Signal Operation - Mitsubishi Electric MELFA CR800 Series Instruction Manual

3 SIGNALS AND WIRING

Signal operation

3.1.2
(1) DSI signal
The DSI signals are used to switch items that the safety monitoring function monitors. Each of the signals is duplex
and the states of the two input signals need to be identical to each other. If the states of the two input signals are
different, an error occurs.
A 100-ms continuous discrepancy between DSI_A and DSI_B causes error H222* (DSI mismatch) and the SS1
function stops the robot.
DSI Input states
The DSI signal screen of RT ToolBox3 enables monitoring the input states of the DSI-A and DSI-B signals on it.
Input the DSI signal individually from the peripheral devices and test to see if ON/OFF state of the signal or wiring
is correct.
The DSI signal screen can be displayed by selecting [Online]→[Monitor]→[Signal]→[DSI signal] in Workspace.
(2) DSO signal
The DSO signals are for outputting the state of the safety monitoring function. DSO1 to DSO4 can be assigned
with output safety function and AREA signals. The outputs are duplex and a 100-ms continuous discrepancy
between DSO_A and DSO_B signals causes error H.2230 (DSO mismatch) to be output and the SS1 function
stops the robot.
DSO output
states
(3) Exclusive input/output signals
DSI signal and DSO signal are assigned to exclusive input/output signals 128 ~ 191. When the safety function is
enabled and any exclusive input/output signals are assigned to 128 ~ 191, L.6641(Duplicate setting (special IN))
3-24 Description of Signals
Tab. 3-3: DSI Input states
Signal input state
DSI_A DSI_B
Enabled OFF
ON
OFF
Disabled ON
Fig. 3-5 DSI signal monitor
Tab. 3-4: DSO output states
Signal output state
DSO_A DSO_B
Enabled ON
Disabled OFF
Remarks
OFF -
OFF A 100-ms continuous discrepancy between
DSI_A and DSI_B will cause an error and start
ON
SS1.
ON -
Remarks
ON -
OFF -