Duplex Input Monitoring Function - Mitsubishi Electric MELFA CR750 Series Instruction Manual

4.3.7

Duplex input monitoring function

(1) Overview
The DSI signals specifying the monitoring mode status are duplex input signals, and the function always
monitors consistency of the status. When the function detects that the input signals do not match, error
H222m (m = 1 or 2: DSI signal number) occurs and the robot turns the servo OFF to stop.
(2) Duplex input monitoring
The DSI signals, DSI1 and DSI2, are both duplex input signals.
DSI signal
DSI1
DSI2
The function always monitors the status of the duplex input to see if it is consistent, and when the status is
not consistent for 0.2 seconds or more, error H222m occurs. If the inconsistency does not continue for 0.2
seconds or more, no error occurs.
When the status of the duplex input is inconsistent, the input signal status specified in parameter DSINO is
used for specifying the monitoring mode.
For the input signal number of DSI signal (parameter DSINO) for which "-1" (Disabled) is set, the duplex input
signal monitoring is not executed.
When signal difference is less than 0.2
seconds, an error does not occur.
Corresponding duplex input
DSI1-A, DSI1-B
DSI2-A, DSI2-B
When signal difference passes for more
than 0.2 seconds, an error occurs.
4 Safety monitoring function
Safety monitoring function 4-43