Safety Inputs - Nachi RMU20-20 Instruction Manual

Fd/cfd controller robot monitoring unit

Table of Contents

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".

Electrical

specifications

Signal name

Robot emergency stop 1+

Robot emergency stop 1-

Robot emergency stop 2+

Robot emergency stop 2-

Enable switch 1+

Enable switch 1-

Enable switch 2+

Enable switch 2-

Slave error 1+

Slave error 1-

Slave error 2+

Slave error 2-

Robot LS detection 1+

Robot LS detection 1-

Robot LS detection 2+

Robot LS detection 2-

Emergency stop 1+

Emergency stop 1-

Emergency stop 2+

Emergency stop 2-

Safety plug 1+

Safety plug 1-

Safety plug 2+

Safety plug 2-

Protective stop 1+

Protective stop 1-

Protective stop 2+

Protective stop 2-

External enable 1+

External enable 1-

External enable 2+

External enable 2-

General input 11+

General input 11-

General input 12+

General input 12-

Rating DC26V, 5mA

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.

Table 2-13 Safety inputs

Circuit

code

IN1A+

The

emergency

IN1A-

operation panel and teach pendant are

IN1B+

connected in series to these inputs.

IN1B-

IN2A+

Enable switch signal input from teach

IN2A-

pendant.

IN2B+

Switch for supplying power to the motor in

IN2B-

TEACH mode. Power supply is ON at the ON

setting.

IN3A+

Error input signal from another monitoring unit

IN3A-

since the second. When using only 1 RMU,

IN3B+

jumper these signals.

IN3B-

IN4A+

Limit switch signal inputs installed in the robot

IN4A-

in such a way that they are pushed when the

IN4B+

robot axes move as far as their limits.

IN4B-

(Limit switch signal for cutting off power to the

motor.)

IN5A+

Emergency stop signal input sent from the

IN5A-

external equipment (process control panel).

IN5B+

IN5B-

IN6A+

Safety plug input.

IN6A-

On in Auto and MANUAL modes, Off in

IN6B+

TEACH mode.

IN6B-

IN7A+

Signal from the process control panel

IN7A-

(external line controller).

IN7B+

When these signals are OFF, the motor power

IN7B-

will be turned OFF.

* 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.

IN8A+

External enabling device will be connected

IN8A-

This signal is used with enable switch on the

IN8B+

teach pendant as one of AND conditions. The

IN8B-

motor power will be turned ON when both of

this signal and the enable switch are turned

IN9A+

General-purpose safety input signal

IN9A-

Used for area select signal, stop monitoring

IN9B+

signal or playback speed monitoring select

IN9B-

signal.

Description

stop

switches

the

2.3 Connected signals

Electrical specifications

Photo-coupler input

Rating DC26V

Input current 5mA