7 Appendix
Safety diagnosis function (test pulse diagnosis) Appendix-107
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 Fig. 7-2.
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
Fig.7-2: How to wire emergency stop lines
Item Description
Parameter name TPOEMG
Function This enables configuring the pulse output function for outputting test pulse signals
from emergency stop ports (EXTEMG11, EXTEMG21).
What parameter settings means 0: Outputs no test pulses
1: Outputs test pulses
Default 0
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