Mitsubishi Electric CR800-R User Manual

8 SYSTEM APPLICATION EXAMPLES
8-134 Application Example 2
8.2.13 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 8-17 Parameters
Item
Description
Value
Remarks
SCcpu
Safety cycle time of the safety CPU module
3.00[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)
12.00[ms]
Setting value
RM2
Safety refresh monitoring time
(Safety CPU module - Robot controller)
28.00[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)
9.00[ms]
Setting value
TMpas1
Transmission interval monitoring time on the
passive side
(Safety CPU module - Safety remote I/O module)
8.00[ms]
Setting value
TMact2
Transmission interval monitoring time on the active
side
(Safety CPU module - Robot controller)
16.30[ms]
Setting value
TMpas2
Transmission interval monitoring time on the
passive side
(Safety CPU module - Robot controller)
21.40[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)
5.63
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 6.00, a (TMact - b) is 3.00, d (a smallest multiple of SCpas which is
greater than TMpas /2) is 4.00, and c (TMpas - d) is 4.00. "n1" is 2.00 since it is the lowest value of either 1) or
2) shown below.
1) RM - TMact - (TMpas /2) + a = 12.00 - 9.00 - (8.00 /2) + 3.00 = 2.00
2) RM - (TMact /2) - TMpas + c = 12.00 - (9.00 /2) - 8.00 + 4.00 = 3.50
*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 9.00, a (TMact - b) is 7.30, d (a smallest multiple of SCpas which is greater
than TMpas /2) is 14.22, and c (TMpas - d) is 7.18. "n1" is 5.63 since it is the lowest value of either 1) or 2)
shown below.
1) RM - TMact - (TMpas /2) + a = 28.00 - 16.30 - (21.40 /2) + 7.30 = 8.30
2) RM - (TMact /2) - TMpas + c = 28.00 - (16.30 /2) - 21.40 + 7.18 = 5.63
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)
= (3.00 × 3) + (2.00 × 2) + (7.11 × 2.5) + 12.00 + 28.00 + 1.40 + (2.00 × 2) + (5.63 × 2)
= 87.5
・ Safety response time (maximum value): SFRT
Calculate the safety response time (maximum value) [ms] from when the safety input devices (emergency stop
switch 1, emergency stop switch 2, safety sensor 1A, and safety sensor 2A) turn OFF until when the robot stops.

Mitsubishi Electric CR800-R Specifications

General

Brand	Mitsubishi Electric
Model	CR800-R
Category	Controller
Language	English