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

Safety response time

8.2.13
・ 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 6.00, a (TMact - b) is 3.00, d (a smallest multiple of SCpas which is
greater than TMpas /2) is 4.00, and c (TMpas - d) is 4.00. "n1" is 2.00 since it is the lowest value of either 1) or
2) shown below.
1) RM - TMact - (TMpas /2) + a = 12.00 - 9.00 - (8.00 /2) + 3.00 = 2.00
2) RM - (TMact /2) - TMpas + c = 12.00 - (9.00 /2) - 8.00 + 4.00 = 3.50
*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 9.00, a (TMact - b) is 7.30, d (a smallest multiple of SCpas which is greater
than TMpas /2) is 14.22, and c (TMpas - d) is 7.18. "n1" is 5.63 since it is the lowest value of either 1) or 2)
shown below.
1) RM - TMact - (TMpas /2) + a = 28.00 - 16.30 - (21.40 /2) + 7.30 = 8.30
2) RM - (TMact /2) - TMpas + c = 28.00 - (16.30 /2) - 21.40 + 7.18 = 5.63
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)
= (3.00 × 3) + (2.00 × 2) + (7.11 × 2.5) + 12.00 + 28.00 + 1.40 + (2.00 × 2) + (5.63 × 2)
= 87.5
・ Safety response time (maximum value): SFRT
Calculate the safety response time (maximum value) [ms] from when the safety input devices (emergency stop
switch 1, emergency stop switch 2, safety sensor 1A, and safety sensor 2A) turn OFF until when the robot stops.
Table 8-17 Parameters
8 SYSTEM APPLICATION EXAMPLES
Value Remarks
3.00[ms] Setting value
2.00[ms] -
7.11[ms] -
12.00[ms] Setting value
28.00[ms] Setting value
1.40[ms] Example
9.00[ms] Setting value
8.00[ms] Setting value
16.30[ms] Setting value
21.40[ms] Setting value
2.00 Calculated
value
5.63 Calculated
value
Application Example 2 8-127
*1
*2