Appendix 3: Safety Diagnosis Function (Test Pulse Diagnosis) - Mitsubishi Electric CR800-05VD Standard Specifications Manual

Appendix 3: Safety diagnosis function (test pulse diagnosis)

The Safety diagnosis function checks the emergency stop status of the robot using the pulse output from the
emergency stop signals (EXTEMG11, EXTEMG21). By changing the settings of TPOEMG, off pulses can be
output regularly from EXTEMG11 and EXTEMG21. The width of the pulses that are output is approximately
20 ms. By checking the robot controller test pulses regularly, it is possible to ascertain whether the emer-
gency stop line is working properly.
When using this function, connect emergency stop switches by seeing
Make sure to prevent test pulses of this function from causing faulty operation of peripheral devices.
Fig.7-1: Test pulse diagnosis
Table 7-2: Parameter details
Item
Parameter name
Function
What parameter settings means
Default
Fig.7-2: How to wire emergency stop lines
TPOEMG
This enables configuring the pulse output function for outputting test pulse signals
from emergency stop ports (EXTEMG11, EXTEMG21).
0: Outputs no test pulses
1: Outputs test pulses
0
Safety diagnosis function (test pulse diagnosis) Appendix-107
Fig. 7-2.
Description
7 Appendix