9 (17) IN9A+ SI General safety input 11+ B9 (18) IN9A- SI General safety input 11
A10 (19) IN9B+ SI General safety input 12+ B10 (20) IN9B- SI General safety input 12-
A11 (21) IN10A+ SI General safety input 21+ B11 (22) IN10A- SI General safety input 21-
A19 (37) GPIN13 I Tool number 1 B19 (38) GPIN14 I Tool number 2
A20 (39) GPIN15 I Tool number 3 B20 (40) GPIN16 I Tool number 4
A21 (41) P1 P 24V B21 (42) P1 P 24V
A22 (43) INCOM I Tool No. input COM B22 (44) M1 G 24V system GND
A23 (45) EX_EMG1+ SO Ext.l EMG stop out 1+ B23 (46) EX_EMG1- SO Ext.l EMG stop out 1-
A24 (47) EX_EMG2+ SO Ext.l EMG stop out 2+ B24 (48) EX_EMG2- SO Ext.l EMG stop out 2-
A25 (49) X24V P Ext. DC24V power B25 (50) X0V P Ext. DC24V GND
SI:Safety Input, I:Monitor input, SO:Safety output, P:Power, G:Ground
1-14
1.1 Outline
Precautions related to the connection to the terminal block TBX-1
Applicable connection tool: Minus screw driver (Width of the edge is 2.6mm)
Wire size
Regarding the size of the wires for the external I/O device connection, refer to the following descriptions.
Single wire: φ1.6 mm, Twisted wire(Flexible wire): φ1.25mm2
When connecting the wire as it is, the pealed length of the wire should be 11mm.
Concerning the connection, it is strongly recommended to use blade-shape terminal with a plastic insulator for
the wire to prevent the electric short-circuit with the peripheral devices. In a case like that, please select a
terminal whose connection portion length is 11 mm or more.
1-15
1.1 Outline
1.3.5 Connection of safety outputs
The general safety output signals should be connected to CNGP2 connector of RMU.
Electrical FET output
specifications for DC30V，100ｍA max
each outputs Please be sure to make the connections so that the total current amount of the all outputs
(2ch x 3 outputs) is 600mA or less.
Table 1-7 CNGP2 connector pin layout

(A1) OUT2A+ SO General safety output 11+ (B1) OUT2A- SO General safety output 11-
(A2) OUT2B+ SO General safety output 12+ (B2) OUT2B- SO General safety output 12-
(A3) BK2+ BI Back check 1+ (B3) BK2- BI Back check 1-
(A10) (B10)
SO:Safety outputs, BI: Back check inputs
Cable side applicable receptacle housing:

Tyco electronics type: 2-1318118-9, 20pins, Y-type
Cable side connection terminal:

Tyco electronics type 1318108-1 (Applicable wire AWG#28-24) crimping tool type 91576-1
1318107-1 (Applicable wire AWG#22-18) crimping tool type 91595-1
Safety relays or magnet switches that are equipped with force guide structure should be used for the
respective output circuits. And, please use the "b contact" also as a feedback signal to detect the malfunction of
the safety relays or the magnet switches. The "b contact" of the safety relays or magnet switches must be
connected to the back check inputs in series.
(NOTE) If the back check signal inputs are not inputted, a back check error will occur when the output signal is
turned ON.
Connector
1-16
1.4 EC DECLARATION OF CONFORMITY FOR MACHINERY
EC DECLARATION OF CONFORMITY FOR MACHINERY

(Directive 2006/42/EC - Annex II A)
Manufacturer : NACHI-FUJIKOSHI CORP.
Address : Head office 17F SHIODOME SUMITOMO BLDG.

1-9-2, Higashishinbashi, MINATO-KU, TOKYO, 105-0021, JAPAN
Manufacture 1-1-1, Fujikoshihonmachi, TOYAMA-CITY, 930-8511, JAPAN
Representative : NACHI EUROPE GmbH

Address : Bischofstrasse 99, D-47809 KREFELD, GERMANY
The person authorized to compile the technical file is Mr. Shinji Kato
address Bischofstrasse 99, D-47809 KREFELD, GERMANY
Herewith declares that:

MachineName
Machine Name : : Industrial
Robot
Model
Model(Type)
(Type) : : Robot RMU20-20,
type name isRMU20-30
written here
Serial Number : Manufacturing number is written here
- does comply with the provisions of the following EC directives:

Directive 2006/42/EC of the European Parliament and of the Council of 17 May 2006 on Machinery
and Amending Directive 95/16/EC
Directive 2004/108/EC of the European Parliament and of the Council on the approximation of the
laws of the Member States relating to electromagnetic compatibility.
Directive 2006/95/EC of the European Parliament and of the Council on the harmonisation of the
laws of the Member States relating to electrical equipment designed for use
within certain voltage limits.
And furthermore declares that

- The following harmonized standards have been applied:
EN 12100:2010 Safety of machinery. General principles for design.
EN ISO 10218-1:2011 Robots for industrial environment - safety requirements - Part 1: Robot
EN EN
ISO60204-1:2006
13849-1 :2008 SafetySafety
of machinery
of machinery - Electrical equipment of machines –
EN ISO 10218-1 :2011 Manipulating industrial
Part 1 :General robots – Safety
requirements
IECEN 55011:2007
62061 :2005 SafetyIndustrial, scientific and medical (ISM) radio-frequency equipment –
of machinery
Electro-magnetic disturbance characteristics - Limits and methods of
EN 60204-1/A :12009 Safetymeasurement
of machinery – Electrical equipment of machines
EN EN
50178 :1997
61000-6-2:2005 Electronic equipment for
Electromagnetic use in power
compatibility installations
(EMC) - Part 6-2: Generic standards - Immunity
IEC61326-3-1 :2008 for industrial
Electrical equipment environments
for measurement, control and laboratory use - EMC
EN ISO 13849-1 Safety of machinery -- Safety-related parts of control systems –
requirements - Part 3-1: Immunity requirements for safety-related systems and
/13849-2:2008 Part 1: General principles for design Part 2 : Validation
for equipment intended to perform safety-related functions (functional safety) -
Issued on: Shipped date isGeneral
written here
industrial applications
IEC61508 :2010 Functional safety of electrical/electronic/programmable electronic
safety-related systems
EN 61800-5-2 :2007 Adjustable speed electrical power drive systems - Part 5-2: Safety
Signature of general manager is written here
requirements - Functional, and how it can benefit machine builders.
General Manager
Robot Engineering Department
Robot Manufacturing Div.
NACHI-FUJIKOSHI CORP.
1-17
NOTE
1-18
Chapter 2 Monitoring Unit Configuration
This chapter shows the exterior of the RMU and its parts, and presents details on the
connection signals supplied to the monitoring unit. Furthermore, the functions of the RMU
are described.
2.1 Connections with External Equipment .........................................................................2-1
2.2 Description of Exterior and Parts .................................................................................2-3
2.2.1 View of exterior......................................................................................................2-3

2.2.2 LED .......................................................................................................................2-5
2.2.3 Connector..............................................................................................................2-7
2.3 Connected signals .....................................................................................................2-14
2.3.1 Signal connection diagram ..................................................................................2-14

2.3.2 Safety inputs........................................................................................................2-15
2.3.3 Safety outputs .....................................................................................................2-18
2.3.4 Back check circuit................................................................................................2-19
2.3.5 Monitor inputs......................................................................................................2-20
2.3.6 Monitor outputs....................................................................................................2-21
2.3.7 Motion controller interface ...................................................................................2-22
2.3.8 Encoder interface ................................................................................................2-22
2.3.9 Motor interface ....................................................................................................2-22
2.3.10 Power supply.....................................................................................................2-22
2.4 Precautions when Installing RMU inside the Controller .............................................2-23
2.4.1 Low-Voltage Directive requirements to be satisfied (compliance with EN50178) 2-23

2.4.2 EMC Directive requirements to be satisfied (compliance with EN61326-3-1) .....2-23
2.4.3 Other: processing the cables connected to RMU20 ............................................2-24
2.5 Operating Range, Angle and Speed Monitoring Function ..........................................2-25
2.5.1 Collaborative operation with human ....................................................................2-25

2.5.2 Operating range monitoring.................................................................................2-26
2.5.3 Angle monitoring..................................................................................................2-27
2.5.4 How to reset operating range and angle monitoring function ..............................2-27
2.5.5 Speed monitoring ................................................................................................2-27
2.5.6 Stop monitoring ...................................................................................................2-27
2.5.7 Stop Control monitoring Function in Area ............................................................2-28
2.5.8 Tool Number monitoring Function........................................................................2-29
2.6 Motor Power Control Sequence.................................................................................2-31
2.6.1 Outline of motor power control sequence............................................................2-31

2.6.2 Motors ON condition............................................................................................2-32
2.6.3 Motor power-ON control ......................................................................................2-32
2.6.4 Timing chart.........................................................................................................2-33
2.7 Logical operation output function ...............................................................................2-35
2.8 RMU error signal output (Application signals)............................................................2-37
2.9 Enabling RMU............................................................................................................2-38

2.1 Connections with External Equipment

This section gives an example of how the RMU, the robot controller and the external equipment may be
connected. This particular example shows the connections for a system in which two robots are operated by one
teach pendant, but it is just an example: in reality, there are many and varied systems, and the safety measures
required are also different.
非常停止スイッチ
教示／再生切替スイッチ等
Emergency stop
Teach/Auto switch
パラメータ設定
Parameter setting
非常停止スイッチ
イネーブルスイッチ
Emergency stop
Enable switch
非常停止
安全停止
保護停止
Emergency stop
Safety stop
Protection stop
Fig. 2-1 Example of connections with external equipment
2-1
Name of equipment Description

Teach Pendant This HMI unit enables the operator to run the robot, create the robot programs and
perform the parameter setting operations. It displays the robot program data,
operation statuses of the robot, etc. In addition, it displays the initial settings
established for the robot safety units and the errors which have occurred in these
units.
It is provided with emergency stop switch signals and enable switch signals which
are safety-related signals (hereafter, the “safety signals”), and these signals are
connected to the RMU.
External Control This external control system or process control panel on the production line is
System or Process connected to the robot controller through the input/output signals and
Control Panel communication line in order to control the robot operations. It connects the
emergency stop, safety stop and other input/output signals to the RMU.
Robot Controller The robot controller controls the operation panel, motion controller, servo amplifier,
magnet switch and robot which houses the RMU, all of which are described below.
The signal lines of the teach pendant and process control panel described above
are connected to the robot controller.
Operation Panel This panel is used by the operators to perform the robot operations, and the
emergency stop switch signals relating to the motor control sequence connected
to the monitoring unit as the safety signals.
Motion Controller This unit determines how the robot operates. It is used to prepare the robot
programs, set and store the parameters, create the robot operation commands in
accordance with the robot program, and send the commands to the servo amplifier
to run the motor. In order to perform speed and position monitoring, it is used to set
and check the parameters required with the monitoring unit, transfer the
information to/from the RMU with the respective communications, and output the
information to the teach pendant and other equipment..
Robot Monitoring Unit The RMU shuts off the drive power of the robot when trouble is deemed to have
(RMU) occurred as a result of monitoring the input/output signals, robot motors and the
position information from the encoder. These signals and information are
monitored separately by two microcomputers, the information of one
microcomputer is checked against the information of the other, and when different
results are obtained, the unit also shuts off the drive power.
Drive Power This power supply is used to drive the robot.
Magnet Switch This switch enables the power supplied to the robot to be turned on or off, and it is
controlled by the redundant safety output supplied from the RMU.
Drive Unit The servo amplifiers are used to drive the robot motors. The axis motors are driven
on the basis of the operation commands from the motion controller. The drive
power of the servo amplifiers is cut off by the magnet switch to stop the robot.
Robot The robot is monitored by the RMU. TCP and joint positions and speeds are
monitored, and when trouble occurs, the robot power can be shut off by the
magnet switch to stop the robot.
Limit switches which restrict the operating ranges are mounted for the joints, and
their signals are used as safety inputs and connected to the RMU. If a movement
beyond an operating range or other abnormal operation has occurred, the drive
power can be shut off.
Motor Encoders are installed for the robot axes, the position data of the robot joints is
Encoder sent to the servo amplifiers and, based on this data, the servo amplifiers provide
the appropriate motor drive current. The monitoring unit monitors the position and
speed after receiving this position data.
2-2
2.2 Description of Exterior and Parts
2.2.1 View of exterior
Fig. 2-2 Front view of RMU20-20
Fig. 2-3 Side view of robot monitoring (RMU20-20)
2-3
Fig. 2-2 Front view of RMU20-30, RMU20-40
Fig. 2-3 Side view of robot monitoring (RMU20-30, RMU20-40)
2-4
2.2.2 LED
1) Status Display LED
This displays the status of input/output signals.
Table 2-1 Status of status display LED

Classification Name Description
1 Power-on Software version of the RMU is displayed.
Ex: In case of software version V1.1.
2 During During normal operation, the display is as follows.

normal
operation
Back to最初へ戻る
the beginning
2-5
3 When an Error number is displayed.

error occurs
EX: In case of Error code 01, Assist code 2345H
Back to 最初へ戻る
the beginning
2-6
2.2.3 Connector
1) CN1
Table 2-2 Connector CN1 pin allocation

Pin no. Circuit code I/O Signal name Pin no. Circuit code I/O Signal name
DC24V (+) DC24V (GND)
(A1) U24V PI (B1) U0V GI
(A2) U24V PI (B2) U0V GI
Robot emergency Robot emergency
(A3) IN1A+ SI (B3) IN1A- SI
stop 1+ stop 1-
Robot emergency Robot emergency
(A4) IN1B+ SI (B4) IN1B- SI
stop 2+ stop 2-
Enable switch 1+ Enable switch1-
Enable switch 2+ Enable switch 2-
Slave error 1+ Slave error 1-
Slave error 2+ Slave error 2-
Not used PLAYBACK mode
(A9) GPIN1 I (B9) GPIN2 I
TEACH mode Power shut-off
command
System OK Not used
LS release switch Gun axis
brake release
DC24V (+) DC24V
(A13) P1 PO (B13) P1 PO
Robot power ON 1+ Robot power ON 1-
(A14) OUT1A+ SO (B14) OUT1A- SO
Robot power ON 2+ Robot power ON 2-
(A15) OUT1B+ SO (B15) OUT1B- SO
Robot power ON Robot power ON
(A16) BK1+ BI (B16) BK1- BI
back check 1+ back check 1-
ES Error Motors-ON LED
(A17) GPOUT1 O (B17) GPOUT2 O
GPOUT1 common GPOUT2 common
(A18) OUTCOM1 O (B18) OUTCOM2 O
(A19) U24A PI (B19) U0A GI
(A20) U24A PI (B20) U0A GI
Receptacle housing at cable side: Hirose HIF3BA-40D-2.54C, 40 contacts
SI: safety input, SO: safety Output, BI: back-check input, I: monitor input, O: monitor output, PI: power input, GI: ground input,
PO: power output, GO: ground output
2-7
2) CNE1
Table 2-3 Connector CNE1 pin allocation

Encoder 1 Encoder 1
(A1) S1+ IO (B1) S1- IO
(Differential signal ) (Differential signal -)
Encoder 2 Encoder 2
(A2) S2+ IO (B2) S2- IO
Encoder 3 Encoder 3
(A3) S3+ IO (B3) S3- IO
Encoder 4 Encoder 4
(A4) S4+ IO (B4) S4- IO
Encoder 5 Encoder 5
(A5) S5+ IO (B5) S5- IO
Encoder 6 Encoder 6
(A6) S6+ IO (B6) S6- IO
Encoder 7 Encoder 7
(A7) S7+ IO (B7) S7- IO
Encoder 8 Encoder 8
(A8) S8+ IO (B8) S8- IO
Robot LS detection 1+ Robot LS detection 1-
Robot LS detection 2+ Robot LS detection 2-

Receptacle housing at cable side: Tyco electronics No. 1-1318118-9, 20 contacts, X-Type
SI: safety input, IO: serial signal
3) CNE2
This connector is unused
2-8
4) CNROT
Table 2-4 Connector CNROT pin allocation

J1 motor U-phase J1 motor V-phase
(A1) U1 I (B1) V1 I
J1 motor W-phase J1 motor L-phase

(A2) W1 I (B2) L1 I

(A3) U2 I (B3) V2 I

(A4) W2 I (B4) L2 I

(A5) U3 I (B5) V3 I

(A6) W3 I (B6) L3 I

(A7) U4 I (B7) V4 I

(A8) W4 I (B8) L4 I

(A9) U5 I (B9) V5 I

(A10) W5 I (B10) L5 I

(A11) U6 I (B11) V6 I

(A12) W6 I (B12) L6 I

(A13) U7 I (B13) V7 I

(A14) W7 I (B14) L7 I

(A15) U8 I (B15) V8 I

(A16) W8 I (B16) L8 I
DC24V (+) DC24V GND

(A17) U24A PO (B17) U0A GO
Receptacle housing at cable side: Hirose No. HIF3BA-34D-2.54C, 34 contacts
I: monitor input, PO: power output, GO: ground output
5) CNCOM
Table 2-5 Connector CNCOM pin allocation
USB data + USB data -
(A1) D+ IO (B1) D- IO
GND M0 GND
(A2) M0 GI (B2) GI
(A3) FG FG (B3)
Receptacle housing at cable side: JST Mfg. No. J21DF-06V-KX, 6contact2, X-type
IO: monitor signal, GI: ground input, FG: frame ground
2-9
6) CNGP1 (RMU20-20)
Table 2-6 Connector CNGP1 pin allocation
Emergency stop 1+ Emergency stop 1-
Emergency stop 2+ Emergency stop 2-

Safety plug 1+ Safety plug 1-

Safety plug 2+ Safety plug 2-

(A5) GPOUT3 O Not used (B5) GPOUT7 O Servo ON

(A6) GPOUT4 O Not used (B6) GPOUT8 O Not used
(A7) GPOUT5 O Not used (B7) GPOUT9 O Not used
Not used Output common
(A8) GPOUT6 O (B8) OUTCOM O
Receptacle housing at cable side: JST Mfg. No. J21DF-16V-KY, 16contacts, Y-type
SI: safety input, IO: serial signal
7) CNGP2
General safety output General safety output
11+ 11-
12+ 12-
Back check 1+ Back check 1-
(A3) BK2+ BI (B3) BK2- BI

21+ 21-
22+ 22-

31+ 31-
32+ 32-
(A10) (B10)
Receptacle housing at cable side: Tyco electronics No. 2-1318118-9, 20 contacts, Y-type
SO: safety output, BI: back-check input
2-10
8) CNGP3 (RMU20-20)
General input 41+ General input 41-
(Note1) (Note1)
(A2) IN12B+ IS (B2) IN12B- SI
(Note1) (Note1)
(Note1) (Note1)
(Note1) (Note1)
(A5) GPIN9 I Not used (B5) P1 PO DC24V
(A6) GPIN10 I Not used (B6) GPIN14 I Tool number 2
Tool number 1 DC24V
(A9) GPIN13 I (B9) P1 PO
Input common Input common

(A10) INCOM I (B10) INCOM I
Receptacle housing at cable side: JST Mfg. No. J21DF-20V-KX, 20 contacts, X-type
SI: safety input, I: monitor input, PO: power output
Note1: Used for area select signal, stop monitoring signal or playback speed monitoring select signal.
9) CNGP4 (RMU20-20)
SI Protective stop 1+ SI Protective stop 1-
(A1) IN7A+ (B1) IN7A-
SI Protective stop 2+ SI Protective stop 2-

(A2) IN7B+ (B2) IN7B-
SI External enable 1+ SI External enable 1-

(A3) IN8A+ (B3) IN8A-
SI External enable 2+ SI External enable 2-

(A4) IN8B+ (B4) IN8B-
SI General input 11+ SI General input 11+

(A5) IN9A+ (B5) IN9A-
(Note2) (Note2)
(A6) IN9B+ (B6) IN9B-
(Note2) (Note2)
(A7) IN10A+ (B7) IN10A-
(Note2) (Note2)
(A8) IN10B+ (B8) IN10B-
(Note2) (Note2)
(A9) IN11A+ (B9) IN11A-
(Note2) (Note2)
(A10) IN11B+ (B10) IN11B-
(Note2) (Note2)
Receptacle housing at cable side: JST Mfg. No. J21DF-20V-KY, 20 contacts, Y-type
SI: safety input
Note2: Used for area select signal, stop monitoring signal or playback speed monitoring select signal.
2-11
10) CN2 (RMU20-30, RMU20-40)
Table 2-10 Connector CN2
(A1) IN5A+ SI Emergency stop 1+ (B1) IN5A- SI Emergency stop 1-
(A2) IN5B+ SI Emergency stop 2+ (B2) IN5B- SI Emergency stop 2-
(A3) IN6A+ SI Safety plug 1+ (B3) IN6A- SI Safety plug 1-
(A4) IN6B+ SI Safety plug 2+ (B4) IN6B- SI Safety plug 2-
(A5) IN7A+ SI Protective stop 1+ (B5) IN7A- SI Protective stop 1-
(A6) IN7B+ SI Protective stop 2+ (B6) IN7B- SI Protective stop 2-
(A7) IN8A+ SI External enable 1+ (B7) IN8A- SI External enable 1-
(A8) IN8B+ SI External enable 2+ (B8) IN8B- SI External enable 2-
SI: safety input
11) CN3 (RMU20-30, RMU20-40)
(A1) GPOUT7 O Servo ON (B1) OUTCOM O Output

common
(A2) GPIN11 I Not used (B2) GPIN12 I Not used
(A3) GPIN13 I Tool number 1 (B3) GPIN14 I Tool number 2
(A4) GPIN15 I Tool number 3 (B4) GPIN16 I Tool number 4
(A5) INCOM I Input common (B5) P1 PO
Receptacle housing at cable side: JST Mfg. No. J21DF-10V-KX, 10 contacts, X-type
SI: safety input, I:Monitor input, PO:Power Output
2-12
12) CN4 (RMU20-30, RMU20-40)
(A1) IN9A+ SI General input 11+ (B1) IN9A- SI General input 11-
(Note) (Note)
(A2) IN9B+ SI General input 12+ (B2) IN9B- SI General input 12-
(Note) (Note)
(Note) (Note)
(Note) (Note)
(Note) (Note)
(Note) (Note)
(Note) (Note)
(A8) IN12B+ IS General input 42+ (B8) IN12B- SI General input 42-
(Note) (Note)
(Note) (Note)
(Note) (Note)
SI: safety input
(Note) Used for area select signal, stop monitoring signal or playback speed monitoring select signal.
13) CNEIP (RMU20-30)

This is a RJ45 connector for the Ethernet communication.
2-13
2.3 Connected signals

The signals connected to the RMU are described hereinafter.
2.3.1 Signal connection diagram

ロボット制御装置 Robot controller
CNCOM
CPU D+,D-
サーボ通信 Servo communication
CN1
COM COM(24V)
LS_RLS LS解除SW LS release SW
操作パネル
operation panel SYS システム正常 System OK
M_MODE 再生条件 Auto
モードＳＷ T_MODE 教示条件 Teach
mode-sw Power shutoff instruction
P_OFF 動力遮断指示
Ｉ
／ SLV1+,SLV1- スレーブ異常1 Slave error1
Ｏ SLV2+,SLV2- スレーブ異常2 Slave error2
基 U24V,U0V U24V(24V),U0V(GND)
板 RDY_ON 運転準備入ランプ Standby-ON-Lamp
R_EMG1+,R_EMG1- ロボット非常停止1 Robot emergency stop1
R_EMG2+,R_EMG2- ロボット非常停止2 Robot emergency stop2
DSW1+,DSW1- イネーブルスイッチ1 Enable switch1
DSW2+,DSW2- イネーブルスイッチ2 Enable switch2
Teach pendant
電源
power MCX1+
ロボット動力供給1 Robot power-ON1
MCX1-
Robot MCX21
MCX22
ロボット動力供給2 Robot power-ON2
BKC1+ ロボット動力供給 Robot power-ON
BKC1- バックチェック Back-check
ドライブユニット CNE1
SD1±,SD2±
Drive Unit SD3±,SD4±
SD5±,SD6± ｴﾝｺｰﾀﾞ通信(1-8軸) Encoder I/F(1-8axis)
SD7±,SD8±
LS1+,LS1- ロボット端LS1 Robot LS1
LS2+,LS2- ロボット端LS2 Robot LS2
CNE2
SD1±,SD2±
SD3±,SD4±
SD5±,SD6±
ｴﾝｺｰﾀﾞ通信(1-8軸) Encoder I/F(1-8axis)
SD7±,SD8±
CNROT
U1,V1,W1,LOW1
U2,V2,W2,LOW2 MagneticPolePosition
U3,V3,W3,LOW3 磁極位置(1-8軸)
U4,V4,W4,LOW4
(1-8axis)
TBX-1
CNGP4
GPI_1A+,GPI_1A- 汎用安全入力11 General-purpose safety input11
GPI_1B+,GPI_1B- 汎用安全入力12 General-purpose safety input12
CNGP3
XRDY_ON N.C.
COM COM(24V)
GPIN1 N.C.
GPIN2 N.C.
周辺機器
Ｅｘｔｅｒｎａｌ
GPIN3 ツール番号1 Tool No.1
system GPIN4 ツール番号2 Tool No.2
COM COM(24V)
CNGP2
GPO_1A+,GPO_1A- 汎用安全出力11 General-purpose safety output11
GPO_1B+,GPO_1B- 汎用安全出力12 General-purpose safety output12
GPO1_BC+,GPO1_BC- バックチェック1 Back-check1
TBX-1
CNGP1
X_EMG1+,X_EMG1- 非常停止1 Emergency stop1
X_EMG2+,X_EMG2- 非常停止2 Emergency stop2
XSF1+,XSF1- セーフティプラグ1 Safety plug1
XSF2+,XSF2- セーフティプラグ2 Safety plug2
GPOUT1 N.C.
GPOUT2 N.C.
GPOUT3 N.C.
GPOUT4 N.C.
GPOUT5 N.C.
GPOUT6 N.C.
GPOUT7 ｻｰﾎﾞON
COM
COM(0V)
Fig. 2-4 Connections of input/output signals
2-14
2.3.2 Safety inputs
Safety inputs are redundant contact input signals, related to the power supply permission to the robot. When a
disconnection, short-circuit, ground fault or other trouble has detected due to signal disparity or diagnosis of
input signals, robot is stopped immediately by turning off the safety output signal. For details of safety input
signals, refer to Table 2.10 Safety inputs.
The two separate signals with redundant contact inputs must perform identical operations. For details, refer to
"1.3 Connection".

specifications Connect the relay contacts (dry contacts).
Table 2-13 Safety inputs

Circuit
Signal name Description Electrical specifications
code
Robot emergency stop 1+ IN1A+ The emergency stop switches on the Photo-coupler input
Robot emergency stop 1- IN1A- operation panel and teach pendant are Rating DC26V
Robot emergency stop 2+ IN1B+ connected in series to these inputs. Input current 5mA
Robot emergency stop 2- IN1B- Over current protection provided
Enable switch 1+ IN2A+ Enable switch signal input from teach Photo-coupler input
Enable switch 1- IN2A- pendant. Rating DC26V
Enable switch 2+ IN2B+ Switch for supplying power to the motor in Input current 5mA
Enable switch 2- IN2B- TEACH mode. Power supply is ON at the ON Over current protection provided
setting.
Slave error 1+ IN3A+ Error input signal from another monitoring unit Photo-coupler input
Slave error 1- IN3A- since the second. When using only 1 RMU, Rating DC26V
Slave error 2+ IN3B+ jumper these signals. Input current 5mA
Slave error 2- IN3B- Over current protection provided
Robot LS detection 1+ IN4A+ Limit switch signal inputs installed in the robot Photo-coupler input
Robot LS detection 1- IN4A- in such a way that they are pushed when the Rating DC26V
Robot LS detection 2+ IN4B+ robot axes move as far as their limits. Input current 5mA
Robot LS detection 2- IN4B- (Limit switch signal for cutting off power to the Over current protection provided
motor.)
Emergency stop 1+ IN5A+ Emergency stop signal input sent from the Photo-coupler input
Emergency stop 1- IN5A- external equipment (process control panel). Rating DC26V
Emergency stop 2+ IN5B+ Input current 5mA
Emergency stop 2- IN5B- Over current protection provided
Safety plug 1+ IN6A+ Safety plug input. Photo-coupler input
Safety plug 1- IN6A- On in Auto and MANUAL modes, Off in Rating DC26V
Safety plug 2+ IN6B+ TEACH mode. Input current 5mA
Safety plug 2- IN6B- Over current protection provided
Protective stop 1+ IN7A+ Signal from the process control panel Photo-coupler input
Protective stop 1- IN7A- (external line controller). Rating DC26V
Protective stop 2+ IN7B+ When these signals are OFF, the motor power Input current 5mA
Protective stop 2- IN7B- will be turned OFF. Over current protection provided
* To use these signals in TEACH mode, it is
necessary to enable in "Signal parameters"
screen.
* "Category 0 stop" or "Category 1 stop" can
be selected in the "Signal parameters" screen.
External enable 1+ IN8A+ External enabling device will be connected Photo-coupler input
External enable 1- IN8A- This signal is used with enable switch on the Rating DC26V
External enable 2+ IN8B+ teach pendant as one of AND conditions. The Input current 5mA
External enable 2- IN8B- motor power will be turned ON when both of Over current protection provided
this signal and the enable switch are turned
ON
General input 11+ IN9A+ General-purpose safety input signal Photo-coupler input
General input 11- IN9A- Used for area select signal, stop monitoring Rating DC26V
General input 12+ IN9B+ signal or playback speed monitoring select Input current 5mA
General input 12- IN9B- signal. Over current protection provided
2-15
Internal circuit
Overcurrent
detection
Diagnosis
circuit
Fig. 2-5 Example of safety input interface circuit
The safety input signals are introduced into the RMU by the circuit shown in Fig. 2-5.
2-16
Input signal diagnosis

With input signal diagnosis, troubles caused by the input devices (short-circuit trouble, open-circuit trouble,
stuck-at faults, etc) are detected. The trouble in the input circuit is diagnosed by the diagnosis circuit so that it is
possible to reliably detect it when the input signals have been turned OFF.
If error has been detected by the input signal diagnosis, the "Internal error: Input diagnosis" and the "Internal
error: Input signal" result and the safety outputs are turned OFF. To release the error, power of this unit needs to
be turned OFF an ON.
Disparity diagnosis
The safety input signals processed by the software operated inside the two CPUs are mutually checked
between the CPUs, and through this it is checked whether the logic is correct.
This diagnosis is conducted after the input signal diagnosis described above. If the logic fails to match
between the two inputs for a period in excess of 500 ms, the Input signal diagnosis error (unrecoverable error)
results, the safety outputs are turned OFF, and the unit’s power must be turned off and turned back on.
Remove the cause of the error and then press [Reset] key twice from teach pendant.
When an input signal has changed from ON to OFF

An error is identified if both signals (of the two systems) are not turned OFF within 500 ms.
When an input signal has changed from OFF to ON
An error is identified if both signals (of the two systems) are not turned ON or OFF within 500 ms.
Note: The ON-OFF change in a signal of less than 500 ms is ignored as signal noise.
If mismatch of enable switch signals (11, 12, 21, 22) is detected, the safety output will be turned OFF but the
error is not detected.
By turning OFF the enable switch one time, the error will be reset.
Over current protection

When an over current is detected by the over current detection circuit of input signals, an over current error
results, the safety outputs are turned OFF.
Remove the cause of the error and then press [Reset] key twice from teach pendant..
2-17
2.3.3 Safety outputs
Electrical FET output

specifications Max. DC30V, 100mA
Table 2-14 Safety outputs

Signal name Circuit code Description
Robot power ON 1+ OUT1A+ This is robot power ON signal.
Robot power ON 1- OUT1A- Connect to magnet switch contact for servo drive.
Robot power ON 2+ OUT1B+ When being used as a slave unit, this is regareded as "Slave
Robot power ON 2- OUT1B- failure" output signal.
General safety output 11+ OUT2A+ General safety output 1.
General safety output 11- OUT2A- An output operation based on the logical operation function
General safety output 12+ OUT2B+ can be used.
General safety output 12- OUT2B-
Connect the magnet switch or relay to each output circuit. Also, connect the “b”-contact of magnet switch or
safety relay in series to each back-check input. Refer to the case of the following connections:
OUTxA+ Relay1
OUTxA-
OUTxB+ Relay2
OUTxB-
BKx+
BKx-
Feedback circuit for detecting trouble in the output shutoff functions

A circuit for monitoring the output status of each of the redundant outputs is provided. The circuit makes it
possible to check these statuses using the software of the RMU when the output signals have been turned OFF
to ascertain the safety output shutoff capability. If it is judged that one output signal cannot be set OFF by trouble
of any type, the other signal can be set to OFF to turn off the safety output.
Output shutoff by CPU error and power supply monitoring

A circuit enabling the safety output to be shut off by hardware means when troubles develop in the control
CPU operation of the RMU or in the power supply is provided, so the safety output is surely shut off even if these
troubles develop in the RMU.
2-18
2.3.4 Back check circuit

Table 2-15 Back check
Signal name Circuit
Description Electrical specifications
code
Robot power supply back BK1+ Signal from magnet switch “b” contact. Photo-coupler input
check 1+ BK1- Signal for detecting the welding (back Rating DC26V
Robot power supply back check) of the magnet switch Input current 5mA
check 1- When being used as a slave unit, this is Over current protection provided
regarded as a weld stuck detection signal
for "Slave failure" output signal (back
check).
General safety output 1 BK2+ Signal from external safety relay and Photo-coupler input
back check 1+ BK2- magnet switch “b” contact Rating DC26V
back check 1- Signal for detecting the welding (back Input current 5mA
check) of the magnet switch Over current protection provided
Back check circuit with over current protection and input diagnosis
A back check circuit is provided in the RMU in order to monitor the magnet switch contacts which are tripped
by the safety outputs. In the back check circuit, a safety contact (“b” contact) driven by the safety output and an
auxiliary contact (“b” contact) of the magnet switch are connected in series so that if the main contact ("a"
contact) of the relay melts down making it impossible to release the contact, the other safety output can still be
turned off to shut off drive power surely and stop the robot safely.
*) If the back check input is not inputted, a back check fault will be detected when the output is ON.
2-19
2.3.5 Monitor inputs

specifications Connect the dry contacts.
Table 2-16 Monitor inputs

Circuit Electrical
Signal name Description
code specifications
Power shutoff GPIN4 This signal is to shut off the motor power Photo-coupler input
instruction On: Motor power supplied Rating DC26V
Off: Motor power cut off Input current 5mA
LS release switch GPIN7 This signal is to release the over travel switch. Photo-coupler input
When the limit switch error or operating range Rating DC26V
monitoring error or angle monitoring error was Input current 5mA
occurred, this signal will used to operate the robot
manually in TEACH mode.
This switch (momentary switch) must be operated
only by well-trained, dedicated maintenance staff.
System OK GPIN5 This signal is from the robot controller. Photo-coupler input
This signal is always ON while the controller Rating DC26V
operates normally Input current 5mA
TEACH mode GPIN3 This signal is for selecting the mode in which the Photo-coupler input
teaching operation via teach pendant is performed. Rating DC26V
Connected to the selector SW on the operation Input current 5mA
panel.
PLAYBACK mode GPIN2 This signal is for selecting the mode in which the Photo-coupler input
playback operation is performed. Rating DC26V
Connected to the selector SW on the operation Input current 5mA
panel.
Tool number 1 GPIN13 Signal that inputs tool number from PLC. Photo-coupler input
To use the tool number monitoring function, it is Rating DC26V
necessary to enable the "Tool watch" in the Input current 5mA
parameter setting screen.
2-20
ＲＭＵ２０
Internal
内部回路 circuit 24V
SW
P1
R GPINx
Diagnosis
circuit
診断回路
Fig. 2-6 Example of monitor input circuit

Input signal diagnosis
To detect trouble occurring in the input device, the same input signal diagnosis as for the safety input circuit is
performed. The internal circuit is diagnosed at periodic intervals by the diagnosis circuit. If error has been
detected by this diagnosis, the “Internal error: Input signal” is detected and the safety output is turned OFF. Error
is not reset unless the controller power is turned off and on.
2.3.6 Monitor outputs
Electrical output Photo MOS relay output

specifications DC30V, 100mA
Install a surge absorption circuit without fail when a coil circuit such as a relay is to be
connected.
Table 2-17 Monitor outputs

Signal name Circuit Description Electrical specifications
code
ES error GPOUT1 This signal is connected to the controller input. Photo MOS relay output
This signal is turned OFF when monitoring unit Rating
detects an internal fault. DC30V less than 100mA
Motors ON lamp GPOUT2 This signal is output for the Motors-ON LED. Photo MOS relay output
Rating
DC30V less than 100mA
External
24V
Internal circuit Load
Fig. 2-7 Example of monitor output circuit
2-21
2.3.7 Motion controller interface

This communication line is for receiving the parameters required for the purpose of the position and speed
monitoring function.
Table 2-15 Motion interface

D-/D+ The interface connects these signals for communicating with the motion controller.
GND Communication specification: USB1.1
FG
2.3.8 Encoder interface

This line is for communication with the encoder for obtaining the current position of the robot for the purpose of
the position and speed monitoring function.
Table 2-16 Encoder interface

S1+ ~ S8+ The interface connects these signals for communicating with the encoder.
S1- ~ S8- Communication specification: RS485 (two wires, half-duplex channel , multi point
serial communication)
Panasonic N400 format is supported
Nikon A format is supported
2.3.9 Motor interface

Signals are connected through this interface to the servo amplifier by the motor position detection function.
Table 2-17 Motor position detection interface

U1~U8 The interface inputs the motor position detection signals.
V1~V8
W1~W8
L1~L8
2.3.10 Power supply

Supplies power to the RMU.
Table 2-18 Power supply

U24V/U0V This is the main drive power supply of the RMU.
U24A/U0A This is the IO drive power supply of the RMU.
2-22
2.4 Precautions when Installing RMU inside the Controller

In the use of this unit, the following requirements of each standard.
The RMU is constructed to be installed inside the robot controller.
2.4.1 Low-Voltage Directive requirements to be satisfied (compliance with

EN50178)
■ Hermetically sealed structure
The RMU20 is designed to be used in an environment with "degree 2 pollution".

When installing RMU20 in the robot controller, use a hermetically sealed structure for the
controller, and take measures to make it dust-proof and water-proof. To do this,
IMPORTANT completely close the door of the controller, and lock in the door key.
The degree of pollution of 2 is defined as follows.

“Environments in which electrically conductive dust and dirt are not normally generated, but in which electrical
conduction may be temporarily caused by the build-up of dust and dirt; approximate environments inside a
control panel equivalent to IP54 in the control rooms or on the floors of factories.”
■ Power supply
The RMU20 is installed inside the robot controller for use.

The power supply with overvoltage category I must be used. Category I denotes a power
supply whose voltage has been reduced using a transformer by 3 or more stages from
IMPORTANT the power distribution grid.
Isolation
transformer
Category IV Category III Category II Category I
2.4.2 EMC Directive requirements to be satisfied (compliance with

EN61326-3-1)
Implement the following items without fail in order to comply with the requirements of the EMC Directive.
However, doing so does not guarantee that the entire system in which the RMU is installed complies with the
EMC Directive.
To determine whether the entire system complies with the directive, conduct tests on it.
■ 24V power supply
24V power supply supplied to the RMU is recommended to use the following. (Please
use the power supply of an equal specification when you use a different power supply.)
IMPORTANT
Model manufacturer
LDA75F-24 COSEL CO., LTD.
ZWS75PF-24/J TDK-LAMBDA K.K
S8VS-09024AP OMRON Corporation
2-23
■ Installation of controller
In case of installing the RMU, it is recommended to use the EMI shielded cabinet.
IMPORTANT
Tests under the following standards have been conducted on RMU20 in accordance with the IEC 61326-3-1
standard. For further details, refer to the IEC 61326-3-1 standard.
Description
Immunity to electrostatic discharge
Radiated, radio-frequency, electromagnetic field immunity
Electrical fast transient/burst immunity
Surge Immunity
Immunity to conducted disturbances, induced by radio-frequency fields
Power frequency magnetic field immunity
Voltage dips, short interruptions and voltage variations immunity
2.4.3 Other: processing the cables connected to RMU20
Ensure that a ferrite core with 2 or more turns is installed on the cable to be connected to CNCOM in order to
reduce the noise. Install the ferrite core at a position close to the controller (transmission source). If it is not
positioned correctly, its installation will have minimal effect.
2-24
2.5 Operating Range, Angle and Speed Monitoring Function

During operating range or speed monitoring operations, the motor position is received from the servo motor
and the current value data of the robot is received from the encoders, and the area and speed set are monitored
by the monitoring routine inside the RMU.
The operating range monitoring function monitors that the robot axis angles and its TCP (Tool Center Point)
do not exceed the operating ranges which have been set, and if one of the angles or the TCP does exceed the
ranges, robot is stopped by shutting off the safety outputs.
The speed monitoring function monitors that the TCP speed does not exceed the operating speed which have
been set, and if it does exceed the speed, robot is stopped by shutting off the safety outputs.
2.5.1 Collaborative operation with human

Compliance to ISO 10218-1 and -2 : 2011 by utilizing partial area limitation and speed monitoring, in case
of performing collaborative operation with human
Robot is just one of constructive part in manufacturing system, so robot is not designed enough safely for the
collaborative operation with human. Collaborative operation is dynamic, so monitoring distance and monitoring
speed should be determined by the risk assessment according to the system. Displaying of speed and
separating distance should be included in the information of usage.
Relative speed between human and robot should be considered when the minimum safety separating
distance is calculated. Please refer to ISO 13855 and or so to calculate this distance.
Please perform the verification and/or validation kin accordance with following item.
Usage of collaborative operation is ・ Review of the schedule, circuit diagram and design
determined by the risk assessment document that is unique for the system
・Risk assessment review in accordance with the task
Displaying of speed and separating ・ Review of the schedule, circuit diagram and design
distance is included in the information of document that is unique for the system
usage ・Risk assessment review in accordance with the task
ISO 10218-2 is referred in order to design
・Test for real usage
collaborative operation
2-25
2.5.2 Operating range monitoring

“Operating range monitoring” is a function which shuts off the safety outputs and enables the robot to be
stopped safely when a robot wrist, tool, work or arm has protruded beyond one of the operating ranges.
By setting the operation restricted ranges (linear restriction/partial restriction) and sphere and arm surface
points, it shuts off the safety outputs and enables the robot to be stopped safely when the tool sphere or arm
surface point has protruded beyond one of the operation restricted ranges. The partial restriction area can be set
to an entry restriction area or a leave restriction area. In addition, by the status of selection signal which was
assigned general-purpose safety inputs 1-5, the robot will be able to enter partial restriction area.
The operation of the robot manipulator is restricted in such a way that protrusion beyond any of the operating
ranges will be prevented by the “virtual safety fence function” of the robot controller. Nevertheless, it is still
possible for the robot manipulator to move beyond the restricted range because of an operating error, trouble in
the controller or motor or other type of trouble. To prevent this, the same operating ranges which have been set
are monitored inside the RMU by the “virtual safety fence function,” and when movement is judged to have
exceeded the restricted range, the safety outputs are shut off and stop the robot.
Safety fence range

Arm
Arm
Partial range
Tool sphere
Fig. 2-8 Model of operating range monitoring function
2-26
2.5.3 Angle monitoring

This function monitors the operating ranges of the robot axes, and when any of the axes has exceeded the
operating range, it shuts off the safety outputs to stop the robot safely.
The “soft limit function” is used to restrict the robot axes so that they will not exceed the operating ranges, but
it is still possible for these axes to move beyond the restricted range because of an operating error, trouble in the
controller or motor or other type of trouble. To prevent this, when movement is judged to have exceeded the
same operating range as the “soft limit function” setting inside the RMU, the safety outputs are shut off and stop
the robot.
For the detail of setting operation, refer to the instruction manual “SETUP”, “Chapter 4: Set up”.
2.5.4 How to reset operating range and angle monitoring function
The resetting procedure described in this section makes it possible to cancel the
operating range monitoring and angle monitoring functions and move the robot.
For this reason, great care must be exercised in using the procedure.
DANGER Sudden or unexpected movements of the robot resulting in its coming into contact with or
pinning an operator can cause death or serious injury or disasters.
The resetting procedure to be followed when trouble has occurred in the operating range monitoring or angle
monitoring which causes the robot to stop is described here. If, for some reason, the robot has moved beyond
an operating range which has been set before it stops, it may be necessary to operate the robot and move it
back inside the operating range.
In TEACH mode, it is possible to turn motor power ON while pressing "LS release SW" (inputting "LS release
SW" signal).
LS release SW：LSSW
"LS release SW" signal cancels only the operating range and angle monitoring functions of
POINT the RMU. It may not be possible to turn motor power on due to the “virtual safety fence
function” or “soft limit function” in FD controller.
Since these functions can be canceled on constants setting screen, perform the operations
in the "Constant Setting" screen in TEACH mode.
2.5.5 Speed monitoring

In TEACH mode, the speed monitoring function calculates the TCP speed. If this speed exceeds 250 mm/sec.
(safety speed), RMU shuts off the safety output to stop the robot safely.
In addition, In PLAYBACK mode, If the TCP speed or JOINT speed is exceeds the determined speed, RMU
shuts off the safety output to stop the robot safely.
2.5.6 Stop monitoring

When a stop monitoring signal that is assigned to one of the general safety input signal 1-5 is OFF, the stop
status of the TCP and each joint angle can be monitored.
During the signal is OFF, RMU monitors the status of the robot stop. If the robot moves, RMU shuts off the
safety output to stop the robot safely.
(When turning ON the controller, turn the signal ON.)
Previously, set the “stop monitoring” range for TCP and each axis. When the robot has been running over
those defined range, RMU shuts off the safety output to stop the robot safely.
2-27
2.5.7 Stop Control monitoring Function in Area

The run-over distance that will be made when the robot make an emergency stop will be estimated by
referring to the robot motion speed. And the RMU shuts off the safety output to stop the robot safely considering
the estimated run-over distance.
Safety Ａｒｅａ
Stop area within safety area

Stop the robot inside this
distance by estimating the
overrun distance
Safety output shut off
“Estimating the overrun distance” is calculated as follows.
Estimating the overrun distancee = Free running distance + Braking distance

TCP speed
Free running
distance Braking
distance
Free running time Deceleration time
TCP speed is calculated every 10msec. “Estimating the overrun distance” is calculated from free running
distance and braking distance. Free running distance and braking distance is calculated from free running time
and braking deceleration time which is set as parameter.
2-28
2.5.8 Tool Number monitoring Function
The tool number of robot program and tool number signal that are output from the tool is compared, If they are
mismatched, RMU shuts off the safety outputs to stop the robot safely. Up to 9 tool numbers can be set by using
monitor input signals.
To use the tool number monitoring function ("Tool watch"), please enable the function in the following menu;
<Constant> - [3 Machine Constants] – [34 Robot Monitoring Unit] – [1 Settings] – [7 I/O signal parameter]
Concerning the setting method, refer to "4.2.4 I/O signal parameter".
The error will occur if the TCP moving the distance which has been set by the parameter ("Distance of tool
match") after tool number mismatch was detected. When this error is detected, the safety output will be turned
OFF and the robot will be stopped.
The "Distance of tool match" can be set in the following menu;

<Constant> - [3 Machine Constants] – [34 Robot Monitoring Unit] – [1 Settings] – [1 Mechanism parameters]
Concerning the setting method, refer to "4.2.1 Mechanism parameter setting".
2-29
When using the tool number monitoring function, prepare a tool that can output 4 bit binary output signals to
output the tool number. Connect the signals from the tool to the "Tool No. 1 -4" on the terminal block TBX-1 in
the robot controller as follows;
Controller
制御装置

監視ユニット
P1(24V)
TBX-1 ツール Tool
Tool No. 1
ツール番号1
Tool No. 2
ツール番号2
Tool No. 3
ツール番号3
Tool No. 4
ツール番号4
Connections
お客様施工範囲 to be made by customer
For details of how to make this connection, refer to the section of "1.3 Connection".
2-30
2.6 Motor Power Control Sequence

This section describes the motor power control sequence that is to supply the drive power to the robot and to
enable robot operation.
2.6.1 Outline of motor power control sequence

Motor power control sequence executes status transition for the following three modes, and controls the motor
power-ON output signal in accordance with the input signals.
PLAYBACK mode
Operation mode for performing automatic operations which are started using the Motors ON signal from a
process control panel or a switch on the robot operation panel.
TEACH mode
Operation mode for performing manual operations and teaching for the robot which are started using the
Motors ON signal from a process control panel or a switch on the robot operation panel.
These 2 modes can be switched using the PLAYBACK mode or TEACH mode input signals.
2-31
2.6.2 Motors ON condition
Table 2-19 Motors ON condition

PLAYBACK mode TEACH mode
Signal name
ON condition ON condition
PLAYBACK mode ON OFF
TEACH mode OFF ON
External Robot emergency stop ON ON
Enable switch - OFF
Slave error ON ON
Robot LS detection ON ON
Emergency stop ON ON
Safety stop ON OFF
Protective stop - -
External enable - -
Area selection - -
Stop monitoring enable - -
System OK ON ON
TP selector switch ON OFF
Power ON back-check ON ON
Operating range monitoring OK (*) ON ON
Axis speed monitoring OK (*) ON ON
TCP speed monitoring OK (*) ON ON
Power supply status ON ON
Internal error normal ON ON
Master ON OFF→ON→OFF OFF→ON→OFF
Note 1: When operation mode is changed, Motors On operation is required again.

Note 2: "Robot LS detection" can be deactivated in TEACH mode by "LS release SW".
(*) Indicates that an error has not occurred in the monitoring software.
2.6.3 Motor power-ON control
This is a condition which allows the motor power ON after the master ON condition has been satisfied. When
the following statues of the input signals are established, motor power is turned ON..
Table 2-20 Motor power ON condition

Input signal name AUTO mode MANUAL mode TEACH mode
Motors ON ON ON ON
Back check ON ON ON
Motor power shut-off command ON ON －
Enable switch －－ ON
External Enable －－ ON
Protective stop ON ON ON (*)
(*) If the protective stop in TEACH mode has been enabled.
When the motor power ON conditions have been established, motor power ON
output signal is turned ON, and motor power is supplied to the robot.
CAUTION
2-32
2.6.4 Timing chart

Motors
運転準備 Motors
運転準備
ON
ON OFF
OFF
Power Power Power Power

動力供給
Supply 動力供給
Supply
動力供給
Supply 動力供給
Supply
ON
ON OFF
OFF ON
ON ON
ON
PLAYBACK mode
再生モード
(motion
（ﾓｰｼｮﾝ通信)
communication)
TEACH mode
再生モード
(motion
communication)
ES fault
ＥＳ異常
Robot
ロボット
Emergency stop
非常停止
Emergency
非常停止 stop
セーフティ
Safety plug
プラグ
Robot
ロボットLS
ＬＳ検出
detection
スレーブ
Slave error
異常
Enable
イネーブル
switch
スイッチ
External enable
外部イネーブ
(MATSW)
ル（MATSW)
Protective
stop
保護停止
LS release
ＬＳ解除
System
システム
normal
正常
TPセレクタ
TP selector SW
(motion
スイッチ
communication)
Motors ON
運転準備入り
(motion
communication)
Power shut-off
動力遮断
command
指示
Robot power
ロボット
supply
動力供給
ロボット
Robot
power supply
動力供給
back-check
ﾊﾞｯｸﾁｪｯｸ
400msec
Fig. 2-9 Motor power control sequence timing chart (PLAYBACK mode)
2-33
Motors
運転準備 Motors
運転準備
ON
ON ON
ON
Power Power Power Power Power

動力供給動力供給動力供給動力供給動力供給
Supply Supply Supply Supply Supply
ON
ON OFF
OFF ON
ON ON
ON OFF
OFF
PLAYBACK mode
再生モード
(motion
communication)
TEACH mode
再生モード
(motion
communication)
ＥＳ異常
ES fault
Robot
ロボット
Emergency stop
非常停止
非常停止
Emergency stop
セーフティ
Safety plug
プラグ
Robot
ロボット
LS
ＬＳ検出
detection
スレーブ
Slave error
異常
Enable
イネーブル
switch
スイッチ
External enable
外部イネーブ
(MATSW)
ル（MATSW)
Protective
保護停止stop
LS release
ＬＳ解除
System
システム
normal
正常
TPセレクタ
TP selector SW
(motion
スイッチ
communication)
Motors ON
運転準備入り
(motion
communication)
Power
動力遮断 shut-off
command
指示
Robot
ロボット power
supply
動力供給
ロボット
Robot
power supply
動力供給
back-check
ﾊﾞｯｸﾁｪｯｸ
Without delay Without delay
ﾃﾞｨﾚｲなし
ﾃﾞｨﾚｲなし
Fig. 2-10 Motor power control sequence timing chart (TEACH mode)
2-34
2.7 Logical operation output function

This section describes a function that sets logical operation for general safety output signals and output those
signals.
In this function, safety related information e.g. monitoring results of the motion range, angles, motion speed,
or safety inputs etc. can be output to each 3 general safety output signals.
The general safety output signals output "Output diagnostic pulse" when executing the output operation.
Therefore, safety relays or magnet switches that are equipped with force guide structure should be used for
the respective output circuits.
And, please use the "b contact" also as a feedback signal to detect the malfunction of the safety relays or the
magnet switches.
If there is wrong setting in this "Logical operation output function", safety function
cannnot work correctly and the robot may make unexpected motion.
In a case like that, the operator may be hit or pinched by the robot arm and results in
DANGER death or serious injury.
Function
It is possible to output the "General safety output signal" making logical operation (AND, OR, NOT) using the
designated safety signals.
For the logical operation setting, up to 3 inputs can be used.
An example of the logical operation

Input1 Input2 Input3
General safety output1 = Inside Part#1 AND NOT Teach mode AND Inside High spd.
The order of the operation: NOT -> AND -> OR -> left side of the operation
Restrictions for the logical operation

(1) The safety outputs will be turned OFF in case of "Emergency stop condition".
("Emergency stop condition" includes cases in which a fault occurs in the all monitoring function except for hte
emergency stop input)
(2) Once an input relay is used in one operation, it cannot be used in other operation again.
Table 2-21 Logical operation relays

Group No. Item Description
Safety in.relay 1 Robot Emergency Stop Turns ON when the "Enable SW" input turns ON.
2 Enable SW Turns ON when the "Enable SW" input turns ON.
3 Slave error Turns ON when the "Slave error" input turns ON.
4 Rob.LS detect Turns ON when the "Robot LS detect" input turns ON.
5 Emergency Stop Turns ON when the "Emergency stop" input turns ON.
6 Safety plug Turns ON when the "Safety plug" input turns ON.
7 Protective stop Turns ON when the "Protective stop" input turns ON.
8 Ext. enable Turns ON when the "External enable" input turns ON.
9 Safety in.1 Turns ON when the "General safety input 1" turns ON.
2-35
Group No. Item Description

Safety out.relay 1 Rob.Power-ON Turns ON when the "Robot Power-ON" turns ON.
2 Safety out.1 Turns ON when the "General safety output 1" turns ON.
Internal relay 1 Teach mode Turns ON when the "Teach mode" input turns ON.
2 Playback mode Turns ON when the "Playback mode" input turns ON.
3 H-Spd. teach mode Turns ON when the "High-speed teach mode" input turns ON.
4 Inside fence Turns ON when the robot is inside the Safety motion range.
5 Inside fence#2
6 Inside fence#3
7 Inside fence#4
8 Inside area Turns ON when each axis of the robot is inside the Safety range.
9 Outside Part#1 Turns ON when the "Part range 1" 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"
17 Inside area stop
function.
Turns ON while the "Stop watch signal (a signal assigned to one of the general
18 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
19 Inside Low Spd.
mode.
20 Inside High spd.
21 Inside High spd.#2 Turns ON while the robot is moving in a speed slower thant the restricted speed in
22 Inside High spd.#3 PLAYBACK mode.
23 Inside High spd.#4
24 Inside Axes spd.
25 Inside Axes spd.#2 Turns ON while each axis of the robot is moving in a speed slower than the
26 Inside Axes spd.#3 restricted speed.
27 Inside Axes spd.#4
28 Inside Zone#1
29 Inside Zone#2
Turns ON while each axis of the robot is in the pre-defined zone.
30 Inside Zone#3
31 Inside Zone#4
32 Inside Tool pos.#1
Turns ON while the tool posture is in the pre-defined range.
36 Emg. Stop. none Turns ON when "Network Emergency Stop signal" is not assigned.
37 Safety plug. None Turns ON when "Network safety plug signal" is not assigned.
38 Prot. stop None Turns ON when "Network Protective stop signal" is not assigned.
39 Ext. enable None Turns ON when "Network External enable signal" is not assigned.
Safety in. 1 Safety in.1
network : : The input signals of the safety network function.
64 Safety in.64
Safety Out. 1 Safety Out.1
network : : The output signals of the safety network function.
64 Safety Out.64
2-36
2.8 RMU error signal output (Application signals)

The errors of the RMU can be assigned to the output signals of application signals. By assigning those signals,
it is possible to detect the condition of the RMU from the external devices e.g. PLC etc. When shipping, those
signals are not assigned. If necessary, please make an assignment setting referring to this section.
RMU errors that can be outputted
(For details, refer to “6.2 Trouble shooting”)

No. Error message
1100 RMU Encoder failure
1101 RMU Joint angle exceeded
1102 RMU Pos. exceeded limit area
1103 RMU Speed failure
1104 RMU Over current
1105 RMU Disparity failure
1106 RMU Internal failure
1107 RMU Not approved
1108 RMU Communication stop
1109 RMU Stop monitor failure
1110 RMU Pos. monitor failure
1111 RMU Pos. disparity failure
1112 RMU Vel. Disparity failure
1113 RMU Connection failure
1114 RMU Tool monitor failure
Assignment for the output signals
To assign those signals, open “<Constant Setting> - [6 Signals] [3 Output Signal Assignment] [1 Standard
Outputs]”. For this setting, an operator class of EXPERT or higher is required (Please switch the operator class
level via R314 shortcut command in advance of this setting operation).
Concerning the signal assignment operations, refer to “FD CONTROLLER INSTRUCTION MANUAL SETUP
MANUAL” “4.6 Signal attribute setting“.
2-37
2.9 Enabling RMU
2.9 Enabling RMU

In this section, how to enable the RMU setting is described.
If a new RMU is connected to the robot controller, it is necessary to enable the setting for the concerned RMU.
If the RMU itself is not enabled, the parameter setting menu for the RMU is not displayed.
(In case of the FD controller)

If the RMU has already been connected to the FD controller when shipping from our factory,
POINT The RMU setting is enabled.
(In case of the CFD controller)
When shipping from out factory, the RMU is disabled.
To use the RMU, enable the RMU after connecting it to the CFD controller.
POINT If the RMU is not connected to the robot controller or the robot controller cannot recognize the
RMU, the setting screen to enable the RMU will not appear.
Next, how to enable the RMU is described hereinafter.

To perform these setting operations, the operator class of EXPERT or higher is required.
1 Open <Constant Setting> - [12 Format and Configuration] [10 A mechanism

and amplifier].
>>The following screen will be displayed.
Depending on your system, the displayed content will

IMPORTANT change. DO NOT CHANGE THE SETTING.
2-38
2.9 Enabling RMU
2 Without changing the setting, just press <f12 Complete>.

NOTE) This screen will be displayed only when the RMU is recognized by the robot
controller.
3 Change the setting for the Servo Amplifier 1 to “Connect”
4 Press f12 <Complete>

5 After pressing any key, turn OFF the power of the robot controller and then
turn ON it.
6 After restarting the robot controller, setup the parameters referring to

“Chapter 4 Monitoring Unit Settings”.
2-39
2.9 Enabling RMU
NOTE
2-40
Chapter 3 Virtual Safety Fence Function
3.1 Outline of Virtual Safety Fence Function ..................................................3-1

3.2 Operation procedure ................................................................................3-2
3.2.1 Installation angle .............................................................................3-2
3.2.2 Virtual safety fence settings ............................................................3-4
3.2.3 Range setting ..................................................................................3-5
3.2.4 Tool limit setting.............................................................................3-13
3.2.5 Arm limit setting.............................................................................3-20
3.2.6 Other settings ................................................................................3-22
3.2.7 “VSF approach area” output signal ...............................................3-23
3.2.8 Setting example of the limit line.....................................................3-24
3.2.9 Creation of data file .......................................................................3-25
3.2.10 Convenient shortcut ......................................................................3-25
3.3 List of Error Codes .................................................................................3-26
3.4 Setting when a slider unit is used ...........................................................3-27
3.4.1 Mechanism relation .......................................................................3-27
3.4.2 Installation angle (Example1) ........................................................3-28
3.4.3 Installation posture (Example2) .....................................................3-29
3.1 Outline of Virtual Safety Fence Function
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 EXPERT or higher.
Safety fence area
Arm
Part range
Form
(Rectangular)
Sphere
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
3.2Operation procedure
3.2 Operation procedure
3.2.1 Installation angle

Used to define the position and the angle of the robot based on the reference coordinate system
(=world coordinate system). When using the virtual safety fence function or interlock automatic
generation function, make this setting.
By this setting, the position and the angle of the respective robots (or other mechanisms like
sliders etc.) will be decided. Because the virtual guard fence is located in the world coordinate
system, now it becomes possible to calculate the positional relationships between the machines
and the guard fence.
1 Open <Constant Setting> - [12 Format and Configuration] [5 Installation angle]
menu.
This setting can be made up to 10.
2 After the completion of settings, press the <Complete>.
Table 3.2.1 Setting items in the "Installation Angle" screen

Parameter Function
This is the X coordinate of the mechanism coordinate system's origin based on
X Vector Coordinate the world coordinate system (reference coordinate system).
Initial value : 0.00
This is the Y coordinate of the mechanism coordinate system's origin based on
Y Vector Coordinate the world coordinate system (reference coordinate system).
This is the Z coordinate of the mechanism coordinate system's origin based on
Z Vector Coordinate the world coordinate system (reference coordinate system).
This is the rotation angle around the X axis based on the world coordinate
X axis rotation system (reference coordinate system).
This is the rotation angle around the Y axis based on the world coordinate
Y axis rotation system (reference coordinate system).
This is the rotation angle around the Z axis based on the world coordinate
Z axis rotation system (reference coordinate system).
The "X/Y/Z axis rotation" should be set in an order of Z rotation -> Y rotation -> X
rotation.
IMPORTANT
Although the robot mechanism or traverse mechanism (slider) requires this setting,
auxiliary axis mechanism e.g. gun, positioner, hand etc. does not require this setting.
IMPORTANT For mechanisms like those, set "0.0" for exery parameter.
3-2
(Reference) setting examples
Floor mount type setting example
INFO.
- The all rotation angles are zero.

- If necessary, set the XYZ coordinates referring to the layout drawing. If the robot
is installed on the origin of the world coordinate system, set (0,0,0).
- In the screen of “Mechanism relation”, set the installation place for the robot as
“Ground”.
Wall mount type setting example
INFO.
- Set 90 [deg] for the “Y axis rotation”.

- If necessary, set the XYZ coordinates referring to the layout drawing.
“Ground”. (Do not select “Wall”)
Ceiling mount type setting example
INFO.
- Set 180 [deg] for the “X axis rotation”.

- If necessary, set the XYZ coordinates referring to the layout drawing.
“Ground”. (Do not select “Ceiling”)
3-3
3.2.2 Virtual safety fence settings
While one of the screens under the menu of [33 Virtual Safety Fence] is being displayed, the
checking function of the VSF function is temporally disabled and motion regulation is not
performed.
When the robot makes unexpected movement and a person is caught or sandwiched by the
DANGER robot arm, death or serious injury may occur. So when operating a robot, pay special
attention.
1 Open <Constant Setting> - [3 Machine constants] - [33 Virtual safety fence]

menu.
>> The Menu screen shown below will appear.
Table 3.2.2 Virtual Safety Fence Setting Items

Menu Function
Range setting Used to display the Setting screen to specify the safety fence area and the part range.
Furthermore, this menu enables confirmation of all limit areas on the graphic display.
Tool limit setting Used to make setting of sphere, cylinder, and rectangular by tool.
Furthermore, this menu enables confirmation of the set sphere, cylinder, and
rectangular on the graphic display.
Arm limit setting Used to make setting of radius by arm.
Other settings Used to make settings of length margin for drawing and buzzer detection distance.
POINT While in [TEACH] mode, using the shortcut code (R710) makes it possible to display
the same Menu screen as that shown above.
3-4
3.2.3 Range setting

The range setting is the function of making setting of the safety fence and the part range as well
as the “Robot wrist / tool / workpiece / arm” movement limit areas.
If the robot wrist, tool, workpiece, arm, reaches the limit range, an error will occur.
Safety fence Safety fence
Part range
Part range
Part range
Safety
fence
Safety
fence
This section defines the limit lines to specify the safety fence area and the part range.
The limit line settings are made by entering X-Y coordinate values at two points.
1 Open <Constant Setting> - [3 Machine constants] - [33 Virtual Safety Fence] [1

Range setting] menu.
>> A screen like shown below will appear.
3-5
2 Press the f key “Part Range”.

>> The “Part setting” screen shown below will appear.
3 Press the f key “Fence Range”.

>> The “Range setting” screen shown below will appear.
Each time when the f key “Fence Range” and the f key “Part Range” are pressed,
the “Range setting” and “Part setting” screens are alternately switched.
4 Press the f key "Part Range No."
>> The following window will appear.
5 Enter the desired "Part Range No."

>> The displayed No. on the f key will be changed.
6 Press the f key “Graphic Display”.

>> The Graphic Display screen (Top) shown below will appear.
“Fence Range”
3-6
“Part Range”
8 Press the f key “Plane change”.

>> The points of sight of the “Graphic Display” screen will be switched.
Each time when the f key “Plane change” key on the “Graphic Display” screen is
pressed, the screen will be switched from Top  Side  Rear  Top  in the order
described.
For the “Fence Range” and “Part Range” menus, the screen is switched in the same
order as that aforementioned.
“Top display”
↓
“Side display”
3-7
“Rear display”
9 Press the f key “Tool sph.”.

10 Enter the desired "Tool sphere No."

11 Press the f key “Terminate”.

>> The Graphic Display will be closed to return to the “Range setting” screen.
Top
Side
Rear
X Y
Fig. 3.2.1 Top, Side, and Rear Switching
3-8
Table 3.2.3 Items to be set on Range Setting Screen

Parameter Function
Fence Range This range covers outside of a maximum of eight lines, which are defined from the
center of the robot at random, as the limit area. It also enables specification of limit
area in the Z direction.
Origin offset : Offset value of the origin coordinates.
Exit permission signal : This is a signal that is required to be ON when the robot is
trying to go outside of the range
(General safety input 1-5 or Safety network input 101-164 can be assigned)
(NOTE)The safety network input signals are available only in case of RMU20-30.
Part Range This range covers inside of a maximum of three parts, which are defined from the
center of the robot at random, as the limit area. The parts are defined by a
maximum of four lines. The range also enables specification of limit area in the Z
direction.
Entry permission signal : This is a signal that is required to be ON when the robot
enters the range
(General safety input 1-5 or Safety network input 101-164 can be assigned)
(NOTE)The safety network input signals are available only in case of RMU20-30.
Graphic Display The graphic display makes it possible to confirm limit areas with range settings
made as well as settings of sphere / form / arm limits.
The graphic display enables switching of screens Top  Side  Rear.
By executing manual operation while the graphic display is in operation, the
positions of the sphere / form / arm limits are updated in real time.
Fence Range:
Used to specify lines to be regulated by entering X-Y coordinate values at two points.
If the values of X1, X2, Y1, Y2 are all “0.0”, no regulations will be executed by the line concerned.
Furthermore, if the upper and lower limits in the Z direction are both “0.0”, no regulations will be
POINT executed in the Z direction.
If the two coordinates at two points entered are the same, if a distance from the line found by
coordinates at two points and the home position is not more than 50 mm, or if a value larger than
the upper limit value is set to the lower limit value in the Z direction, pressing any valid f key will
alert operator to an error through displaying it on the pop-up window.
Part Range:
Used to specify a angle formed with three limit lines or a box formed with four limit lines as limit
area.
If the upper and lower limits in the Z direction are both “0.0”, no regulations will be executed in the
POINT Z direction.
If the two coordinates at two points entered are the same, if coordinate values not forming a
triangle or a box are specified, or if a value larger than the upper limit value is set to the lower limit
value in the Z direction, pressing any valid f key will alert operator to an error through displaying it
on the pop-up window.
Graphic Display:
The length of a side is calculated from individual movement ranges of the robot.
POINT The movement limit areas are displayed in red, and the sphere, form, and arm that become limit
objects are displayed by color code. If the robot goes into or is about to go into a movement limit
area with the sphere, form, and arm that become limit objects as well as rear coordinate value
displayed in red, an error will occur.
Table 3.2.4 Cursor Control on Graphic Display Screen

Key Function
Used to increase the magnification of the graphic display.
＋ The display can be enlarged up to 15 at maximum.
＋ Used to reduce the magnification of the graphic display.
Used to move the center position of drawing in each direction.
Used to close the Graphic Display screen and return to the “Range Setting” screen.
3-9
Simplified setting
In order to make settings of the fence range and the part range taking limit lines as a enclosed area, these
settings can be made following the procedure shown below.
1 Make setting of four start points.

>> The entry of end points can be omitted.
At this time, the end points come to the same positions as those of next start points.
The part range setting can be made with three points. It can be set in the range of a
triangle using three points or in the range of a box using four points.
The following configurations are not available to settings.

1) Limit lines need to be continued.
Putting different lines in the middle will disable setting.
POINT
2) No limit line settings can be made using lines with and without end points in
combination.
Set the end points of all four lines to “0.0” or enter any values to the end points.
3-10
Safety Fence 1
Safety Fence 4
Safety Fence 2
Safety Fence 3
Fig. 3.2.2 Typical Safety Fence Range (Limit Lines 1 to 4)
Upper limit value: + 3000 (mm)
A
Lower limit value: - 800 (mm)
* The lower limit value varies with installation locations. If “A” is set, the lower limit value will come to “0” (mm).
Fig. 3.2.3 Typical Safety Fence Range (Z Direction / Upper and Lower Limit Values)
3-11
Part Range 1
Part Range 2
Part Range 3
Part Range 2
Part Range 3 Part Range 1
Fig. 3.2.4 Typical Part Ranges (1 to 3)
3-12
3.2.4 Tool limit setting

The tool limit setting function is used to make setting of sphere and form (cylinder or rectangular)
by tool as limit objects.
It enables individual limit settings of a maximum of 20 spheres, 1 cylinder, and 1 rectangular by
tool for nine tools.
If any of the sphere, cylinder, and rectangular limits reaches the limit range, an error will occur.
Rectangular Sphere
For a robot used for handling application, it is recommended to use different tool numbers for
operating the robot only for handling and for operating it with work-piece. Furthermore,
depending on with or without work-piece, make settings of sphere and form according to the
work-piece size.
1 Open <Constant Setting> - [3 Machine constants] - [33 Virtual Safety Fence] [2

Tool limit setting] menu.
>> The Setting screen shown below will appear.
* ”Center xyz” of the spheres represents distances from the tool installation
flange, respectively.
3-13
2 Press the f key “Form Limit”.

>>The “Form Limit” Setting screen shown below will appear.
*”Offset” of the forms represents distances from the distances from the tool
installation flange, respectively.
3 Press the f key “Sphere Limit”.

>>Each time when the f key “Sphere Limit” and the f key “Form Limit” are pressed, the
“Sphere Limit” and “Form Limit” screens are alternately switched.
4 Press the f key “Tool Number”.

>>The following window will appear.
5 Enter the desired "Tool No."

6 Press the f key “Page” key.

>>The Sphere Limit Setting screen will be switched.
*This screen is only displayed while in sphere limit mode.
3-14
7 Press the f key “Graphic Display”.

>> The Graphic Display screen (Top) shown below will appear.
“Sphere Limit”
“Form Limit”
8 Press the f key “Plane change”.

>> The points of sight of the “Graphic Display” screen will be switched.
Each time when the f key “Plane change” key on the “Graphic Display” screen is pressed,
the screen will be switched from Top  Side  Rear  Top  in the order described.
For the “Sphere Limit” and “Form Limit” menus, the screen is switched in the same
order as that aforementioned.
“Top Display – Sphere Limit”
3-15
“Top Display – Form Limit”
↓
“Side Display – Sphere Limit”
“Side Display – Form Limit”
3-16
“Rear Display – Sphere Limit”
“Rear Display – Form Limit”
9 [Sphere Limit]
Press the f key “Tool sph.”
10 Enter the desired "Tool sphere No."

11 [Form Limit]
Press the f key “Tool sph.”.
>> Every time this key is pressed, the number will be changed.
→ →
12 Press the f key “Terminate”.

>> The Graphic Display will be closed to return to the “Range setting” screen.
3-17
Table 3.2.5 Items to be set on Sphere and Form Limit Setting Screen
Parameter Function
Used to specify the radius of sphere.
If “0.0” is specified to the radius, the sphere concerned will be disabled.
Radius Furthermore, if “0.0” is specified to the radii of all the 20 spheres, this function
Sphere for the tool concerned will be disabled.
Default value: (Sphere 1) 5000.0 / (Spheres 2 to 20) 0.0
Used to specify a distance from the flange.
Center
Default value: 0.0
Used to specify the installation angle of the rectangular for the flange surface.
The rotation is executed around the center line of the flange after calculating the
Rotation R offset.
Input range: -180.0 to 180.0
Default value: 0.0
Used to specify the width of rectangular.
Form (Rectangular)
If “0.0” is specified to all of the width, thickness, and height, the rectangular
Width W
concerned will be disabled.
Default value: 0.0
Used to specify the thickness of rectangular.
Thickness T
Default value: 0.0
Used to specify the height of rectangular.
Height H
Default value: 0.0
Used to specify a distance from the flange.
Offset
Default value: 0.0
Graphic display Sphere and form settings can be confirmed on the graphic display.
The graphic display enables switching of screens Top  Side  Rear.
Furthermore, the graphic display screen for tool form is used to confirm how the
tool limit is set to the flange surface. In this connection, even if the robot moves,
the tool limit will not cause displacement.
Cursor control on graphic display screen for tool limit

POINT The cursor control on the graphic display screen for tool limit is exercised in the same
manner on that for range setting.
Form setting
Concerning the form definition, there is a limitation like the following;
When a rectangular is defiined:

POINT Sphere can be defined up to 12 at maximum.
When a rectangular is not defiined:

Sphere can be defined up to 20 at maximum.
3-18
Radius
Center
Used to make setting of
distance from the center of
the flange surface.
Fig. 3.2.5 Sphere Setting
Width
Height
Offset
Used to make setting of Thickness
distance from the center of
the flange surface.
Fig. 3.2.6 Form Limit Setting (Rectangular)
3-19
3.2.5 Arm limit setting

By setting this screen, it becomes possible to regulate the arm of the robot going outside of the
limit area. This setting is finished when shipping. it is not necessary to setup this screen by
customer.
1 Open <Constant Setting> - [3 Machine constants] [33 Virtual safety fence] [3
Arm Limit setting] menu.
Table 3.2.6 Items to be set on "Arm Limit Setting" Screen

Parameter Function
Radius Used to make setting of the radius of all axes.
Default value: 0.0
Start (X,Y,Z) Used to define the start point of the arm. (Based on the robot coordinate system)
Default value: 0.0
End (X,Y,Z) Used to define the end point of the arm. (Based on the robot coordinate system)
Default value: 0.0
Axis Designate the axis number that the arm will synchronize.
J3 J6
Length Length
Radius Radius Radius
Length J2
Radius
J1
Length
Fig. 3.2.7 Arm Limit Setting
3-20
(Reference) Robot coordinate system (Machine coordinate system)
+Z
Robot coordinate
system origin
+X +Y
(Reference) Start point and end point for an arm (example)

Please set the parameters based on the robot coordinate system origin. And, in this case, the robot posture
should be the “Machine reference posture” in which the all axes are set to the reference position.
Radius X Y Z X Y Z axis
(x,y,z) = (1200, 0, 2030)
(x,y,z) = (550, 0, 2030)
+Z
A cylinder like this is defined.
(Radius 150mm, length 650mm)
+X
Robot coordinate
system origin
3-21
3.2.6 Other settings

Used to make settings of a variety of conditions for movement range limit of the virtual safety
fence.
1 Open <Constant Setting> - [3 Machine constants] [33 Virtual safety fence] [4
Other settings] menu.
Table 3.2.7 Items to be set on Other Settings Screen

Parameter Function
Length margin for Used to make setting of tool length that determines the limit area drawing range.
drawing The sum of a maximum of absolute value of the limit range set and this margin
is taken as the drawing range of the limit area, which will be displayed on the
graphic display screen.
Default value: 0.0
Buzzer limit distance Used to make setting of distance at which the buzzer sounds.
While in TEACH mode, when a limit object comes close to the limit range, the
buzzer of the teach pendant will keep sounding.
Default value: 0.0
Buzzer limit distance

An area covering from the set limit range to the specified buzzer limit distance is taken
as the buzzer detection area.
POINT
If the TCP position, the coordinates of the arm, and the form are located within this
area, the buzzer will keep sounding.
If “0.0” is set to the buzzer limit distance, the buzzer detection will be disabled.
3-22
3.2.7 “VSF approach area” output signal

Used to make setting of signals to be output when the “VSF” is enabled and the robot is located
in the virtual safety fence.
1 Open <Constant Setting> [6 Signal attributes] [3 Output signal assignment] [1

Standard Outputs].
>> The Menu screen shown below will appear.
2 Put the cursor on the “VSF approach area” output signal, enter any signal
number, and then press the “ENTER” key.
3-23
3.2.8 Setting example of the limit line

The following section shows a typical limit line setting.
1 Make setting of movement area of the robot so that it will move in a circular
pattern.
2 Make setting so as to limit the robot movement to the front and the side.
3 Make setting of further limit area to the movement area.

Movement area
Limit area
3-24
3.2.9 Creation of data file

The setting content of the Virtual Safety Fence function is stored to the VSF file (AC**VSF.CON).
When a VSF file (AC**VSF.CON) is copied from an external memory media to the internal
memory of this robot controller, the main power must be turned OFF and ON again.
(NOTE) No file transfer by FTP is enabled.
3.2.10 Convenient shortcut

Entering the shortcut code (R710) makes it possible to display the Virtual Safety Fence Menu
screen.
However, this function is available only in TEACH mode.
Entering the shortcut code (R711) makes it possible to use the graphic display even during
playback, thus enabling confirmation of robot movement in the movement limit area in real time.
However, no data settings or set values can be confirmed.
3-25
3.3 List of Error Codes
3.3 List of Error Codes

The following section shows the list of error codes of the virtual safety fence.
No. 1170
Message Command position pass across the limit line.
Occurrence timing When any of the sphere, form, and arm limits come close to the movement limit area.
Possible causes The sphere defined on the tool pass across the border of limit area.
Countermeasures Move the robot to out of the limit area by manual in constant, machine constant.
No. 1171
Message Current position pass across the limit line.
Occurrence timing When any of the sphere, form, and arm limits is about to go beyond the movement
limit area.
Possible causes The sphere defined on the tool pass across the border of limit area.
Countermeasures Move the robot to out of the limit area by manual in constant, machine constant.
3-26
3.4 Setting when a slider unit is used

When a robot is installed on a slider (traverse unit), it is necessary to setup the “Mechanism relation” and the
“Installation angle” correctly. Please be sure that when not correct, the TCP position check cannot executed
normally.
3.4.1 Mechanism relation
<Constant Setting> - [12 Format and Configuration] [9 Mechanism relation]
Place the robot (M1) on the slider (M2). Place the slider (M2) on the “Ground”.
M1 : Robot
M2: Slider
Ground
3-27
3.4.2 Installation angle (Example1)
<Constant Setting> - [12 Format and Configuration] [5 Installation Angle]
Robot side (Initial setting) Slider side (Initial setting)
In this initial setting, the relationship between the robot and the slider will be like the following picture.
- The slider moves as Y axis direction linear joint. If the world coordinate system
is selected in the manipulator
(M1), the values for the
XYZRPY are displayed based
on the world coordinate
system.
Slider position
Slider position
-Y
+X
+Y
Slider position
3-28
3.4.3 Installation posture (Example2)

An example in which the robot is rotated along Z axis (-90deg) and the slider is rotated along Z axis (+90deg) is
shown as below. Please be sure that the slider rotates against the ground and the robot rotates against the parent
mechanism (slider).
<Constant Setting> - [12 Format and Configuration] [5 Installation Angle]
Robot side setting Slider side setting
In this case, the relationship between the robot and the slider will be like the following picture.
- The slider moves as X axis direction linear joint.

- Because the robot rotates on the slider, its direction is like the following picture.
Slider position
Slider position
-X
-Y
+Y
+X
Slider position
3-29
NOTE
3-30
Chapter 4 Monitoring Unit Settings
This chapter presents the steps taken to establish the initial settings for the
controller of the RMU.
4.1 Configuration flow of setting procedure ......................................................4-1

4.2 Setting of parameters .................................................................................4-4
4.2.1 Setting of mechanism parameters ........................................................4-5
4.2.2 Setting of axis parameters ....................................................................4-6
4.2.3 Tool parameters ....................................................................................4-8
4.2.4 Setting of stop parameters ....................................................................4-9
4.2.5 Setting of signal parameters ...............................................................4-10
4.2.6 Setting the logical operation parameters.............................................4-12
4.2.7 Setting the Safety network parameters (RMU20-30) ..........................4-14
4.2.8 Setting the Safety network parameters (RMU20-40) ..........................4-15
4.3 Confirmation of parameters ......................................................................4-16
4.3.1 Conformation of mechanism parameters ............................................4-17
4.3.2 Conformation of axis parameters ........................................................4-19
4.3.3 Conformation of tool parameters.........................................................4-21
4.3.4 Conformation of area parameters .......................................................4-22
4.3.5 Conformation of limit parameters ........................................................4-24
4.3.6 Conformation of stop parameters........................................................4-26
4.3.7 Conformation of signal parameters .....................................................4-27
4.3.8 Confirmation of Logic parameters .......................................................4-29
4.3.9 Confirmation of Safety network parameter (RMU20-30) .....................4-30
4.3.10 Confirmation of Safety network parameter (RMU20-40) ...................4-31
4.4 Approval....................................................................................................4-32
4.4.1 Approval procedure.............................................................................4-32
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
EXPERT or SPECIALIST operator class is necessary for the operation of this chapter.
POINT For the detail of operator class, please refer to the instruction manual “SETUP”, “Chapter
4: Set up”.
4.1Configuration flow of setting procedure
4.1 Configuration flow of setting procedure

This section describes the initial settings for the RMU.
The parameters required for monitoring the operating ranges, angles and speeds are stored inside the RMU.
So parameters must be set for both robot controller and RMU.
All settings have been completed for the RMU when shipped.
When shipped, safety fence parameter is defined at the area that exists outside the robot
standard operating range.
So, after installation of the robot, the safety fence parameter must be set depending on the
IMPORTANT operating status of the robot,
The setting operations in this chapter require an operator class of EXPERT or

POINT SPECIALIST. For details of the operator class, please refer to the chapter 4 of the
instruction manual "SETUP".
In advance of RMU setting

If a new RMU is connected to the robot controller, it is necessary to enable the setting for the concerned RMU.
If the RMU itself is not enabled, the parameter setting menu for the RMU is not displayed.
For details, refer to “2.9 Enabling RMU”.
(In case of the FD controller)

If the RMU has already been connected to the FD controller when shipping from our factory,
POINT The RMU setting is enabled.
(In case of the CFD controller)
When shipping from out factory, the RMU is disabled.
To use the RMU, enable the RMU after connecting it to the CFD controller.
In the following cases, you will need to set up the RMU.
(1) When the RMU (Robot monitoring unit) has been replaced.
(2) When Memory format (initialization), Backup-restore, Constant file copy operation etc. are executed.
(This includes cases that CPU board or system CF is replaced and backup-restore is executed)
(3) When RMU related settings (e.g. tool constants, software limit settings, etc.) are changed
(4) When the encoder or the motor is replaced
If these works were executed, please perform the works of (1) or (2).
1. (RMU related) Parameter settings (writing), confirmation, and approval

2. (RMU related) Parameter confirmation and approval
○：necessary －：not necessary

Content of work Example Setting Confirmation Approval
(1) RMU was replaced Replacement of RMU ○ ○ ○
(2) Format (memory initialization) - CPU board replacement ○ ○ ○
Backup-restore - System CF replacement
Copy of Constant file - Memory format (initialization)
- Backupfile restore operation
- VSF file copy
(3) Modification of settings that is - Tool constant modification － ○ ○
related to RMU - Software limit modification
- Encoder correction
- VSF setting modification
(4) Encoder (Motor) replacement - Encoder reset － ○ ○
4-1
<1> In case that the RMU has been replaced or the data was initialized
When the RMU is replaced, or backup-restore is executed, perform the settings in the following sequence.
When the power is turned on, "E1107 Robot monitoring unit is not approved" will occur. But this is normal.
In that case, perform the following steps.
1 Setting of parameters
4.2Setting of
parameters
Set the parameter for the RMU.
2 Confirmation of parameters
Confirm the parameters which have been set.
4.3Confirmation of Please make sure the parameter values are changed correctly
parameters in the confirmation screen of the parameter. If the parameter is
not set correctly, the robot does not work in the intended
DANGER function will be death or serious injury accidents.
3 Approval (*)
4.4Approval
Confirm that the monitoring unit parameters and robot controller parameters
are the same. Robot can not be operated without approval.
Power OFF and ON 4 Turn OFF and ON the power of the robot controller.
(*) At first visually check that these parameters are the same between the RMU and the controller by referring
to "4.3Confirmation of parameters". Next perform “Approval” procedure (This means that the setting is correct).
If this approval procedure is not finished, robot can not be operated.
4-2
<2> Parameters related to the RMU has been changed

When parameters listed below are set, these parameters are also set to the RMU.
Table 4-1 Settings related to the RMU

No. Settings related to the RMU
1 <Constants> - [2 machine constants ] - [1 Tool constants ]
2 <Constants> - [2 machine constants ] - [3 Axis constants ]
3 <Constants> - [2 machine constants ] - [4 Encoder correction ]
4 <Constants> - [2 machine constants ] - [5 Soft limit ]
5 <Constants> - [2 machine constants ] - [11 Motor and encoder ]
6 <Constants> - [2 machine constants ] - [15 Manipulator ]
7 <Constants> - [2 machine constants ] - [33 Virtual Safety Fence Function ] all setting under were
8 <Constants> - [2 machine constants ] - [34 Robot monitoring unit ] all setting except [1 setting]
The following message is displayed when the above-mentioned settings related to RMU has been changed.
But, this is normal.
If these settings have been modified, perform an approval procedure for the RMU according to the following
steps.
1 Confirmation of parameters
Confirm the parameters which have been set.
4.3Confirmation of Please make sure the parameter values are changed correctly
parameters in the confirmation screen of the parameter. If the parameter is
not set correctly, the robot does not work in the intended
DANGER function will be death or serious injury accidents.
2 Approval (*)
4.4Approval
Confirm that the monitoring unit parameters and robot controller parameters
are the same. Robot can not be operated without aprroval.
Power OFF and ON 3 Turn OFF and ON the power of the robot controller.
(*) At first visually check that these parameters are the same between the RMU and the controller by referring
to "4.3Confirmation of parameters". Next perform “Approval” procedure (This means that the setting is correct).
If this approval procedure is not finished, robot can not be operated.
4-3
4.2Setting of parameters
4.2 Setting of parameters

If the RMU has been replaced or backup-restore operation has been executed, setting screen that is listed
below shall be opened and perform writing operation.
If the RMU had been replaced or backup-restore operation had

been executed, perform writing operation even if there are no
IMPORTANT modified parameters.
Table 4-2 Settings must be re-written when the RMU has been replaced
No. Settings related to the RMU
1 <Constants> - [2 machine constants ] - [1 Tool constants ]
2 <Constants> - [2 machine constants ] - [33 Virtual Safety Fence Function ] all setting under were
3 <Constants> - [2 machine constants ] - [34 Robot monitoring unit ] all setting except [1 setting]
As for the tool constants, refer to the instruction manual "SETUP", “Chapter 4 Set up“
As for the Virtual Safety Fence Function, refer to the instruction manual 尾 fRMU"Advanced Operations",
“Chapter 2 Virtual Safety Fence “.
The following message is displayed when the above-mentioned settings related to RMU has been changed.
But, this is normal.
When this message is displayed, perform the confirmation and certifying procedure.
This chapter describes how to configure parameters of the RMU.
Do not turn off the controller power during the message of "now writing" is displayed
when writing operation. Data in the RMU will be broken.
CAUTION
4-4
4.2.1 Setting of mechanism parameters
1 Open <Constant Setting> - [3 machine constants] – [34 Robot monitoring

unit] – [1 Setting] – [1 Mechanism parameters].
The following screen will be displayed.
2 Set the required parameters with reference to the following table.

If there is no parameter to be updated, following operation is necessary.

3 After setting, press f12 <Complete>.

When setting is done correctly, following message is displayed. But this is normal.
After closing this message with [R] key, perform the confirmation operation.
Table 4-3 Mechanism parameters

Default
Parameter Function
value
TCP stop watch limit This is the error detection distance (mm) of the “Stop monitoring”. 10
TCP speed level (H)1 5000
TCP speed level (H)2 This is the error detection speed (mm/sec.) in AUTO mode of the “TCP 0
TCP speed level (H)3 speed monitoring”. 0
TCP speed level (H)4 0
Distance of tool watch This is the error detection distance (mm) of “Tool number monitoring”. 50
"-" : These parameters differ from the robot.
Operator class of SPECIALIST is necessary to change these parameters.
4-5
4.2.2 Setting of axis parameters

1 Open <Constant Setting> - [3 machine constants] – [34 Robot monitoring unit] –
[1 Setting] – [2 Axis parameters].
>> The following screen will be displayed.



>> When setting is done correctly, following message is displayed. But this is normal.
4-6
Table 4-4 Axis parameters

Default
Parameter Function
value
Connection This is the setting whether connect to the RMU or not connected to the －
RMU doe each axis. (Connect=0)
This parameter is necessary for “axis separation function”.
For more information, see "4.5Setting of disconnection”.

Stop watch limit This is the error detection difference (pulse) of current position when stop －
monitoring input. This parameter is set at the factory.
Speed limit This is the ratio of abnormal speed (rpm) in high speed. －
1-4 This parameter is set at the factory.
Upper Zone limit Set the upper limit of the Zone limit (deg or mm)
1-4 When <Get origin> is pressed, the present position is set.
Lower Zone limit Set the lower limit of the Zone limit (deg or mm)
1-4 When < Get origin > is pressed, the present position is set.
Operator class of SPECIALIST is necessary to change these parameters.
4-7
4.2.3 Tool parameters

[1 Setting] – [3 Tool parameters].



Table 4-5 Axis parameters

Default
Parameter Function
value
Tool posture watch The reference posture and the allowable range of the tool posture watch -
r,p,y, theta function. The unit is [deg.
1-4 When <Get origin> is pressed, the present position is set.
Operator class of SPECIALIST is necessary to change this parameter.
4-8
4.2.4 Setting of stop parameters

[1 Setting] – [6 Stop parameters].



Table 4-6 Stop parameters

Default
Parameter Function
value
Free running time This is the free running time (sec) of the robot to stop. －
This parameter is set at the factory.
Operator class SPECIALIST is necessary to change this parameter.
This value varies due to the robot type.
Braking This is to define the deceleration rate (pulse/ms2) for each joint. －
deceleration This parameter is set at the factory.
Operator class SPECIALIST is necessary to change this parameter.
This value varies due to the robot type.
When both ” Free running time” and “Braking deceleration” is se to “0.00”, this utility (stop
monitoring in area) is disabled.
CAUTION
4-9
4.2.5 Setting of signal parameters

1 Open <Constants> - [2 machine constants] – [29 Robot monitoring unit] – [1
Setting] – [7 Signal parameters].
2 Set the required parameters with reference to the "Table 4-6 Signal
parameters".


4-10
Table 4-6 Signal parameters

Default
Parameter Function
value
Tool number watch Enable / Disable the Tool number watch function. Disabled
Teach protect stop Enable / Disable the protective stop function in the Teach mode. Disabled
H-teach (safety plug) Enable / Disable the safety plug condition in the High-speed teach mode. Enabled
Logic condition Enable / Disable the MOTORS ON condition of the logical operation function. Enabled
Tool number watch sig. This is to set the input signal number of Tool number watch signal. 101
Stop watch signal This is to set the input signal number of Stopping watch signal. 0
Robot select sig. This is to set the input signal number of Robot selection signal. 0
TCP Speed watch signal 1 – 4 This is to set the input signal number of TCP speed monitoring in playback. 0
AXES speed watch signal 1 -4 This is to set the input signal number of AXES speed monitoring in playback. 0
Zone limit sig. 1 – 4 This is to set the input signal number of Zone limit signal in playback. 0
Tool posture watch sig. 1 - 4 This is to set the input signal number of Tool posture watch sig. 0
Tool number input sig. 1 - 5 This is to set the input signal number of Tool number input signal. 1,2,3,4,5
Network logic condition Enabled
Network Emg.Stop sig. 0
Network safety plug sig. 0
Network Prot. stop sig. 0

These items are displayed in case of RMU20-30 or RMU20-40.
Network Ext.enable sig. See "5.2.2 Assignment of the network I/O signals". 0
Network remote sig. 0
Network Ext.teach sig. 0
Network Ext.playback sig. 0
Network Ext.H-teach sig. 0
(Supplement)
- To change the parameter of "Tool number watch", EXPERT or higher operator class is necessary.
For the other parameters, SPECIALIST is necessary
- For the signals, "General safety input" (1-5) or "Safety network input signals" (101-164) can be used.
The "Safety network input signals" are available only in case of the RMU20-30 or the RMU20-40.
4-11
4.2.6 Setting the logical operation parameters

Setting] – [8 Logic parameters].
General safety output 1
Operator class SPECIALIST is necessary to change these parameters.

2 Select the logic operation relay and to be set and then set the logic parameters.
Blank or NOT
can be
Item can be
selected.
selected
Group can be selected.

AND or OR can be
Safety in.relay set.
Safety out.relay
Internal relay
The above setting example is as follows;

General safety output 1 = Internal relay (Teach mode) AND Internal relay (Inside Part#2)
OR Inside safe stop
General safety output 2 = Safety input relay (Robot E.STOP)
General safety output 3 = Safety input relay (Robot E.STOP)
If the RMU was replaced, press the "Complete" key even if there are no changed
parameters.
IMPORTANT
4-12

For details of the logical operation relays, see "2.7 Logical operation output function".
(Supplement)
In case of RMU20-30 or RMU20-40, the Safety network output signals (N1-N64) are also available.
4-13
4.2.7 Setting the Safety network parameters (RMU20-30)

This screen is displayed only for RMU20-30.
1 Open <Constant Setting> - [3 Machine constants] – [34 Robot monitoring

unit] – [1 Setting] – [9 Safety network parameters].
2 Set the required parameters with reference to the Table 4-8.

parameters.
IMPORTANT

>> When setting is done correctly, following message is displayed. But this is
normal. After closing this message with [R] key, perform the confirmation
operation.
Table 4-8 Setting items for the safety network parameters

Parameter Description Default
Safety This is a Disable/Disable switch for the safety network function.
Disabled
inputs/outputs To use this function, select "Enabled".
IP Address This is the IP address that is used for the EtherNet/IP Safety. 0.0.0.0
Subnet mask This is the Subnet mask that is used for the EtherNet/IP Safety. 0.0.0.0
Default gateway This is the Default gateway that is used for the EtherNet/IP Safety. 0.0.0.0
Input bytes Set the input size of the I/O in bytes. 0
Output bytes Set the output size of the I/O in bytes. 0
4-14
4.2.8 Setting the Safety network parameters (RMU20-40)

unit] – [1 Setting] – [9 Safety network parameters].
2 Set the required parameters with reference to the Table 4-9.
parameters.
IMPORTANT

>> When setting is done correctly, following message is displayed. But this is
normal. After closing this message with [R] key, perform the confirmation
operation.
Table 4-9 Setting items for the safety network parameters

Parameter Description Default
Safety This is a Disable/Disable switch for the safety network function.
Disabled
inputs/outputs To use this function, select "Enabled".
Input bytes Set the input size of the I/O in bytes. (This is fixed to 8) 8
Output bytes Set the output size of the I/O in bytes. (This is fixed to 8) 8
F Destination Set the address of the RMU that is used for the PROFIsafe.
address The “F Destination address” is a parameter to identify the device on the
PROFISafe network and must be set separately from the IP address that 200
is used for the PROFINET. The identical address cannot be set in the
identical network.
4-15
4.3Confirmation of parameters
4.3 Confirmation of parameters

It is necessary to confirm parameters stored in the RMU by teach pendant.
Prior to this procedure, prepare the memo of modified parameters or prepare the print of
all backup parameters in order to check them visually.
CAUTION
Text data file of the RMU parameters can be created in <Service Utilities> - [5 Printer].
IMPORTANT
How to confirm parameters is explained in this section.

Confirmation].
>> If the setting has not been finished, a following screen will be displayed.
In a case like this, please execute [Complete] operation in the respective menu
screens in advance of opening this "Confirmation" menu.
POINT This pop-up message window will show up when trying to enter the "Confirmation" menu
without completing the setting operation after the following operations;
- Format (Initialization of the internal memory)

- Backup restore operation
- File Copy operation to the internal memory
- Replacement of the Robot Monitoring Unit (RMU).
4-16
4.3.1 Conformation of mechanism parameters

1 Open <Constant Setting> - [3 Machine constants] – [34 Robot monitoring unit] –
[2 Confirmation] – [1 Mechanism parameters].
2 Press <Page scroll> key.

>> All parameters are displayed on their order. If there are plural mechanisms, their
parameters are displayed continuously.
3 Check all parameters.

When all parameters are correct, press <OK> key.
If wrong parameters are displayed, please try to perform the writing procedure.
If some of them were incorrect even after writing procedure, the RMU may
malfunction. Please consult with each NACHI-FUJIKOSHI service office.
4-17
Table 4-10 Mechanism parameters

Parameter Function
TCP stop watch limit TCP position abnormal deviation (mm) when stop monitoring is input
TCP speed level (H) TCP abnormal speed (mm/sec) in high speed
1-4
Distance of tool watch TCP position abnormal deviation (mm) when verifying the tool
Arm length One of the mechanism parameter to define the arm length
Setting angle One of the mechanism parameter to define the arm angle
Offset length One of the mechanism parameter to define the arm length
Offset angle One of the mechanism parameter to define the arm angle
Machine type 1 Parameter to classify the mechanism type
Wrist type Parameter to classify the wrist type
Total axes Quantity of axis of the mechanism
Installed angle Parameter to define the angle that mechanism is installed
Amp No. Amplifier number to which the mechanism is connected
Start axis Starting axis number in amplifier to which the mechanism is connected
Parent Mech Parent mechanism number to which the mechanism is connected
Tool weight Parameter to define the tool weight
Control type Mode parameter of the RMU
Amp setting
Amp assignment
4-18
4.3.2 Conformation of axis parameters

[2 Confirmation] – [2 Axis parameters].


4-19
Table 4-11 Axes parameters

Parameter Function
Link coef. 1 Unique parameter due to the robot type
Pulse constant Needed encoder pulse to move specified angle for each joint
Joint pattern Parameter to define the moving construction for each joint
Axis constant Encoder data of zero degree position for each axis
Encoder offset Encoder offset parameter
Lower soft limit Software limit of lower side
Upper soft limit Software limit of upper side
Encoder type Parameter to define the encoder type
Radians/pulse Parameter to define the pulse count per one rotation of encoder
Std.pos.Enc Encoder data of reference position for each axis
Std.Pos.Angle Angle of reference position for each axis
Connection Parameter to connect or not to connect to the RMU (0=connect)
No. of poles Parameter to define the number of motor poles
Elec.Ang.Offset Parameter to define the electric angle offset
Stop watch limit Position abnormal deviation (pulse) when stop monitoring is input
Speed limit 1-4 Abnormal speed ratio (rpm) in high speed
Upper Zone limit 1-4 Upper limit of the Zone limit (deg or mm)
Lower Zone limit 1-4 Lower limit of the Zone limit (deg or mm)
4-20
4.3.3 Conformation of tool parameters

1 Open <Constants> - [3 Machine constants] – [34 Robot monitoring unit] – [2
Confirmation] – [3 Tool parameters].
2 Check all parameters. (ToolLength and Tool posture watch)

Table 4-9 Tool parameters

Parameter Function
Length xyz TCP position (mm)
1-32
Tool posture watch Parameters for Tool posture watch function(deg)
r,p,y, theta
1-4
4-21
4.3.4 Conformation of area parameters

Confirmation] – [4 Area parameters].
2 Press <Area Change> key.

>> Parameters are displayed on their order.
3 Check all parameters for operation area.

4 Press <Area Change> key.

4-22
5 Check all parameters for interference area.

Change the page until desired page is displayed.
Table 4-13 Area parameters

Parameter Function
Fence range Outside the area defined by maximum of 8 lines (from the center of the robot) is the
Line 1 to 8 restricted area.
Fence range Parameter to define the height of Fence range. This is the upper limit.
Z range upper
Fence range Parameter to define the height of Fence range. This is the lower limit.
Z range lower
Exit permit signal This is a signal that is required to be ON when the robot is trying to go outside of the
range
Part. range Inside the area defined by maximum of 4 lines (from the center of the robot) is the
Line 1 to 4 restricted area.
Up to 8 Part.range can be defined.
Part. range Parameter to define the height of Part.range. This is the upper limit.
Z range upper
Part. range Parameter to define the height of Part.range. This is the lower limit.
Z range lower
Entry permit signal This is a signal that is required to be ON when the robot enters the range
4-23
4.3.5 Conformation of limit parameters

Confirmation] – [5 Limit parameters].
2 Press <Tool> key.

>> Parameters are displayed on their order.
3 Check all parameters for tool limit data.

4 Press <Limit Change> key.

5 Check all parameters for arm limit data.

4-24
Table 4-14 Limit parameters

Parameter Function
Sphere 1 to 20 Parameter to define the size of sphere that means the tool area
Radius
Sphere 1 to 20 Parameter to define the center position of sphere that means the tool area
Center
Joint Joint number with which robot arm synchronizes
Cylinder 1to 10 Parameter to define the size of cylinder that means the robot arm area
Radius
Cylinder 1to 10 Parameter to define the starting position of cylinder that means the robot arm area
Start xyz
Cylinder 1to 10 Parameter to define the ending position of cylinder that means the robot arm area
End xyz
4-25
4.3.6 Conformation of stop parameters

[2 Confirmation] – [6 Stop parameters].

Table 4-15 Stop parameters

Parameter Function
Free running time Parameter to define the free running time (sec) of the robot to stop.
Braking deceleration Parameter to define the deceleration rate (pulse/ms2) for each joint.
4-26
4.3.7 Conformation of signal parameters

[2 Confirmation] – [7 Signal parameters].

4-27
Table 4-16 Signal parameters

Parameter Function
Tool number watch Enable / Disable the Tool number watch function.
Teach protect stop Enable / Disable the protective stop function in the Teach mode.
H-teach (safety plug) Enable / Disable the safety plug condition in the High-speed teach mode.
Logic condition Enable / Disable the MOTORS ON condition of the logical operation function.
Tool number watch sig. This is to set the input signal number of Tool number watch signal.
Stop watch signal This is to set the input signal number of Stopping watch signal.
Robot select sig. This is to set the input signal number of Robot selection signal.
TCP Speed watch signal 1 – 4 This is to set the input signal number of TCP speed monitoring in playback.
AXES speed watch signal 1 -4 This is to set the input signal number of AXES speed monitoring in playback.
Zone limit sig. 1 – 4 This is to set the input signal number of Zone limit signal in playback.
Tool posture watch sig. 1 - 4 This is to set the input signal number of Tool posture watch sig.
Tool number input sig. 1 - 5 This is to set the input signal number of Tool number input signal.
Network logic condition
Network Emg.Stop sig.
Network safety plug sig.
Network Prot. stop sig.

These items are displayed in case of RMU20-30 or RMU20-40.
Network Ext.enable sig. See "5.2.2 Assignment of the network I/O signals".
Network remote sig.
Network Ext.teach sig.
Network Ext.playback sig.
Network Ext.H-teach sig.
4-28
4.3.8 Confirmation of Logic parameters

[2 Confirmation] – [8 Logic parameters].

4-29
4.3.9 Confirmation of Safety network parameter (RMU20-30)


[2 Confirmation] – [9 Safety network parameters].

4-30
4.3.10 Confirmation of Safety network parameter (RMU20-40)


[2 Confirmation] – [9 Safety network parameters].

4-31
4.4Approval
4.4 Approval
After the parameters stored in the RMU are confirmed same as those stored in the controller, "Approval"
procedure is necessary. This procedure is to finish the confirmation of parameters stored in the RMU, and to
read the RMU ID and controller ID number, and to enable the function of the RMU.
Robot can not be operated without approval.

How to perform approval is explained in this section.
4.4.1 Approval procedure

unit] – [3 Approval].
>> When conformation of all parameter is completed, following screen will be
displayed.
RMU ID number is 0. This means approval is not completed.
>> When confirmation of some parameters is not completed, following screen will
be displayed. Item of which confirmation is not completed is displayed.
In this case, open [2 Confirmation] and perform confirmation of which confirmation
is not completed before certifying.
4-32
4.4Approval
2 Press <Execute> key.

>> Dialog to request the password is displayed at the bottom of screen.
3 Press the password [7] [1] [0] and [Enter] key.

>>The following message will be displayed.
>> The following screen will be displayed. Now controller ID and RMU ID become
the same. Approval is completed.
4 After closing the screen with [R] key on the teach pendant, reset the error. To
make the error reset operation, press [R] key 2 times.
>>When the error message "E1107 Robot monitoring unit is not approved."
disappears and "OK" is displayed, the reset work is completed.
4-33
4.4Approval
4.4.2 Robot Monitoring Unit simple approval operation

By using this operation, it is possible to complete the all operations of setting, confirmation, and approval
altogether. This operation is available in the system software version FDV4.14 or after.
0 Change the operator class to EXPERT or higher.
1 Open the <Constant setting> [3 Machine constant] [34 Robot Monitoring Unit].
2 Press <f8> key.

The finished item is

displayed with a check
mark.
If the approval is finished,

this software-key cannot
be used.
3 Press the <Execute>.

The setting operation for the items that have not been set will be executed
automatically.
4-34
4.4Approval
4 After the setting operation is finished, proceed with the confirmation operation.
>>A screen like the following will be displayed.

(NOTE) The unfinished screens will appear one after another. Check the parameters
in the same way and press <OK> respectively.
6 After the confirmation operation is finished, proceed with the approval

operation.
>>A screen like the following will be displayed.
7 Input the password to finish the approval.

>> The following screen will be displayed. Now controller ID and RMU ID become the
same. Approval is completed.
4-35
4.4Approval
8 Approval is completed.
4-36
4.5Setting of disconnection
4.5 Setting of disconnection

In case of “Axis disconnection utility” and or so, RMU will detect the encoder error because the specified axis
is physically disconnected. Therefore, monitoring function must be set to disabled for this specified axis before
utilizing these utility.
Concerning the axis that the "Connection" is set to "1"(=disconnection), the all of monitoring
function is disabled.
Therefore, pay utmost attention to operate the robot.
If the specified axis moves unexpectedly, coming into contact with or getting caught in the
DANGER robot will result in death or serious injury.
And, after using the "Axial separation" menu, do not forget to make the setting that was
changed here to the original setting. If this is forgotten, the robot may not work normally.
4.5.1 Setting of disconnection

1 SPECIALIST or higher operator class is necessary to change this parameter.

Setting] – [2 Axis parameters].
(NOTE) The parameters are displayed in the following order;
JT1 JT2 JT3
JT4 JT5 JT6
JT7 JT8
3 Align the cursor to the axis of [Connection] line which to be disconnected, and
enter [1]. Also check another axis is set to [0].
4-37
4.5Setting of disconnection

>> Following confirmation message will be displayed.
When disconnected axis is correct, press <OK>. Then setting will be started.
Close this message with [R] key.
Proceed with the certifying procedure.
5 If the connection setting is changed, turn OFF and ON the controller power.
4-38
4.6Menu list
4.6 Menu list

In this section, setting menu list is shown.
4.6.1 Operating range monitoring

Table 4-17 Settings for operating range monitoring
Setting menu Description Remark
<Constant Setting> [3 Machine constants] [1 Tool Tool length and tool angle can be set －
constants]
<Constant Setting > [3 Machine constants] [33 Virtual The virtual safety fence, the partial －
safety fence][1 Range setting] range, and the area selection signal
can be set.
<Constant Setting > [3 Machine constants] [33 Virtual The tool sphere and the tool form －
safety fence][2 Tool limit setting] can be set.
<Constant Setting > [3 Machine constants] [33 Virtual The arm form can be set. －
safety fence][3 Arm limit setting]
<Constant Setting > [3 Machine constants] [34 Robot The area stop parameters can be －
monitoring unit][1 Settings][6 Area Stop parameters] set.
4.6.2 Angle monitoring

Table 4-18 Settings for angle monitoring
<Constant Setting > [3 Machine constants] [5 Soft Software limit setting screen －
limit]
4.6.3 Speed monitoring

Table 4-19 Settings for speed monitoring
<Constant Setting > [3 Machine constants] [34 Robot "TCP speed level (H)" can be set. －
monitoring unit] [1 Settings] [1 Mechanism
parameters] "TCP speed level(H)"
<Constant Setting > [3 Machine constants] [34 Robot "Speed limit" can be set. －
monitoring unit] [1 Settings] [2 Axes parameters]
"Speed limit"
4.6.4 Stop monitoring

Table 4-20 Settings for stop monitoring
<Constant Setting > [3 Machine constants] [34 Robot Stopping watch width with TCP －
monitoring unit] [1 Settings] [1 Mechanism position can be set.
parameters] "TCP stop watch limit"
<Constant Setting > [3 Machine constants] [34 Robot Stopping watch width with axis angle －
monitoring unit] [1 Settings] [2 Axes parameters] can be set.
"Stop watch limit"
<Constant Setting > [3 Machine constants] [34 Robot A signal to turn ON/OFF the stopping －
monitoring unit] [1 Settings] [7 Signal parameters] watch function can be set.
"Stop watch signal"
4-39
4.6Menu list
4.6.5 Tool number monitoring

Table 4-21 Settings for tool number monitoring
<Constant Setting > [3 Machine constants] [34 Robot In "Tool watch" function, if the TCP －
monitoring unit] [1 Settings] [1 Mechanism moves in the distance of "Distance of
parameters] "Distance of tool watch" tool watch" after tool number
mismatch happens. Please set this
value here.
<Constant Setting > [3 Machine constants] [34 Robot Disable / Enable the tool number －
monitoring unit] [1 Settings] [7 Signal parameters] watching function.
"Tool watch"
4.6.6 Safety network parameters (RMU20-40)
Table 4-22 Settings for safety network parameters

<Constant setting> [8 Communication] [3 Fieldbus] The communication parameters for －
the PROFINET Slave are set here.
(Station name, IO size, etc.)
<Constant setting> [3 Machine constant] [34 Robot Enable or Disable the safety －
Monitoring Unit] [1 Settings] [9 Safety network inputs/outputs etc.
parameters]
4-40
Chapter 5 EtherNet/IP Safety network
This chapter presents the EtherNet/IP Safety network function.
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
5.1 Outline of the EtherNet/IP safety network function

This section describes the setting procedures for RMU20-30 that supports EtherNet/IP safety network function.
This function is available only in the RMU20-30.
Using the RMU20-30, it is possible to use the safety network based on EtherNet/IP Safety.
Using the safety network, for example, it is possible to input emergency stop signal etc. that require doubled
(redundant) wirings or safety relays etc. through only 1 network cable and reduce the amount of
connections/wirings.
The RMU20-30 works as an adopter for safety PLC like Rockwell GuardLogix etc.
When using the EtherNet/IP Safety communication function, please do not forget to turn
OFF and ON the power after changing the setting of the RMU and completing the approval
operation for the RMU even if there is no modification about the “Safety network
IMPORTANT parameters”. Because the communication will not start unless turning OFF/ON the power.
When using this EtherNet/IP communication function and the communication board
(FD11-OP171-B) together, it is possible to perform the safety communication and the
normal EtherNet/IP communication using only 1 LAN cable.
For this purpose, please make the connection like the following figure.
Robot controller
Safety
INFO.
PLC
RMU20-30 EtherNet/IP
board
LAN cable
5-1
5.2Setting for RMU
5.2 Setting for RMU
5.2.1 Safety network parameter

The RMU communication parameters are to be set using the teach pendant.
It is not possible to make the setting using a safety network setting utilities like RSLogix5000 etc.
The Safety network parameters can be set in the menu of <Constant settings> - [3 Machine constant] [34
Robot Monitoring Unit] [1 Settings] [9 Safety network parameters].
To set the Safety network parameters, open the menu of <Constant setting> - [3 Machine constant] [34 Robot
Monitoring Unit] [1 Settings] [9 Safety network parameters].
For details, refer to "4.2.6 Setting the Safety network parameters".
5.2.2 Assignment of the network I/O signals

In the I/O signal assignment screen, it is possible to assign the functions to the network signals.
The "Signal parameters" can be set in the menu of <Constant settings> - [3 Machine constant] [34 Robot
Monitoring Unit] [1 Settings] [7 Signal parameters].
(For details, refer to "4.2.4 Setting of signal parameters".)
In this section, the specific functions that use the network signals are explained.
Those functions can be assigned to the network signals in the following screen.

This is a software switch to decide if the "Motors ON condition" is included to the logical operation of the safety
network output signal or not. When "Enabled", the safety network output signal turns OFF if the "Motors ON
condition" is OFF.
Network emergency stop signal

If this signal is assigned, the emergency stop condition will be made while the assigned signal is OFF.
Therefore, to release the emergency stop of the robot controller, it is necessary to satisfy the all of the
following conditions.
1. The emergency stop button on the robot controller is released.
2. The emergency stop button on the teach pendant is released.
3. The external emergency stop signal is released. (or the terminals are jumpered)
4. The network emergency stop signal is ON.
If "0" is set, this function is disabled.
5-2
Network safety plug signal

By assigning this signal, it becomes possible to get the safety plug input signal from the safety network.
If this signal is assigned, this signal must be kept ON to playback the robot program.
Network protective stop signal

By assigning this signal, it becomes possible to get the protective stop input signal from the safety network.
While this signal is not ON, the Motors will not turn ON. However, only in TEACH mode, the protective stop
signal can be enabled/disabled using the setting item of "Teach protect stop".
(For details, refer to "4.2.4 Setting of signal parameters").
Network external enable signal

By assigning this signal, it becomes possible to get the external enable input signal from the safety network.
If this signal is not ON, the Motors cannot be turned ON in the TEACH mode.
Network remote mode signal

It is possible to change the robot controller's operation mode using the safety network signals.
The operation mode can be changed using the combination of the following signals.
"NetWork remote sig." (Network remote mode signal)

"NetWork Ext. teach sig." (Network external TEACH signal)
"NetWork Ext. playback sig." (Network external PLAYBACK signal)
"NetWork Ext. H-teach sig." (Network external High-speed TEACH signal)
If the "Network remote mode signal" is OFF, the mode selection switch on the robot controller becomes
"Enabled" and if the signal is ON, the mode selection using the safety network signals becomes "Enabled".
Concerning the signal combinations, refer to the Table 5.2-1
Table 5.2-1 The combinations of the remote mode selection using the network signals
Network external
Network remote Network external Network external
Hi-speed TEACH
mode signal TEACH signal PLAYBACK signal
signal
TEACH mode ON ON OFF OFF
PLAYBACK mode ON OFF ON OFF

Hi-speed TEACH
ON ON OFF ON
mode
Even if the mode is changed using the "Network remote mode signal", it is not possible to
turn ON the motor power if the teach pendant's "TP SELECTOR SWITCH" is not set to
CAUTION proper position.
5-3
5.3Settings for the safety PLC
5.3 Settings for the safety PLC

As an example of the Safety PLC setting, how to add a setting of RMU for the Rockwell Compact GuardLogix
L43S is shown hereinafter.
The procedures shown in this section are described mainly to change the settings.
Therefore, safety is not considered.
CAUTION After completing the settings, do not forget to check that the settings are correct.
5.3.1 Setting procedure
1 Run the "RSLogix5000".
2 Select the "Controller project" of the network to which the RMU is added.
- To create new one, select [New] in the [File] menu.

- If a communication module is not installed in the Bus of the "I/O Configuration", add a
communication module e.g. "1768 ENBT" etc.
3 Right click the [Tasks] -> [SafetyTask] of the "Controller Organizer", and then select the
[Properties].
>> The following screen will show up.
4 Select the "Configuration" tab and input the value of "Period".
- For "Period", set a value of 50ms or more.

- After the setting, press "OK".
5 Right-click a communication module in the "Controller Organizer" and select "New Module".
>>"Select Module Type" screen will be displayed.
5-4
6 Select "Generic EtherNet/IP Safety Module" in the "Select Module Type".
7 Make the setting of the Module.
- "Name" : Set a plain name.

- "Description" : Write descriptions freely.
- "IP address" : Set the IP address of the RMU.
8 Make the setting of network parameters. Press the "Change..." button.
- Set the following values.

Item Value
Vendor 441
Product Type 140
Product Code 1
Major revision 1
Minor revision 1
Electric Keying Exact Match
Input Data Safety
Output Data Safety
Data Format Integer-SINT
5-5
9 Make the setting of "IO Connection". Select the "Connection" tab.
- Set the following values.

Item Setting value
Safety Input Input Assembly Instance Set the value of "768 + (The value that is
set in the "Safety Input -> Size")
For example, is the Size is 8 bytes, input
776.
Output Assemble Instance 1024
Size Set the size of the input data.
Because this is the setting of the input for
the PLC, set the value of "Output bytes" of
the RMU.
Safety Output Input Assembly Instance 1024
Output Assemble Instance Set the value of "896 + (The value that is
set in the "Safety Output -> Size")
Size Set the size of the output data.
Because this is the setting of the output
from the PLC, set the value of "Input
bytes" of the RMU.
Configuration Assembly Instance 1024
- Press the "OK" button.
10 Select the "Safety" tab.

>> The following screen will show up.
- Set a value of 50ms or more for the " Safety Input → Requested Packet Interval (RPI)(ms)"
- Turn OFF the check box of "Configuration Signature"
- Press "OK" at last.
The minimum communication speed of the RMU is 50ms. However, depending on the
environment of the network (communication speed), there is a possibility in which the
RMU cannot respond in time. Setup the appropriate communication cycle of the network
IMPORTANT and perform the risk assessment for the setting in advance.
5-6
11 Press the button of "Close" in the screen of "Select Module Type"

>>The added module will be displayed in the "Controller Organizer".
12 Make a connection with the Safety PLC. Select "Who Active" from the "Communications"
menu.
>>The following screen will be displayed. Select the PLC and press "Go Online".
POINT If a message like "The project of the RSLogix500 and the Safety PLC does not
match" is displayed, please download the project to the Safety PLC.
13 Make the setting of the SNN (Safety Network Number). Right-click the added
"ETHERNET-SAFETYMODULE <Name>" and select the "Properties".
5-7
14 Select the "General" tab and press "..." button displayed on the right side of the "Safety
Network Number".
15 Press "Set" button.
If the settings are correct, the SNN (Safety Network Number) is set and the communication will
start.
If the "Set" button cannot be pressed, please check that the RMU is connected
POINT to the network.
And, if the Safety Network Number is already set, the same thing will occur. In
this case, reset the Safety Network Number if necessary. The reset operation
can be executed by pressing the "Reset Ownership" button in the "Safety" tab.
5-8
5.4Trouble shooting
5.4 Trouble shooting
5.4.1 Trouble shooting via the LEDs

In this Safety network function, the network status is displayed using the 4 LEDs (LED4, LED5, LED6, LED7)
on the UM374 board.
Those LEDs display the status with a set of 2. LED4 and LED5 show "Module status" and LED5 and LED6
show "Network status".
Table 5.4-1 L ED display

Status Module LED Network LED Remarks
Not initialized OFF OFF The power is not supplied or the network
initialization has not been finished yet.
If this occurs after the RMU setting change, turn

OFF the robot controller power and then turn
ON it again.
Waiting for the LED4 and 5 See Table 5.4-2 The SNN setting from the Safety PLC has not
setting of SNN flash one after been finished.
another
(Red and Green)
Waiting for the LED4 and 5 LED6 and 7 Waiting for the approval of SNN.
approval of flash one after flash quickly This occurs while the Safety PLC is setting the
SNN another (Red and Green) SNN.
(Red and Green)
Waiting for the LED4 flashing See Table 5.4-2 Waiting for the connection from the Safety PLC.
connection (Green)
Communicating LED4 ON LED6 ON Connected to the Safety PLC and the
(Green) (Green) communication is beging performed.
Fault LED5 flash See Table 5.4-2 This occurs when a connection was made from
or ON a safety PLC in which a different SNN is set.
(Red) Set the SNN from the Safety PLC.
Table 5.4-2 Network LED display

Status LED Remarks
OFFLINE OFF The power is not ON or in the condition of Offline.
ONLINE LED6 flashing Connected to the network. But the connection with the Safety PLC
(Not connected) (Green) is not established.
ONLINE LED6 ON The connection to the Safety PLC is established.
(Green)
Communication LED 7 flashing Connection (to the Safety PLC) has been timed out.
time out (Red) Check the condition of the communication line etc..
5.4.2 Error codes
No. E1116
Message Communication fault in the Safety network communication was detected.
Cause Communication fault in the Safety network communication was detected.
Remedy Please check if the network or the master device has no problem.
5-9
5.4Trouble shooting
NOTE
5-10
Chapter 6 PROFINET Safety network
function
This chapter presents the 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
6.1 Outline of the PROFINET safety network function

This section describes the setting procedures for RMU20-40 that supports PROFINET safety function. This
function is available only in the RMU20-40.
Using the RMU20-40, it is possible to use the safety network based on PROFINET Safety.
Using the safety network, for example, it is possible to input emergency stop signal etc. that require doubled
(redundant) wirings or safety relays etc. through only 1 network cable and reduce the amount of
connections/wirings.
In this PROFINET Safety function, this robot controller works as a Safety device (SLAVE) for the PLC.
To use this PROFINET Safety function in this controller, not only RMU20-40 but also PROFINET
communication modules (FD11-OP162-B,C,D) are necessary. Therefore, it is necessary to setup the
PROFINET communication module and the “Safety network parameters” for the PROFIsafe communication at
the same time.
6-1
6.2Setting for
6.2 Setting for PROFINET module
6.2.1 Fieldbus settings

Protocol settings
1 Open <Constant Setting> - [8 Communication] - [3 Fieldbus].
2 Align the cursor with the combo box of a channel which is going to use the
PROFINET safety, and press [Enter] key.
>>Select the [PROFINET Safety] using the cursor key and press [Enter] key.
3 Align the cursor with the "Slot ID" combo box, and press [Enter] key.
Select the Slot ID where PROFINET board is mounted and press [Enter] key.
>> The slot ID is required in order to check the position where the board has been
installed. Concerning the relationship between the slot position and the slot ID, refer to
the following picture.
1 2 3
Slot ID
6-2
4 Align the cursor with the edit box of the "module". Input the applicable module
number, and press [Enter] key.
>> The module” number is necessary to confirm the installed position on the
“FIELDBUS base board”.
[module ID]
1
2
Now proceed to set the PROFINET safety.
6-3
6.2Setting for
6.2.2 Setting for the PROFINET Safety

Channel settings
1 In [3 Fieldbus] screen, align the cursor with the channel where PROFINET safety
is selected and press <Refer>.
>> Following screen is displayed.
2 Set the respective parameters.
Item Description
Input the station name for the concerned node.
Use alphanumeric (small letter) for the station name. Symbols,
Station Name signs, or marks cannot be used. The length is 240 letters at
maximum. This station name is used to identify the device on
the network. Plural nodes that have the same station name can
not be set in one network.
Input the IP address for the concerned node.
IP Address IP address is used to identify the device on the network. Plural
nodes that have the same IP address can not be set in one
network.
Input the subnet mask for the concerned node. Subnet mask
are values to manage a network by dividing it into several sub
Subnet mask
network. In the same sub network, the all devices must have
the same setting values for this subnet mask.
Input the IP address of the Default gateway for the concerned
node.
Default gateway This setting may not be necessary if a router does not exist in
the network. Please consult with the network administrator and
set this parameter if necessary.
Set the INPUT BYTES from the Master device to this controller
(SLAVE device). 8 points are included in 1 byte. In this
INPUT BYTES
PROFINET Safety function, these standard signals can be used
with the safety signals at the same time.
Set the OUTPUT BYTES to the Master device from this
controller (SLAVE device). 8 points are included in 1 byte. In
OUTPUT BYTES
this PROFINET Safety function, these standard signals can be
used with the safety signals at the same time.
This is the size of the safety input signals that is received by this
Safety input bytes controller. 8 points are included in 1 byte. This parameter is
fixed to 8 bytes. This parameter cannot be changed.
This is the size of the safety output signals that are sent from
Safety output bytes this controller. 8 points are included in 1 byte. This parameter is
fixed to 8 bytes. This parameter cannot be changed.
6-4
Item Description
This is a setting to select whether to hold or clear the input from
the PROFINET under transmission error.
If CLEAR is selected, the condition of the signals will be cleared
AUTO CLEAR
when detection transmission error. If HOLD is selected, the
INPUTS
condition of the signals will be kept.
But please be sure that the safety signals are not affected by
this setting.
In the PROFINET, it is possible to change the setting values of this controller from the Master
device using the DCP (Discovery and Basic Configuration Protocol). If the setting values of
this controller have been changed unexpectedly, please check the setting of the Master
IMPORTANT device.
Do not change the settings of this controller from the external devices when the robot and its
peripheral devices etc. are running. Because the settings are changed while the robot is
running, unexpected and dangerous accidents may occur due to the change of the I/O
IMPORTANT conditions.
3 After finishing the settings, press <OK>.

>>The screen will return to [3 Fieldbus].
4 Press <Complete> in [3 Fieldbus] screen.

>>The settings will be saved to the internal memory.
A "GSDML" file that is necessary to use this controller as a SLAVE device is stored in
the system memory of this controller. Please copy this file to your Master device's
configuration tool in advance. The file is "PLCEngine／GSDML-V2.3-NACHI-COMX
100 RE PNS-20140317.xml".
IMPORTANT
Concerning the setting procedures, please refer to the instruction manual of the
Master device.
POINT For the terminology of network (e.g. Ethernet, IP address etc.), please refer to the
treatises in the market also if necessary.
6-5
6.3Safety network parameters
6.3 Safety network parameters

The setting of the safety network parameters can be done in the menu of <Constant setting> [3 Machine
constant] [34 Robot Monitoring Unit] [1 Setting] [9 Safety network parameters].
For details, refer to “4.2.8 Setting the safety network parameters (RMU20-40)”.
When setting the safety PLC, please refer to the instruction manual provided by the PLC manufacturer.
The GSDML file that is necessary to setup this controller as a SLAVE device is in the system memory of this
robot controller. The file name is ; “PLCEngine/GSDML-V2.3-NACHI-COMX 100 RE PNS-20140317.xml”.
This RMU is designed intending that the minimum watch-dog time is 70ms. But, there is a
possibility that the communication speed cannot work in time depending on the network
configuration. Please set the appropriate watch-dog time without fail considering the
IMPORTANT configuration of the network and perform the risk assessment for the parameter.
6.3.1 Assignment of the network I/O signals

In the I/O signal assignment screen, it is possible to assign the functions to the network signals.
The "Signal parameters" can be set in the menu of <Constant settings> - [3 Machine constant] [34 Robot
Monitoring Unit] [1 Settings] [7 Signal parameters].
(For details, refer to "4.2.4 Setting of signal parameters".)
In this section, the specific functions that use the network signals are explained.
Those functions can be assigned to the network signals in the following screen.
6-6
6.3Safety network parameters

This is a software switch to decide if the "Motors ON condition" is included to the logical operation of the safety
network output signal or not. When "Enabled", the safety network output signal turns OFF if the "Motors ON
condition" is OFF. For details of the “Motors ON condition”, see “2.6.2 Motors ON condition”.
Network emergency stop signal

If this signal is assigned, the emergency stop condition will be made while the assigned signal is OFF.
Therefore, to release the emergency stop of the robot controller, it is necessary to satisfy the all of the
following conditions.
1. The emergency stop button on the robot controller is released.
2. The emergency stop button on the teach pendant is released.
3. The external emergency stop signal is released. (or the terminals are jumpered)
4. The network emergency stop signal is ON.
Network safety plug signal

By assigning this signal, it becomes possible to get the safety plug input signal from the safety network.
If this signal is assigned, this signal must be kept ON to playback the robot program.
Network protective stop signal

By assigning this signal, it becomes possible to get the protective stop input signal from the safety network.
While this signal is not ON, the Motors will not turn ON. However, only in TEACH mode, the protective stop
signal can be enabled/disabled using the setting item of "Teach protect stop".
(For details, refer to "4.2.4 Setting of signal parameters").
Network external enable signal

By assigning this signal, it becomes possible to get the external enable input signal from the safety network.
If this signal is not ON, the Motors cannot be turned ON in the TEACH mode.
Network remote mode signal

It is possible to change the robot controller's operation mode using the safety network signals.
The operation mode can be changed using the combination of the following signals.
"NetWork remote sig." (Network remote mode signal)
"NetWork Ext. teach sig." (Network external TEACH signal)
"NetWork Ext. playback sig." (Network external PLAYBACK signal)
"NetWork Ext. H-teach sig." (Network external High-speed TEACH signal)
If the "Network remote mode signal" is OFF, the mode selection switch on the robot controller becomes
"Enabled" and if the signal is ON, the mode selection using the safety network signals becomes "Enabled".
Concerning the signal combinations, refer to the Table 6.3-1
Table 6.3-1 The combinations of the remote mode selection using the network signals
Network external
Network remote Network external Network external
Hi-speed TEACH
mode signal TEACH signal PLAYBACK signal
signal
TEACH mode ON ON OFF OFF
PLAYBACK mode ON OFF ON OFF

Hi-speed TEACH
ON ON OFF ON
mode
Even if the mode is changed using the "Network remote mode signal", it is not possible to
turn ON the motor power if the teach pendant's "TP SELECTOR SWITCH" is not set to
CAUTION proper position.
6-7
6.4Trouble shooting
6.4 Trouble shooting
6.4.1 Trouble shooting via the LEDs

The PROFINET module shows its present condition using 3 LEDs.
LED3
LED2
Channel 0 Channel 1
LED1 LED
Ethernet IF
Either channel can
be used.
LED1 : Module status

LED2 : Ethernet connection status
LED3 : IO connection status
Hilscher PROFINET module comX
The LED status and PROFINET SLAVE module (comX) status

LED Color Condition Remarks
Green Lit Normal The Operating System is running.
Green/
Flashing Stand-by Waiting for the firm-ware start
LED1 Yellow
Yellow Lit Start failed Firm-ware start failed
－ Unlit Offline The power is not supplied.
Error occurred in the system. Please check the
setting parameters. If this error remains after
Red Lit System error
changing the wrong parameters, please replace
LED2 the PCB.
Red Flashing DCP Signal DCP Signal was received from the master device.
－ Unlit Normal No error
Not connected or the network communication
Red Lit Connection failed speed is not fast enough. Please check the
network cables etc.
LED3
No data No I/O communication. Please check that the
Red Flashing
communication PROFINET Controller is working normally.
－ Unlit Normal No error
If the all LEDs are normal, it means that the device is operating normally as a PROFINET device.
But it does not mean that the device is operating as a PROFIsafe device also.
In a case like that, please check the error code displayed on the teach pendant screen also.
6-8
6.4Trouble shooting
6.4.2 Error codes
No. E1116
Message Communication fault in the Safety network communication was detected.
Cause Communication fault in the Safety network communication was detected.
Remedy Please check if the network or the master device has no problem.
6-9
6.4Trouble shooting
NOTE
6-10
Chapter 7 Maintenance and Inspections
This chapter presents the maintenance and inspections of the RMU.
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
7.1Periodic Inspections
7.1 Periodic Inspections

When inspecting the RMU or replacing its parts, proceed with the work while observing the cautions below.
To avoid electric shocks, allow 5 minutes to pass after turning off the primary power of the
controller before proceeding to replace any parts.
Even when the power of the controller is turned off, power may still be supplied from the
DANGER process control panel. Check the power LEDs on the RMU and check that they are all off.
To avoid electric shocks, do not carry out the work with wet hands.
Electric shocks can result in serious injury or death.
The replacement work must be done only by individuals who have attended the robot
school (maintenance course) held by the manufacturer.
Electric shocks or unexpected movements of the robot which can pin an operator cause
WARNING death or serious injury.
Carry out the work with the body (hands) of the maintenance technician and G terminal of
the controller electrically shorted to set them to the same potential.
(ex. Using an earthing band )
WARNING Electric shocks can result in serious injury or death.
A large number of connectors are connected to the RMU. When replacing parts, proceed
carefully to ensure that the connectors are not connected incorrectly and that none of the
connectors are left unconnected.
WARNING Electric shocks and the catching fire of combustible parts can result in serious injury or
death.
Take care not to damage the wires when replacing parts.

Under no circumstances must any of the electronic components and patterns of the
circuit boards or contact areas of the connectors be touched when replacing the parts
WARNING inside the robot and robot controller. Remember to hold the circuit boards by their edges.
If the components, patterns or contact areas are touched, the resulting electric shock can
result in serious injury or death.
The robot monitoring unit cannot be disassembled even for maintenance work. The
safety functions cannot be maintained if the unit is disassembled.
Use of a reassembled unit may result in death or serious injury.
CAUTION
7-1
In order to prevent trouble, ensure safety and maintain performance, conduct the necessary routine inspections
and periodic inspections. This section describes the precautions to be observed when performing the periodic
inspections, and gives details of the work.
7.1.1 Inspection schedule

As a general rule, conduct the inspections in accordance with the following RMU inspection schedule.
0H 750H 1500H 3000H 5000H
Routine inspection Repeated after the 3-month inspection
3-month 3-month 3-month 3-month

inspection inspection inspection inspection
6-month 6-month 6-month

inspection inspection inspection
Annual Annual
inspection inspection
7.1.2 Routine inspection items

As a routine check item, check whether dust and dirt have built up in the RMU.
Allowing dust and dirt to build up in the RMU may cause electrical short circuiting and
other problems, which may result in trouble.
When cleaning the RMU, be absolutely sure not to touch the contact areas of the
WARNING connectors. If the contact areas are touched, the resulting electric shock can result in
serious injury or death.
Also, when cleaning the RMU, take care not to damage the wires.
7-2
7.1.3 Periodic inspection items
1) Inspection of safety inputs

When the RMU continues to be used with two safety input signals in the closed state, the input circuit for
the two signals cannot be diagnosed. Therefore, the two contacts of the safety inputs must be opened at
periodic intervals to perform the inspections.
Inspection location Details of inspection Remedial action

Robot emergency Set the robot emergency stop If each function does not work, check the
stop signal, Safety plug signal and connections of the cables to the RMU. If the
Safety plug emergency stop signal all to ON, cables are connected properly, replace the
Emergency stop And make sure that each function RMU.
to work properly.
Robot LS Set the robot LS signal to OFF, If the signal does not go off, check the
and check that LS signal is OFF connections of the cables to the RMU. If the
on the screen of the teach cables are connected properly, replace the
pendant. RMU.
2) Displays

RUN LED Check that the LED is lighted as if If an error is displayed, proceed with
(7 segments) to describe the number “8.” troubleshooting.
3) Installation and connection statuses

Installation of unit Check that the RMU is installed Install it properly inside robot controller.
properly inside robot controller.
Screws Check that the bracket and the Tighten up any loose screws.
ground terminal are not loose.
Connector Check for loose connectors. Insert the connectors properly.
Refer to the section in “Chapter 2 Monitoring
Unit Configuration.”
Period
3-monthly
6-monthly
Annually
No Inspection
Routine
Details of inspection or maintenance Method

. item
Cables  Check for damage and flattening. Visually inspect.

1 ○ ○ ○
 Loose connectors
Circuit board  Loose connectors Press by hand.
2 ○ ○
connectors
Entire unit  Check for dust and dirt. Visually inspect and
3 ○ ○ ○ ○
clean.
Safety inputs  Refer to “7.1.3Periodic inspection Visually inspect.
4 ○ ○
items 1)”.
Voltage  Check that the voltage between Measure using a
5 ○ ○ measurement U24V-U0V and U24A-U0A is DC multimeter or
24V +/-10%. voltmeter.
7-3
7.1.4 Replacing of the RMU

If the RMU is broken due to some abnormalities, the RMU needs to be replaced to the new one.
The replacement work must be done only by individuals who have attended the robot
school (maintenance course) held by the manufacturer.
Electric shocks or unexpected movements of the robot which can pin an operator cause
WARNING death or serious injury.
Required tool: + screw
Detaching of the RMU

<1> Turn off the controller power.
↓
<2> Remove all connectors connected to the RMU.
↓
<3> Loose the fixing screws and detach the RMU.
Installing of the RMU

<1>Tighten the screws of the RMU to fix it on the bracket.
↓
<2> Connect all connectors of the RMU.
↓
<3> Turn on the controller power and initialize the RMU by referring to “4.1 Configuration flow of setting
procedure”.
7-4
7.2Troubleshooting
7.2 Troubleshooting
This section describes the RMU errors which may occur and the action taken to remedy them.
Assist code
(#UNIT NO.:
SUB1:SUB2:SUB3)
When error occurs, “assist code” is displayed with error code in error message.
Information to identify where trouble happens can be get by this “assist code”.
In the Table 5-1, the error code and the assis code are listed.
Because random number is displayed for the assist code depending on the error code, "-" is used for that.
Table 5-1 Errors and remedial action

Error code Assist code
Error Top: Controller Description of trouble Remedy
Bottom: RMU SUB1 SUB2 SUB3
Encoder error E1100 0 to 7 - - This error occurs when Check if an error of "E51
E01 Axis something is wrong with the Encoder data
No. encoder data for the RMU. transmission error"
occured at the same time.
16 - 23 Error - This error occurs when
code encoder internal failure If it has occured,
occurs. encoder wire or the drive
unit may be wrong. Please
check the connection of
64 - - This error occurs when servo the robot internal wiring
Discon ON operation is tried with and the wire-harness. Or,
nected encoder communication of repleace the drive unit.
some axes are not
established. If it has not occured,
please check the wiring to
the RMU. And, check the
When this error has setting parameter of
occurred, power supply "Encoder type" in the
output is turned OFF. The <Constant Setting> -
emergency stop output [Machine constants]
depends on the status of the [Motor & Encoder] menu.
emergency stop signal.
After removing the failure, it is
necessary to turn OFF and
ON the primary power of the
controller.
Assist code Assist code

Description Description
SUB1 SUB1
0 1st axis encoder error 16 1st encoder internal error
1 2nd axis encoder error 17 2nd encoder internal error
2 3rd axis encoder error 18 3rd encoder internal error
3 4th axis encoder error 19 4th encoder internal error
64 Encoder not connected
7-5
7.2Troubleshooting

Axis angle error E1101 0 to 7 - - This error occurs when axis Open <Machine constant>
E02 Axis angle exceeds the specified - [Soft limit] in constant
No. range. mode, the input Motors
ON while holding down
When this error has the “LS release SW”
occurred, power supply (LSSW) in the robot
output is turned OFF. controller.
The emergency stop output Move the robot inside the
depends on the status of the operating range.
emergency stop signal.
The “LS release switch”
(LSSW) must be held
down until the robot is
moved within the
operating range.
There is no need to turn
off / on the power.
The location of the LS
relase SW (LSSW) is
shown in the controller
maintenance manual.
Assist code
Description
SUB1
0 1st axis encoder error
1 2nd axis encoder error
2 3rd axis encoder error
3 4th axis encoder error
7-6
7.2Troubleshooting

Operating range E1102 0 Border Sphere This error occurs when for a Open <Machine constant>
limit error E03 line No. No. tool, tool sphere or rear - [Soft limit] in constant
position calculated from the mode, the input Motors
encoder data of the RMU ON while holding down
0 Arm Arm has gone beyond a the “LS release SW”
No. sphere
controlled range which has (LSSW).
(16-) No.
(75-) been set. Move the robot inside the
Partial Border Sphere
operating range.
area line No. No. In case of automatic
No. operation (Playback), this The “LS release switch”
error may occur in case (LSSW) must be held
Partial Border Form where the robot tries to down until the robot is
area line No. point exceed the controlled range moved within the
No. No. that has been set by operating range.
(50-) "Monitoring stop in area" There is no need to turn
Partial Border Arm function. off / on the power.
area line No. NO. The location of the LS
No. (75-) When this error has relase SW (LSSW) is
occurred, power supply shown in "2.5.4 How to
output is turned OFF. reset operating range and
The emergency stop output angle monitoring function "
depends on the status of the In playback operation,
emergency stop signal. if this error occurs when
the robot is in the
controlled area, please
perform the program
modification like the
following;
- Move the recorded point
position inside the
controlled area
- Slow down the recorded
speed
- Make the controlled area
size larger
Assist code Assist code Assist code

Description
SUB1 SUB2 SUB3
0 Border line No. Tool sphere No. This shows the set of the Border line No. and the Sphere No. that caused the
error (Tool limit)
SUB2 : Border line No. (1-8)
SUB3 : Sphere No. (1-20)
Arm No. Arm sphere No. This shows the set of the Arm No. and the Arm sphere No. that caused the
error (Arm limit)
SUB2 : Arm No. (16-25) ("16" is the arm No.1.)
SUB3 : Arm sphere No. (75 or 76) ("75" is the Arm sphere No.1.)
Partial area No. Border line No. Tool sphere No. This shows the set of the Partial area No., Border line No., and the Tool sphere
No. that caused the error.
SUB1 : Partial are No. (1-8)
SUB3 : Tool sphere No. (1-20)
Border line No. Form point No. This shows the set of the Partial area No., Border line No., and the Form point
No. that caused the error.
SUB3 : Tool sphere No. (50-57) ("50" is the 1st point of the form point No.)
Border line No. Arm No. This shows the set of the Partial area No., Border line No., and the Arm No. that
caused the error.
SUB3 : Arm No. (75-84) ("75" is the 1st No. of the Arm No.)
7-7
7.2Troubleshooting
Assist code
Error code
Speed error E1103 1 - - This error occurs when the This error is cleared when
E04 Teach TCP speed calculated from its cause is removed.
TCP the encoder data of the RMU The robot can be operated
speed
has exceeded 250 mm/sec. again by Motors ON
2 - -
Each
in TEACH mode. again.
speed
When this error has To reset this error, press
3 - occurred, power supply [R] key of the teach
Play-ba output is turned OFF. pendant 2 times.
ck TCP The emergency stop output There is no need to turn
speed depends on the status of the off / on the power.
- - - emergency stop signal.

Description
SUB1 SUB2 SUB3
1 - - Teach speed of the TCP exceeds the setting value.
2 - - Each axis's speed exceeds the setting value.
3 - - Playback speed of the TCP exceeds the setting value.

No Approval E1107 1 - This error occurs if master Master ON can be
E05 No ON is initiated when the initiated by carrying out
Approval approval work has not the approval work in
been carried out after the [Machine constant] –
parameters have been [Robot monitoring unit]”
2 -
rewritten. in constant mode.
Parameter
error Refer to “4.4 Approval”
When this error has
occurred, power supply There is no need to turn
3 - output is turned OFF. off / on the power.
Safety The emergency stop
fence data output depends on the
error status of the emergency
stop signal.

Description
SUB1 SUB2 SUB3
1 - - Not approved yet.
- - This occurs when a fault happens in the parameter diagnostic
2
process.
- - This occurs when the setting parameters of the safety fence is
3
incorrect. Set the correct parameters.
7-8
7.2Troubleshooting
Assist code
Error code
Over current E1104 16 1 Safety input 1 This error occurs when an Operation is
of input signal E06 2 Safety input 2 over current has been restored by
4 Safety input 3 detected in one of the input removing the
8 Safety input 4
signals of the RMU. cause of the over
16 Safety input 5
32 Safety input 6 current error.
64 Safety input 7 When an over current in the
128 Safety input 8 robot emergency stop has Controller power
32 1 Safety input 9 been detected, the must be turned off
2 Safety input 10 emergency stop output is set and on.
4 Safety input 11 to OFF. When any other over
8 Safety input 12 current has been detected,
16 Safety input 13 the power supply output is
48 1 Back check 1 turned OFF.
2 Back check 2
4 Back check 3
8 Back check 4

Description
SUB1 SUB2 SUB3
16 1 Safety input 1
Over current occured in the "Robot emergency stop signal".
2 Safety input 2
Over current occured in the "Enable switch signal".
4 Safety input 3
Over current occured in the "Slave error signal".
8 Safety input 4
Over current occured in the "Robot LS detection signal".
16 Safety input 5
Over current occured in the "Emergency stop signal".
32 Safety input 6
Over current occured in the "Safety plug signal".
64 Safety input 7
Over current occured in the "Protective stop signal".
128 Safety input 8
Over current occured in the "External enable signal".
32 1 Safety input 9
Over current occured in the "General input 1 signal".
2 Safety input 10
4 Safety input 11
8 Safety input 12
16 Safety input 13
48 1 Back check 1 Over current occured in the "Robot power supply back-check
signal".
2 Back check 2 Over current occured in the "General safety output 1 back check
signal".
signal".
signal".
(NOTE) When plural errors happen at the same time in ASSIST CODE SUB1, the ASSIST CODE SUB 2 value will become
the total number of each value.
7-9
7.2Troubleshooting

Bottom: RMU 1 2 3
Disparity error E1105 16 1 Safety input 1 - This error occurs when After removing the cause
of input signal E07 2 Safety input 2 the redundant safety of the error, turn OFF both
4 Safety input 3 signals which are input of those redundunt
8 Safety input 4
to the RMU have been signals, and then press
16 Safety input 5
32 Safety input 6 detected as different [Reset] key twice.
64 Safety input 7 logic. Please refer to “2.3.2
128 Safety input 8 safety inputs” table 2-10
48 1 Safety input 9 If a robot emergency for the detail of safety
2 Safety input 10 stop disparity has been input signals.
4 Safety input 11 detected, the
8 Safety input 12 emergency stop output
16 Safety input 13 is turned OFF. When
any other disparity has
been detected, the
power supply output is
turned OFF.

Description
SUB1 SUB2 SUB3
16 1 Safety input 1 "Robot emergency stop signal" is inconsistent.
2 Safety input 2 "Enable switch signal" is inconsistent.
4 Safety input 3 "Slave error signal" is inconsistent.
8 Safety input 4 "Robot LS detection signal" is inconsistent.
16 Safety input 5 "Emergency stop signal" is inconsistent.
32 Safety input 6 "Safety plug signal" is inconsistent.
64 Safety input 7 "Protective stop signal" is inconsistent.
128 Safety input 8 "External enable signal" is inconsistent.
32 1 Safety input 9 "General input 1 signal" is inconsistent.
2 Safety input 10 "General input 2 signal" is inconsistent.
7-10
7.2Troubleshooting

Stop monitoring E1109 16 to 23 - - This error occurs if the robot The RMU may be to
error E08 Axis No, has moved when the stop broken if there is no
(Encoder monitoring input has been operation under the
value)
OFF. conditions described on
32 to 39 - -
Axis No.
In order to monitor stop, set the left.
(Magnet pole the signal to OFF. In order
pos.) not to monitor stop, set it to
48 - - ON.
TCP position
moved
Assist code
Item Description
SUB1
16-23 Axis No. (Encoder value) The axis that has moved is displayed.
(16 is the 1st axis) (The detection triger : Encoder value)
32-39 Axis No. (Magnet pole position) The axis that has moved is displayed.
(32 is the 1st axis) (The detection triger : Magnet pole position)
48 TCP position moved This is displayed when the TCP has moved in the stop monitoring.

Bottom: RMU 1 2 3
Tool monitoring E1114 Tool 1 Tool 2 - This error occur when the Make the tool number
error E12 Program Signal tool number is unmatch and signal from the actual tool
tool No. from the the tool center point moves device and the number
tool
too far from the setting value recorded in the teaching
of "Distance of tool watch". program the same.
If the robot must make big

shelter motion make the
value of "Distance of tool
match" larger.

Description
SUB1 SUB2
Tool No. of the Tool No. from the tool The "Tool No. recorded in the program" and the "Tool No. from the
program tool" is not the same. Mount the correct tool or correct the tool No.
recorded in the program.
7-11
7.2Troubleshooting

Bottom: RMU 1 2 3
Position E1110 16-23 - - This error occurs if a failure Check the motor and
monitoring error E09 Pole happen in the monitoring of encoder connections.
position the pole position.
differen
Check the pole position
ce
32-39 - -
signal cable between the
Pole drive unit and the RMU.
wiring
disconn
ection
48-55 - -
Only
pole
has
moved
64-71 - -
Detecti
on
circuit
failure

Description
SUB1 SUB2
16-23 - If there is a big difference between the encoder position and the pole
position when the motor is moving, this error occurs.
16: 1st axsi, 23: 8th axis
32-39 - If the wiring for the motor pole position detection is disconnected, this error
occurs.
32: 1st axis, 39:8th axis
48-55 - If only the motor pole position moves and the encoder position does not
move, this error occurs.
48:1st axis, 55:8th axis
64-71 - If a failure happen in the pole position detection circuit, this error occurs.
64:1st axis, 71:8th axis

Bottom: RMU SUB1 SUB 2 SUB 3
Position E1111 - - - This error occurs if there is The difference is normally
monitoring E10 too great difference between cleared when the robot
disparity error the two position values stops, and Motors ON can
calculated by each CPU. be initiated again.
If the trouble persists, the
RMU may be broken.

Bottom: RMU SUB 1 SUB 2 SUB 3
Speed E1112 - - - This error occurs if there is The difference is normally
monitoring E11 too great difference between cleared when the robot
disparity error the two speed values stops, and Motors ON can
calculated by each CPU. be initiated again.
If the trouble persists, the
RMU may be broken.
7-12
7.2Troubleshooting

Internal error E1106 20 - - This error occurs if the back Check if the wiring of the
Safety output 1 E20-E22 check of the safety output 1 safety output 1 is normally
is not inputted normally. connected.
Turn OFF and ON the
controller power.
Replace the RMU.
21-22 - - This error occurs if the

output diagnostic for the
safety output 1 is not finished
normally.

Internal error E1106 24 5 - This error occurs if the back Check if the wiring of the
Safety output E23-E25 check of the safety output 2 safety output 2-4 is
2-4 is not inputted normally. normally connected.
Turn OFF and ON the
21 - This error occurs if the back controller power.
check of the safety output 3 Replace the RMU.
is not inputted normally.
37 - This error occurs if the back
check of the safety output 4
is not inputted normally.
23,25 1-4 - This error occurs if the
6-9 output diagnostic for the
normally.
17-20 - This error occurs if the
normally.
33-36 - This error occurs if the
normally.

Internal error E1106 26 - - This error occurs if the power Turn OFF and ON the
Power source E26 source voltage in the RMU is controller power.
voltage not normal. Replace the RMU.

Internal error E1106 27 1-26 - This error occurs if the Check the input signal
Input signal E27 diagnostic of the safety input wiring.
signal failed. Turn OFF and ON the
controller power.
32-39 - This error occurs if the Replace the RMU.
diagnostic of the monitor
input signal failed.
7-13
7.2Troubleshooting

Internal error E1106 28 1-2 - This error occurs if a failure Turn OFF and ON the
Diagnostic E28 happens in the diagnostic controller power.
circuit circuit of the output signal. Replace the RMU.
3 - This error occurs if a failure
happens in the diagnostic
circuit of the power source
voltage.

Internal error E1106 29 - - This error occurs if the Turn OFF and ON the
Monitor output E29 monitor output signal is not controller power.
outputted normally. Replace the RMU.

Internal error E1106 30-32 - - This error occurs if the Turn OFF and ON the
Parameter E30-32 storage memory for the controller power.
memory parameters does not work Replace the RMU.
normally.

Internal error E1106 33-35 - - This error occurs if the serial Turn OFF and ON the
Serial E33-35 communication in the RMU controller power.
communication does not work normally. Replace the RMU.

Internal error E1106 36 - - This error occurs if the AD Turn OFF and ON the
ADC E36 converter for the power controller power.
source voltage monitoring Replace the RMU.
does not work normally.

Internal error E1106 37 - - This error occurs if the USB Turn OFF and ON the
USB E37 communication with the main controller power.
CPU does not work normally. Replace the RMU.
7-14
7.2Troubleshooting

Internal error E1106 38 - - This error occurs if a failure Turn OFF and ON the
Internal memory E38 happens in the diagnostic for controller power.
the internal memory of the Replace the RMU.
RMU.

Program E39 happens in the diagnostic for controller power.
memory the program memory of the Replace the RMU.
RMU.

CPU E40 happens in the diagnostic for controller power.
the CPU of the RMU. Replace the RMU.

Communication E1108 - - - This error occurs if the Check the connector
stop - communication between the CNCOM of the RMU.
CPU board and the RMU Check if the power is
has stopped. supplied to the RMU.
Replace the RMU.
Connection error E1113 - - - This error occurs if the RMU Check the connection of
- is not connected correctly. the RMU by "Servo
amplifier unit" menu.
Check the communication
line to the RMU.
Check the voltage of the
power source of the RMU
7-15
7.2Troubleshooting
7.2.1 Example of trouble shooting
7.2.2 Procedures to be performed after encoder replacement work

When changing the encoder or when resetting the encoder, because the calculation of the robot position
cannnot be done and "E1102" may be detected.
In this section, an example of the procedures to be performed after encoder replacement work will be
explained. For details of encoder replacement work and the encoder reset operation, refer to the robot
maintenance manual and the "SETUP" manual.
1 After changing the encoder, reset the encoder.

>>E1112 may occur. But proceed with the following steps.
2 Perform the encoder correction work.

>>Because the RMU uses the encoder correction values to calculate the robot
position, E1102 may happen if the encoder correction values are not correct. Before
moving the robot, do not forget to perform the encoder correction work.
>>After completing the encoder correction work, this message will appear. But this is
normal. Please proceed with the following steps.
3 Open <Constant> - [3 Machine constants] – [34 Robot monitoring unit] – [2

Confirmation] – [2 Axes parameters].


If some of them were incorrect, please try to perform the writing register procedure.
7-16
7.2Troubleshooting
6 Open <Constant> - [3 Machine constants] – [34 Robot monitoring unit] – [3

Approval].
>> When confirmation of all parameters is completed, following screen will be
displayed.
RMU ID number is 0. This means approval is not completed.
7 Press <Execute> key.

>> Dialog to request the password is displayed at the bottom of screen.
7-17
7.2Troubleshooting
8 Press the password [7] [1] [0] and [Enter] key.

>>The following message will be displayed.
>> Then the following screen will be displayed. Now controller ID and RMU ID is
coincident. Approval is completed.
9 After closing the screen with [R] key on the teach pendant, reset the error. To
make the error reset operation, press [R] key 2 times.
>>When the error message "E1107 Robot monitoring unit is not approved."
disappears and "OK" is displayed, the reset work is completed.
10 Turn OFF and ON the controller power.
POINT If encoder correction cannot be executed in the reference position or E1102 occurs, please
follow these steps to change the robot posture and make the robot return to its reference
posture.
1.Open <Constant> - [3 Machine constants] [33 Virtual Safety Fence] [1 Range setting] and
turn the Motors ON with pressing the LSSW in the controller.(Concerning the location of the
LSSW, refer to the "2.5.4 How to reset operating range and angle monitoring function ")
2. Move the robot towards the motion range. The robot position can be checked in the menu
of [1 Range settings] <Graphical display> To move the robot, LSSW must be hold ON.
7-18
7.2Troubleshooting
7.2.3 Trouble shooting example for input signal inconsistency failure

When an inconsistency is detected in the redundunt type signals that are inputted to the RMU,
"E1105" will be detected.
When this happens, please check the error code and assis code to ideitify the signal in which the error is
detected.
[Error assist code]
E1105 ( #1: 16: 1: 0)
Robot number
(In this example, error occured in
robot 1) Assist code SUB3
Assist code SUB1 Assist code SUB2

Description
SUB1 SUB2 SUB3
16 1 Safety input 1 "Robot emergency stop signal" is inconsistent.
2 Safety input 2 "Enable switch signal" is inconsistent.
4 Safety input 3 "Slave error signal" is inconsistent.
8 Safety input 4 "Robot LS detection signal" is inconsistent.
16 Safety input 5 "Emergency stop signal" is inconsistent.
32 Safety input 6 "Safety plug signal" is inconsistent.
64 Safety input 7 "Protective stop signal" is inconsistent.
128 Safety input 8 "External enable signal" is inconsistent.
48 1 Safety input 9 "General input 1 signal" is inconsistent.
This is an example in which "Robot emergency stop input signal inconsistency" occurs.
Assist code
SUB1:SUB2
Robot
Inconsistency of emergency stop button inputs of the operation
emergency 16:1
panel or the teach pendant
stop
7-19
7.2Troubleshooting
[Troubleshooting for the "Robot emergency stop input signal inconsistency"]
Press [R] key of the teach

pendant twice to reset the
error
YES
Was the error released?
NO
Press the emergency stop button of the Teach
pendant or the operation panel and then press
[R] key 2 times to reset the error.
YES
NO
Press the emergency stop button of the operation panel or the teach
pendant and then check the LED PD4,PD5 of UM367
NO
Does the ON/OFF condition match?
YES
Replace the I/O board

(UM367-10)
YES
NO
Replace the Teach pendant or

the operation panel.
YES
NO
Replace the RMU and make the

setting, check, and approvement.
YES
NO
The internal wiring of the controller may be

wrong. Please contact our service center. Complete
7-20
http://www.nachi-fujikoshi.co.jp/
Shiodome Sumitomo Bldg. 17F,

Phone: Fax:
Japan Main Office 1-9-2 Higashi-Shinbashi
+81-3-5568-5245 +81-3-5568-5236
Minato-ku, TOKYO, 105-0021 JAPAN
Nachi Robotic Systems Inc. (NRS) http://www.nachirobotics.com/
North America Headquarters Phone: 248-305-6545 Fax: 248-305-6542 22285 Roethel Drive, Novi, Michigan 48375-4700 U.S.A.
Training Office Phone: 248-334-8250 Fax: 248-334-8270 22213 Roethel Drive, Novi, Michigan 48375 U.S.A.
Greenville Service Office Use 248-305-6545 Use 248-305-6542 South Carolina, U.S.A.
San Antonio Service Office Use 248-305-6545 Use 248-305-6542 Texas, U.S.A.
Kentucky Branch Office Phone: 502-695-4816 Fax: 502-695-4818 116 Collision Center Drive, Suite A, Frankfort, KY 40601 U.S.A
89 Courtland Avenue, Unit 2, Vaughan,
Toronto Branch Office Phone: 905-760-9542 Fax: 905-760-9477
Ontario L4K3T4 CANADA
Urbina # 54, Parque Industrial Naucalpan,
Mexico Branch Office Phone :+52-555312-6556 Fax:+52-55-5312-7248
Naucalpan de Juarez, 53370, Estado de México, MEXICO
Canada 544 Privada Luxemburgo
Saltillo Service Office Phone :+52-844416-8053 Fax: +52-844416-8053
C. P. 25230, Saltillo, Coahuila, MEXICO
NACHI EUROPE GmbH
Phone: Fax: Bischofstrasse 99, 47809, Krefeld, GERMANY
Central Office Germany
+49-2151-65046-0 +49-2151-65046-90 http://www.nachirobotics.eu/
Phone: Fax: Unit 3, 92, Kettles Wood Drive, Woodgate Business Park,
U.K. branch
+44-0121-423-5000 +44-0121-421-7520 Birmingham B32 3DB, U.K.
Phone: Fax: Obchodni 132, 251 01 Cestlice, PRAGUE-EAST

Czech branch
+ 420-255-734-000 +420-255-734-001 CZECH REPUBLIC
NACHI AUSTRALIA PTY. LTD. http://www.nachi.com.au/

Robotic Division & Phone: Fax:
38, Melverton Drive, Hallam, Victoria 3803, , AUSTRALIA
Victoria office +61-(0)3-9796-4144 +61-(0)3-9796-3899
Phone: Fax:
Sydney office Unit 1, 23-29 South Street, Rydalmere, N.S.W, 2116, AUSTRALIA
+61-(0)2-9898-1511 +61-(0)2-9898-1678
Phone: Fax:
Brisbane office 7/96 Gardens Dr,Willawong,QLD 4110, , AUSTRALIA
+61-(0)7-3272-4714 +61-(0)7-3272-5324
NACHI SHANGHAI CO., LTD.
Phone: Fax: 11F Royal Wealth Centre, No.7
Shanghai office
+86-(0)21-6915-2200 +86-(0)21-6915-2200 Lane 98 Danba Road Putuo District, Shanghai 200062, China
NACHI KOREA http://www.nachi-korea.co.kr/
2F Dongsan Bldg.
Phone: Fax:
Seoul office 276-4, Sungsu 2GA-3DONG, Sungdong-ku,
+82-(0)2-469-2254 +82-(0)2-469-2264
Seoul 133-123, KOREA
Copyright NACHI-FUJIKOSHI CORP.

Robot Division
1-1-1, FUJIKOSHIHONMACHI, TOYAMA CITY, JAPAN 930-8511
Phone +81-76-423-5137
Fax +81-76-493-5252
NACHI-FUJIKOSHI CORP. holds all rights of this document. No part of this manual may be photocopied or
reproduced in any from without prior written consent from NACHI-FUJIKOSHI CORP. Contents of this document
may be modified without notice. Any missing page or erratic pagination in this document will be replaced.
In case that an end user uses this product for military purpose or production of weapon, this product may be liable
for the subject of export restriction stipulated in the Foreign Exchange and Foreign Trade Control Law. Please go
through careful investigation and necessary formalities for export.
Original manual is written in Japanese.

FDCFD CONTROLLER INSTRUCTION MANUAL Robot Monitoring Unit RMU20-203040

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FDCFD CONTROLLER INSTRUCTION MANUAL Robot Monitoring Unit RMU20-203040

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1505, TFDEN-143-008, 001

1.3 Connection............................................................................................................................... 1-10

Chapter 2 Monitoring Unit Configuration

2.2 Description of Exterior and Parts............................................................................................... 2-3

2.6.2 Motors ON condition........................................................................................................ 2-32

2.8 RMU error signal output (Application signals) ......................................................................... 2-37

2.9 Enabling RMU.......................................................................................................................... 2-38

Chapter 3 Virtual Safety Fence Function

3.2 Operation procedure ........................................................................................................... 3-2

3.4 Setting when a slider unit is used...................................................................................... 3-27

Chapter 4 Monitoring Unit Settings

4.2 Setting of parameters ................................................................................................................ 4-4

4.4.2 Robot Monitoring Unit simple approval operation ........................................................... 4-34

Chapter 5 EtherNet/IP Safety network

5.2 Setting for RMU................................................................................................................... 5-2

Chapter 6 PROFINET Safety network function

6.2 Setting for PROFINET module............................................................................................ 6-2

Chapter 7 Maintenance and Inspections

1.1 Outline ........................................................................................................1-1

1.1.1 Features of robot monitoring unit

1.1.2 Functions of robot monitoring unit

Operating range monitoring function

Angle monitoring function

Speed monitoring function

Stop monitoring function

Robot controller communication

Encoder and motor I/F

Input/output signal, Motor power control sequence

Response time of safety signals

Monitoring of operating range

Only manipulator is restricted.

Monitoring of position (joint angle)

Monitor operating range of each joint. If the angle limit is It is possible to

Monitoring of stop in area

Tool number verification

Robot controller communication

Encoder and motor interface

Input/output signal, Motor power control sequence processing

Protective class Protective class IP20

Temperature Operation temperature 0 to 55°C

Ambient environment Degree of pollution 2

The RMU20 is designed to operate in an environment whose degree of pollution is 2.

The degree of pollution of 2 is defined as follows.

EN 61800-5-2 :2007 Adjustable speed electrical power drive systems -

1.1.4 Type and serial number

Type RMU20-20 or RMU20-30 or RMU20-40

1.2 Risk Assessment

The procedure involved is as follows:

Safety integrity level (SIL)

For further details, refer to the IEC 61508 standard.

Action for reducing risks

1.3.1 Required parts and installation (FD controller)

Table 1-1 Optional products for RMU of FD controller

Product name Model number

Sequence board UM367-20

RMU unit FD11-OP145-A

An IPM drive unit

1.3.2 Required parts and installation (CFD controller)

Table 1-2 Optional products for RMU of CFD controller

Product name Model number

Safety signals such as Normal I/O

Fig.1.3.1 CFD controller image of RMU system

1.3.3 Sequence board UM367-20

Fig.1.3.2 Overview of the sequence board