Nachi RMU20-20 User manual

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

Contents
1
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

Contents
2
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

Contents
3
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

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
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 Outline
1-2
1.1.3 Specifications
General Specifications
Item Specifications Remarks
1 Rated voltage DC24V +10%
-15%
2 Rated current U24V 1.0A
U24A 0.5V
This value
depends on the
connected devices
3 Safety input signals
All 13 ports
Robot Emergency stop
Emergency stop
Safety plug
Protective stop
Enable switch
External enable 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”
Redundant
safety input
4 Safety output signals
All 4 ports
Robot servo ON
General safety output (3 points)
Redundant
safety output
with back-check
5 Monitor input signals All 16 ports
6 Monitor output signals All 9 ports
7 Number of axes to be
monitored
Max. 8 axes
8 Position detector
Serial encoder
Panasonic N400 format
Nikon A format (also bus communication type)
Magnetic pole position detection circuit of the motor
9 Parameter transfer Transferred from the robot controller
10 Communication of the
parameter
USB
11 External dimensions 54 (W) x 242 (H) x 251 (D) mm Including
mounting bracket
12 Protective structure IP20
13 Ambient temperature 0 to 55 ℃
14 Ambient humidity 30 to 85% Without condensation
15 Safety network
(RMU20-30 only) CIP Safety on Ethernet/IP RMU20-30 only
16 PROFINET Safety PROFIsafe on PROFINET
RMU20-40 only
The PROFINET
Device
communication
board is also
necessary.
(FD11-OP162-B,
C,D)

1.1 Outline
1-3
Safety performance
Item Specifications Remarks
1
Motor power control sequence.
Monitoring of position (operating range,
joint angle)
Monitoring of speed
Monitoring of stop
Monitoring of stop in area
Safety network(RM20-30 only)
EtherNet/IP Safety communication
Safety network(RMU20-40 only)
PROFINET Safety communication
Category 4
PL(Performance Level)=e
MTTFd = 75.15
DC = 94.34
CCF = 75
SIL3
PFD = 4.35e-4
PFH = 1.99e-8
proof test interval 5years
Response time of safety signals
Item Specifications Remarks
1 Motor power control sequence
Less than 30msec.
(Except the one that can
be set by parameter )
The time from inputting of the
safety input to shutting off of
the safety output
2 Monitoring of position (operating range,
joint angle) Less than 50msec.
3 Monitoring of speed Less than 70msec.
4 Monitoring of stop Less than 50msec.
5 Monitoring of stop in area Less than 50msec.
6 Safety network Less than 50msec
The time from the error
occurrence to shutting off of
the safety output
Monitoring of operating range
Item Specifications Remarks
1 Restricted range 1
Safety fence
The outside of the straight line randomly defined from the
center of the robot is a restricted area.
Up to 8 straight restricted lines can be defined.
Up to 4 sets can
be set
It is possible to
switch using the
selection
signal from
safety network.
2 Restricted range 2
Partial range
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
straight lines, and up to 8 locations can be specified.
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.
3
Restricted object 1
Restriction on tool
spheres
Specify 20 spheres or cubes for each tool. If the restricted
range is exceeded, set to the condition conforming to the
method of restriction.
4 Restricted object 2
Arm restriction
Specify 10 spheres or cylinders on the robot arm. If the
restricted range is exceeded, set to the condition
conforming to the method of restriction.
5 Tool Up to 32 tools are supported.
Monitors by the tool number from the robot controller.
Monitor input 4 ch
16 tools are
available
For more, please
use the safety
network function.
6 Restricted coordination
The world coordinates system in the JIS coordinate is
used for operating range monitoring.
Therefore, for a robot placed on a stand or wall-mounted
robot, specify using “constant: format and initial setting:
installation position”.

1.1 Outline
1-4
7 Method of restriction
If the restricted object exceeds the restricted range,
perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Safety output OFF (Stop Category 0)
Errors can be cleared by inputting the “LS release SW”
signal.
Signal can be outputted when robot is in the restricted
area.
It is also
possible to
output a signal
by using the
logical operation
function when
the robot enters
the restricted
area. And, it is
possible to
assign the
safety network
signals.
8 Restricted object
Only manipulator is restricted.
However, for the manipulator on the traverse unit, position
of traverse axis is considered.
Monitoring of position (joint angle)
Item Specifications Remarks
1 Basic functions
Monitor operating range of each joint. If the angle limit is
exceeded, set to the condition set by the “method of
restriction”.
8axes * 4 sets
can be set
It is possible to
switch using
the selection
signal from
safety
network.
2 Method of restriction
If the restricted object exceeds the restricted range,
perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Safety output OFF (Stop Category 0)
Errors can be cleared by pressing LSSW button (LS
releasing button).
Monitoring of speed
Item Specifications Remarks
1 Basic functions
<TEACH mode>
Monitor the linear speed of TCP does not exceed the
250mm/sec.
<PLAYBACK mode>
Monitor linear speed of TCP and angular speed of
each axis are less than the determined speed
8axes * 4 sets
can be set
It is possible to
switch using
the selection
signal from
safety
network.
2 Method of restriction
If the speed is exceeded, perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Safety output OFF (Stop Category 0)
3 Restricted object
Only manipulator is restricted.
However, for the manipulator on the traverse unit, position
of traverse axis is considered.
Monitoring of stop
Item Specifications Remarks
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.

1.1 Outline
1-5
Monitoring of stop in area
Item Specifications Remarks
1 Basic functions
If the run-out and stopping distance estimated from
the robot speed exceeds the restricted are, robot is
stopped.
2 Parameter setting
If the restricted object exceeds the restricted
range, perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Safety output OFF (Stop Category 0)
Errors can be cleared by inputting the “Error reset”.
Tool number verification
Item Specifications Remarks
1 Basic functions
Comparing the tool number setting from robot
controller and the tool number signal from tool
itself.
Up to 16 tools can be monitored.
This error occur when the tool number is unmatch
and the tool center point moves too far from the
setting value.
Monitor input 4 ch
16 tools are available
For more, please use
the safety network
function.
2 Parameter setting
If the restricted object exceeds the restricted
range, perform operation as follows:
<TEACH mode>
Safety output OFF (Stop Category 0)
<PLAYBACK mode>
Safety output OFF (Stop Category 0)
Errors can be cleared by inputting the “Error reset”.
Robot controller communication
Item Specifications Remarks
1 Basic functions Parameters, error status and monitoring status are
communicated via USB with robot controller.
2 Parameter setting
Parameters related to angle monitoring, operating
range monitoring, and speed monitoring can be
configured from the robot controller and saved in
the monitoring unit.
Parameters are saved to ROM and are retained
even when the power has been turned off.

1.1 Outline
1-6
Encoder and motor interface
Item Specifications Remarks
1 Basic functions
<Encoder>
It is possible send/receive data to/from the bidirectional
serial communication encoder.
It is possible to read communication between servo
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.
2 Connection method
<Encoder>
For the method of connecting encoder, 1-axis individual
connection or bus connection is available.
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”.
3 Error detection
<Encoder>
Encoder detection error
Timeout detection (hardware)
Encoder ID check (hardware)
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
Item Specifications Remarks
1 Safety inputs
This is to read the safety signal.
For further details, see “2.3.2 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.
2 Safety outputs
This is to output the safety signal.
For further details, see “2.3.3 Safety outputs.”
Diagnoses system short-circuit between outputs, output
circuit failure, and back check input circuit failure.
If an error is detected, safety output is turned OFF.
3 Monitor inputs
This is to the read non-safety signal.
For further details, see “2.3.5 Non-safety inputs.”
Diagnoses input circuit failure and over current.
If an error is detected, safety output is turned OFF.
4 Monitor outputs
This is to the output non-safety signal.
For further details, see “2.3.6 Non-safety outputs.”
If an error is detected, safety output is turned OFF.
5 Motor power control
sequence
This is to set the safety output to ON/OFF depending on
input conditions such as emergency stop and enable switch.

1.1 Outline
1-7
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
conditions
Degree of pollution 2
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
IMPORTANT
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
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
EN ISO 10218-1 :2011
IEC 62061 :2005
EN 60204-1/A1 :2009
Safety of machinery
Manipulating industrial robots – Safety
Safety of machinery
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
EN 61800-5-2 :2007
Functional safety of
electrical/electronic/programmable electronic
safety-related systems
Adjustable speed electrical power drive systems -
Part 5-2: Safety requirements - Functional, and how it
can benefit machine builders.

1.1 Outline
1-8
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

1.2 Risk Assessment
1-9
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.

1.1 Outline
1-10
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
that supports the position detection function ROX****T or ROX****CT
1.3.2 Required parts and installation (CFD controller)
Table 1-2 Optional products for RMU of CFD controller
Product name Model number
RMU unit CFD-OP145-A
(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.
Robot
Monitoring Unit
CFD
controller
T/P
Safety signals such as
emergency stop, safety
plug and or so
Normal I/O
signals
Robot
Fig.1.3.1 CFD controller image of RMU system

1.1 Outline
1-11
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
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
JP2 2-3 is shorted 1-2 is shorted
JP3 2-3 is shorted 1-2 is shorted
JP3
JP1
,
2

1.1 Outline
1-12
1.3.4 Connection of safety inputs
Electrical
specifications
Rating DC26V, 5mA max
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
Fig.1-3 Connection diagram of safety input signals
Fig.1-4 Example of how the safety input signals cannot be connected
Connection of monitor input
Electrical
specification
Rating DC26V, 5mA
Connect the dry contacts.
To prevent defective contact and other problems, use a device which can turn on and off
the very small load specified above.
Fig. 1-5 Connection diagram of the monitor input signal
External input
External input
TBX-1 (RMU input)
TBX-1 (RMU input)
External input
TBX-1 (RMU input)
External input
TBX-1 (RMU input)