8.

OPTION SAFETY SIGNALS MAROCDCHK03101E REV B

Input timing
Duplicate inputs are used for the OPSFTY signal so that a response is made even when a single failure occurs.
The statuses of these duplicate input signals must always be changed at the same time according to the timing
specifications provided in this section. The robot control unit always checks that the statuses of the duplicate
inputs are the same, and if control unit finds a discrepancy, it issues an alarm. If the timing specifications are
not satisfied, an alarm may be issued because of a signal discrepancy.
OPSFTY11 Close
OPSFTY21
OPSFTY31 Open
OPSFTY41

OPSFTY12 Close
OPSFTY22
OPSFTY32 Open TDIF TDIF
OPSFTY42

TOPEN

TOPEN

TDIFinput time difference 200msec

TOPENinput hold period 2sec

Response Time

From OPSFTY input to software detection: 4ms(Max.)

From software detection to ESPDO output: 2ms(Max.)

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