Mitsubishi Electric CR800-R User Manual

8 SYSTEM APPLICATION EXAMPLES
Application Example 2 8-131
8.2.9 Safety monitoring function settings (robot controller)
Set the safety monitoring functions of the robot controller.
Table 8-13 Safety monitoring function settings
Function
Item
Setting value
Remarks
SLS1
XYZ monitoring speed
> Composite speed
3500 [mm/s]
-
SLS2
XYZ monitoring speed
> Composite speed
250 [mm/s]
-
Speed limit override
5[%]
-
8.2.10 Transmission interval monitoring time
Check the conditions of the transmission interval monitoring time (TM). The following shows calculation examples.
Table 8-14 Parameters
Item
Description
Value
Remarks
SCcpu
Safety cycle time of the safety CPU module
3.00[ms]
Setting value
SCrc
Safety cycle time of the robot controller
7.11[ms]
-
LS
Communication cycle intervals
1.00[ms]
Setting value
・ Transmission interval monitoring time of the safety programmable controller (TMact)
The transmission interval monitoring time set on the safety programmable controller must satisfy all of the
following conditions. Set a value equal to or higher than 16.3 [ms].
(1) TMact ≥ SCown × 3 = SCcpu × 3 = 3.00 × 3 = 9.00
(2) TMact ≥ SCoth × 2 + LS × 2 = SCrc × 2 + LS × 2 = 7.11 × 2 + 1.00 × 2 = 16.22
・ Transmission interval monitoring time of the robot controller (TMpas)
The transmission interval monitoring time set on the robot controller must satisfy all of the following conditions.
Set a value equal to or higher than 21.4 [ms].
(1) TMpas ≥ SCown × 3 = SCrc × 3 = 7.11 × 3 = 21.33
(2) TMpas ≥ SCoth × 2 + LS × 2 = SCcpu × 2 + LS×2 = 3.00 × 2 + 1.00 × 2 = 8.00

Mitsubishi Electric CR800-R Specifications

General

Brand	Mitsubishi Electric
Model	CR800-R
Category	Controller
Language	English