Safety Refresh Monitoring Time - Mitsubishi Electric CR800-R Instruction Manual

8 SYSTEM APPLICATION EXAMPLES

Safety refresh monitoring time

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