Safety Monitoring Function Settings (Robot Controller); Transmission Interval Monitoring Time - Mitsubishi Electric CR800-R Instruction Manual

Safety monitoring function settings (robot controller)

8.2.9
Set the safety monitoring functions of the robot controller.
Function Item
SLS1 XYZ monitoring speed
> Composite speed
SLS2 XYZ monitoring speed
> Composite speed
Speed limit override

Transmission interval monitoring time

8.2.10
Check the conditions of the transmission interval monitoring time (TM). The following shows calculation examples.
Item Description
SCcpu Safety cycle time of the safety CPU module
SCrc Safety cycle time of the robot controller
LS Communication cycle intervals
・ 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
Table 8-13 Safety monitoring function settings
Table 8-14 Parameters
8 SYSTEM APPLICATION EXAMPLES
Setting value
3500 [mm/s]
250 [mm/s]
5[%]
Value
Remarks
-
-
-
Remarks
3.00[ms] Setting value
7.11[ms] -
1.00[ms] Setting value
Application Example 2 8-131