Transmission Delay Time - Mitsubishi Electric CR800-R Instruction Manual

Transmission delay time

8.2.12
Calculate the delay time [ms] in transmission from the safety CPU module to the robot controller. 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
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)
・ Safety CPU module → Robot controller (normal value)
SCsnd + LS + SCrcv + TMsnd + (SCrc × 1.5)
= SCcpu + LS + SCrc + TMact + (SCrc × 1.5)
= 3.00 + 1.00 + 7.11 + 16.30 + (7.11 × 1.5)
= 38.08
・ Safety CPU module → Robot controller (maximum value)
SCsnd + (LS × 2) + (SCrcv × 2) + TMsnd + (SCrc × 1.5)
= SCcpu + (LS × 2) + (SCrc × 2) + TMact + (SCrc × 1.5)
= 3.00 + (1.00 × 2) + (7.11 × 2) + 16.30 + (7.11 × 1.5)
= 46.19
Table 8-16 Parameters
8 SYSTEM APPLICATION EXAMPLES
Value Remarks
3.00[ms] Setting value
7.11[ms] -
1.00[ms] Setting value
16.30[ms] Setting value
21.40[ms] Setting value
Application Example 2 8-133