System Application Examples; Application Example 1; Function; System Configuration - Mitsubishi Electric CR800-R Instruction Manual

8. SYSTEM APPLICATION EXAMPLES

This chapter shows system application examples.

8.1 Application Example 1

Function

8.1.1
This example shows a system with one robot, which is operated under the following conditions.
・ Once human presence is detected, the robot is stopped by the SS1 function.
・ During AUTO mode, the XYZ speed of the robot is monitored whether the composite speed is below 2000
[mm/s] using the SLS function.

System configuration

8.1.2
"Human presence" is detected by safety sensor 1 (such as a light curtain).
Construct a safety system with the following CC-Link IE TSN devices.
No. Station
<1> Master station
(station No.0)
<2> Remote station
(station No.1)
<3> Local station
(station No.2)
* Connect safety sensor 1 to the safety inputs X0 and X1 of the safety remote I/O module.
* The programmable controller CPU module does not perform safety communication (standard communication
possible).
* The safety IO process uses the safety remote I/O module's double input discrepancy detection function, input
dark test function (test pulses), and input response time setting function (filters for noise and chattering).
Table 8-1 Safety system components
Product [model]
Safety CPU set
[RnSFCPU-SET]
Master/local module
[RJ71GN11-T2]
Safety remote I/O module
[NZ2GNSS2-16DTE]
Programmable controller CPU module
[RnCPU]
CR800-R controller
Master/local module
[RJ71GN11-T2]
8 SYSTEM APPLICATION EXAMPLES
Detailed product [model]
Safety CPU module
[RnSFCPU]
Safety function module
[R6SFM]
-
-
-
Robot CPU module
[R16RTCPU]
Controller
[CR800-R]
-
Application Example 1 8-117