Mitsubishi Electric CR800-R User Manual

8 SYSTEM APPLICATION EXAMPLES
8-124 Application Example 1
8.1.13 Safety response time
・ Safety data transmission time (maximum value): DTtrs
Calculate the maximum safety data transmission time [ms] (including error detections) from when the safety
input of the safety remote I/O module turns OFF until when the safety input SCNI of the robot controller turns
OFF. The following shows calculation examples.
Table 8-8 Parameters
Item
Description
Value
Remarks
SCcpu
Safety cycle time of the safety CPU module
10.00[ms]
Setting value
SRref
Refresh response processing time of the safety
remote I/O module
2.00[ms]
-
SCrc
Safety cycle time of the robot controller
7.11[ms]
-
RM1
Safety refresh monitoring time
(Safety CPU module - Safety remote I/O module)
33.00[ms]
Setting value
RM2
Safety refresh monitoring time
(Safety CPU module - Robot controller)
36.60[ms]
Setting value
SRin
Input response time of the safety remote I/O
module
1.40[ms]
Example
TMact1
Transmission interval monitoring time on the active
side
(Safety CPU module - Safety remote I/O module)
30.00[ms]
Setting value
TMpas1
Transmission interval monitoring time on the
passive side
(Safety CPU module - Safety remote I/O module)
22.00[ms]
Setting value
TMact2
Transmission interval monitoring time on the active
side
(Safety CPU module - Robot controller)
30.00[ms]
Setting value
TMpas2
Transmission interval monitoring time on the
passive side
(Safety CPU module - Robot controller)
22.00[ms]
Setting value
n1 n (Safety CPU module - Safety remote I/O module)
2.00
Calculated
value
*1
n2 n (Safety CPU module - Robot controller)
5.60
Calculated
value
*2
*1 (calculation of n1)
For safety connection between the safety CPU module and safety remote I/O module, b (a smallest multiple of
SCact which is greater than TMact /2) is 20.00, a (TMact - b) is 10.00, d (a smallest multiple of SCpas which is
greater than TMpas /2) is 12.00, and c (TMpas - d) is 10.00. "n1" is 2.00 since it is the lowest value of either 1)
or 2) shown below.
1) RM - TMact - (TMpas /2) + a = 33.00 - 30.00 - (22.00 /2) + 10.00 = 2.00
2) RM - (TMact /2) - TMpas + c = 33.00 - (30.00 /2) - 22.00 + 10.00 = 6.00
*2 (calculation of n2)
For safety connection between the safety CPU module and robot controller, b (a smallest multiple of SCact
which is greater than TMact /2) is 20.00, a (TMact - b) is 10.00, d (a smallest multiple of SCpas which is greater
than TMpas /2) is 14.22, and c (TMpas - d) is 7.78. "n1" is 5.60 since it is the lowest value of either 1) or 2)
shown below.
1) RM - TMact - (TMpas /2) + a = 36.60 - 30.00 - (22.00 /2) + 10.00 = 5.60
2) RM - (TMact /2) - TMpas + c = 36.60 - (30.00 /2) - 22.00 + 7.78 = 7.38
Calculate the maximum safety data transmission time (DTtrs) as follows.
DTtrs = (SCcpu × 3) + (SRref × 2) + (SCrc × 2.5) + RM1 + RM2 + SRin + (n1 × 2) + (n2 × 2)
= (10.00 × 3) + (2.00 × 2) + (7.11 × 2.5) + 33.00 + 36.60 + 1.40 + (2.00 × 2) + (5.60 × 2)
= 138.0
・ Safety response time (maximum value): SFRT
Calculate the safety response time (maximum value) [ms] from when safety sensor 1 turns OFF until when the
robot stops. The following shows calculation examples.

Mitsubishi Electric CR800-R Specifications

General

Brand	Mitsubishi Electric
Model	CR800-R
Category	Controller
Language	English