Application Example 2; Function - Mitsubishi Electric CR800-R Instruction Manual

Item Description
DTin Input device response time
DTtrs Safety data transmission time (maximum value)
DTout Output device response time
Trrc Robot controller response time
Tmax Maximum stopping 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

Function

8.2.1
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.
Table 8-9 Parameters
8 SYSTEM APPLICATION EXAMPLES
Value Remarks
- Input device
specifications
138.0[ms] Value from the
above formula
- Shown below
7.11[ms] -
- -
Application Example 2 8-125