Safety Response Time - Mitsubishi Electric RV-FR Series Instruction Manual

Safety response time

8.1.13
・ Safety data transmission time (maximum value): DTtrs
Calculate the maximum safety data transmission time [ms] (including error detections) from when the safety
input of the safety remote I/O module turns OFF until when the safety input SCNI of the robot controller turns
OFF. The following shows calculation examples.
Item Description
SCcpu Safety cycle time of the safety CPU module
SRref Refresh response processing time of the safety
remote I/O module
SCrc Safety cycle time of the robot controller
RM1 Safety refresh monitoring time
(Safety CPU module - Safety remote I/O module)
RM2 Safety refresh monitoring time
(Safety CPU module - Robot controller)
SRin Input response time of the safety remote I/O
module
Transmission interval monitoring time on the active
TMact1 side
(Safety CPU module - Safety remote I/O module)
Transmission interval monitoring time on the
TMpas1 passive side
(Safety CPU module - Safety remote I/O module)
Transmission interval monitoring time on the active
TMact2 side
(Safety CPU module - Robot controller)
Transmission interval monitoring time on the
TMpas2 passive side
(Safety CPU module - Robot controller)
n1 n (Safety CPU module - Safety remote I/O module)
n2 n (Safety CPU module - Robot controller)
*1 (calculation of n1)
For safety connection between the safety CPU module and safety remote I/O module, b (a smallest multiple of
SCact which is greater than TMact /2) is 20.00, a (TMact - b) is 10.00, d (a smallest multiple of SCpas which is
greater than TMpas /2) is 12.00, and c (TMpas - d) is 10.00. "n1" is 2.00 since it is the lowest value of either 1)
or 2) shown below.
1) RM - TMact - (TMpas /2) + a = 33.00 - 30.00 - (22.00 /2) + 10.00 = 2.00
2) RM - (TMact /2) - TMpas + c = 33.00 - (30.00 /2) - 22.00 + 10.00 = 6.00
*2 (calculation of n2)
For safety connection between the safety CPU module and robot controller, b (a smallest multiple of SCact
which is greater than TMact /2) is 20.00, a (TMact - b) is 10.00, d (a smallest multiple of SCpas which is greater
than TMpas /2) is 14.22, and c (TMpas - d) is 7.78. "n1" is 5.60 since it is the lowest value of either 1) or 2)
shown below.
1) RM - TMact - (TMpas /2) + a = 36.60 - 30.00 - (22.00 /2) + 10.00 = 5.60
2) RM - (TMact /2) - TMpas + c = 36.60 - (30.00 /2) - 22.00 + 7.78 = 7.38
Calculate the maximum safety data transmission time (DTtrs) as follows.
DTtrs = (SCcpu × 3) + (SRref × 2) + (SCrc × 2.5) + RM1 + RM2 + SRin + (n1 × 2) + (n2 × 2)
= (10.00 × 3) + (2.00 × 2) + (7.11 × 2.5) + 33.00 + 36.60 + 1.40 + (2.00 × 2) + (5.60 × 2)
= 138.0
・ Safety response time (maximum value): SFRT
Calculate the safety response time (maximum value) [ms] from when safety sensor 1 turns OFF until when the
robot stops. The following shows calculation examples.
Table 8-8 Parameters
8 SYSTEM APPLICATION EXAMPLES
Value Remarks
10.00[ms] Setting value
2.00[ms] -
7.11[ms] -
33.00[ms] Setting value
36.60[ms] Setting value
1.40[ms] Example
30.00[ms] Setting value
22.00[ms] Setting value
30.00[ms] Setting value
22.00[ms] Setting value
2.00 Calculated
value
5.60 Calculated
value
Application Example 1 8-117
*1
*2