Mitsubishi Electric CR800-R User Manual

8 SYSTEM APPLICATION EXAMPLES
Application Example 1 8-123
(1) RM ≥ TMact + (TMpas /2) + (LS × 2) - a + (SCpas /2)
= 30.00 + (22.00 /2) + (1.00 × 2) - 10.00 + (7.11 /2)
= 36.56
(2) RM ≥ (TMact /2) + TMpas + (LS × 2) - c + (SCpas /2)
= (30.00 /2) + 22.00 + (1.00 × 2) - 7.78 + (7.11 /2)
= 34.78
(3) RM ＞ TMact
= 30.00
(4) RM ＞ TMpas
= 22.00
8.1.12 Transmission delay time
Calculate the delay time [ms] in transmission from the safety CPU module to the robot controller. The following
shows calculation examples.
Table 8-7 Parameters
Item
Description
Value
Remarks
SCcpu
Safety cycle time of the safety CPU module
10.00[ms]
Setting value
SCrc
Safety cycle time of the robot controller
7.11[ms]
-
LS
Communication cycle intervals
1.00[ms]
Setting value
TMact
Transmission interval monitoring time on the active
side
(Transmission interval monitoring time to be set on
the safety programmable controller)
30.00[ms]
Setting value
TMpas
Transmission interval monitoring time on the
passive side
(Transmission interval monitoring time to be set on
the robot controller)
22.00[ms]
Setting value
・ Safety CPU module → Robot controller (normal value)
SCsnd + LS + SCrcv + TMsnd + (SCrc × 1.5)
= SCcpu + LS + SCrc + TMact + (SCrc × 1.5)
= 10.00 + 1.00 + 7.11 + 30.00 + (7.11 × 1.5)
= 58.8
・ Safety CPU module → Robot controller (maximum value)
SCsnd + (LS×2) + (SCrcv × 2) + TMsnd + (SCrc × 1.5)
= SCcpu + (LS × 2) + (SCrc × 2) + TMact + (SCrc × 1.5)
= 10.00 + (1.00 × 2) + (7.11 × 2) + 30.00 + (7.11 × 1.5)
= 66.9

Mitsubishi Electric CR800-R Specifications

General

Brand	Mitsubishi Electric
Model	CR800-R
Category	Controller
Language	English