Mitsubishi Electric CR800-R User Manual

8 SYSTEM APPLICATION EXAMPLES
8-132 Application Example 2
8.2.11 Safety refresh monitoring time
Check the conditions of the safety refresh monitoring time (RM). The following shows calculation examples.
Table 8-15 Parameters
Item
Description
Value
Remarks
TMact
Transmission interval monitoring time on the active
side
(Transmission interval monitoring time to be set on
the safety programmable controller)
16.30[ms]
Setting value
TMpas
Transmission interval monitoring time on the
passive side
(Transmission interval monitoring time to be set on
the robot controller)
21.40[ms]
Setting value
LS
Communication cycle intervals
1.00[ms]
Setting value
SCact
Safety cycle time on the active side
(Safety cycle time of the safety CPU module:
SCcpu)
3.00[ms]
Setting value
SCpas
Safety cycle time on the passive side
(Safety cycle time of the robot controller: SCrc)
7.11[ms]
-
a
TMact - b
7.30
Calculated
value
b
A smallest multiple of SCact which is greater than
TMact /2
9.00
Calculated
value
c
TMpas - d
7.18
Calculated
value
d
A smallest multiple of SCpas which is greater than
TMpas /2
14.22
Calculated
value
The safety refresh monitoring time (RM) must satisfy all of the following conditions. Set a value equal to or higher
than 28.0 [ms].
(1) RM ≥ TMact + (TMpas /2) + (LS × 2) - a + (SCpas /2)
= 16.30 + (21.40 /2) + (1.00 × 2) - 7.30 + (7.11 /2)
= 25.26
(2) RM ≥ (TMact /2) + TMpas + (LS × 2) - c + (SCpas /2)
= (16.30 /2) + 21.40 + (1.00 × 2) - 7.18 + (7.11 /2)
= 27.93
(3) RM ＞ TMact
= 16.30
(4) RM ＞ TMpas
= 21.40

Mitsubishi Electric CR800-R Specifications

General

Brand	Mitsubishi Electric
Model	CR800-R
Category	Controller
Language	English