8 SYSTEM APPLICATION EXAMPLES
Application Example 2 8-125
Table 8-9 Parameters
Input device response time
Input device
specifications
Safety data transmission time (maximum value)
Value from the
above formula
Output device response time
Robot controller response time
DTout = Trrc + Tmax
SFRT = DTin + DTtrs + DTout
= DTin + DTtrs + Trrc + Tmax
= DTin + 138.0 + 7.11 + Tmax
= DTin + Tmax + 146 [ms]
8.2 Application Example 2
8.2.1 Function
This example shows robot system 1 with three robots and robot system 2 with two robots, which are operated
under the following conditions.
・ When human approach is detected, the XYZ speed of the robot system is monitored whether the composite
speed is below 250 [mm/s] using the SLS function.
・ Once human presence is detected, the robot system is stopped by the SS1 function.
・ Once the emergency stop switch is pressed, the five robots are stopped by the SS1 function
・ During AUTO mode, the XYZ speed of the robot is monitored whether the composite speed is below 3500
[mm/s] using the SLS function.
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