8 SYSTEM APPLICATION EXAMPLES
(1) RM ≥ TMact + (TMpas /2) + (LS × 2) - a + (SCpas /2)
= 30.00 + (22.00 /2) + (1.00 × 2) - 10.00 + (7.11 /2)
= 36.56
(2) RM ≥ (TMact /2) + TMpas + (LS × 2) - c + (SCpas /2)
= (30.00 /2) + 22.00 + (1.00 × 2) - 7.78 + (7.11 /2)
= 34.78
(3) RM > TMact
= 30.00
(4) RM > TMpas
= 22.00
Transmission delay time
8.1.12
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)
= 10.00 + 1.00 + 7.11 + 30.00 + (7.11 × 1.5)
= 58.8
・ 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)
= 10.00 + (1.00 × 2) + (7.11 × 2) + 30.00 + (7.11 × 1.5)
= 66.9
8-116 Application Example 1
Table 8-7 Parameters
Value
Remarks
10.00[ms]
Setting value
7.11[ms]
-
1.00[ms]
Setting value
30.00[ms]
Setting value
22.00[ms]
Setting value