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8 SYSTEM APPLICATION EXAMPLES
The following shows calculation examples.
Item
Description
DTin
Input device response time
DTtrs
Safety data transmission time (maximum value)
DTout
Output device response time
Trrc
Robot controller response time
Tmax
Maximum stopping time
DTout = Trrc + Tmax
SFRT = DTin + DTtrs + DTout
= DTin + DTtrs + Trrc + Tmax
= DTin + 87.5 + 7.11 + Tmax
= DTin + Tmax + 95 [ms]
8-128 Application Example 2
Table 8-18 Parameters
Value
Remarks
-
Input device
specifications
87.5[ms]
Value from the
above formula
-
Shown below
7.11[ms]
-
-
-
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