Safety Diagnosis Function; Test Pulse Diagnosis (Emg) - Mitsubishi Electric RV-FR Series Instruction Manual

4 SAFETY MONITORING FUNCTIONS

4.6 Safety Diagnosis Function

Test pulse diagnosis (EMG)

4.6.1
This function enables diagnosis of external wiring by pulse signals output from the emergency stop ports
(EXTEMG11, EXTEMG21). Changing parameter TPOEMG allows EXTEMG11 and EXTEMG21 to output off-
pulses regularly. The width of output pulses is always approximately 20 ms. Checking regularly the test pulses
inside the robot controller enables confirming the correct operation of the emergency stop lines.
emergency stop signal triggers the SS1 function, use of this safety diagnosis function satisfies SIL3 and
PLe/Category 4.
When using this function, connect emergency stop switches by seeing Fig. 4-66.
Make sure to prevent test pulses of this function from causing faulty operation of peripheral devices.
EXTEMG11
Approx.
20ms
EXTEMG21
Item
Parameter name
Function
What parameter settings
means
Default
4-68 Safety Diagnosis Function
Approx. 1000ms
Approx.
40ms
Approx.
20ms
Fig. 4-65: Test pulse diagnosis
Table 4-13: Test pulse diagnosis
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
Robot controller
ロボットコントローラ
Fig. 4-66: How to wire emergency stop lines
Description
Emergency stop switches (2 contacts)
非常停止スイッチ（2接点）
EXTEMG11
14
EXTEMG12
30
EXTEMG21
7
EXTEMG22
23
CNUSR11
When an