Mitsubishi Electric CR800-R Instruction Manual
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Mitsubishi Electric CR800-R Instruction Manual

Mitsubishi Electric CR800-R Instruction Manual

Industrial robot, safety communication function
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Mitsubishi Electric Industrial Robot
CR800-R/CR860-R controller
Safety Communication Function
Instruction Manual
BFP-A3772-D

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  • Page 1 Mitsubishi Electric Industrial Robot CR800-R/CR860-R controller Safety Communication Function Instruction Manual BFP-A3772-D...
  • Page 3 Safety Precautions Always read the following precautions and the separate "Safety Manual" before starting use of the robot to learn the required measures to be taken. CAUTION All teaching work must be carried out by an operator who has received special training.
  • Page 4 The points of the precautions given in the separate "Safety Manual" are given below. Refer to the actual "Safety Manual" for details. DANGER When automatic operation of the robot is performed using multiple control devices (GOT, programmable controller, push-button switch), the interlocking of operation rights of the devices, etc.
  • Page 5 DANGER Do not connect the Handy GOT to a programmable controller when using an iQ Platform compatible product with the CR800-R /CR800-Q/CR860-R/CR860-Q controller. Failure to observe this may result in property damage or bodily injury because the Handy GOT can automatically operate the robot regardless of whether the operation rights are enabled or not.
  • Page 6 (VPNs), and antivirus solutions. Mitsubishi Electric shall have no responsibility or liability for any problems involving robot trouble and system trouble by unauthorized access, DoS attacks, computer viruses, and other cyberattacks.
  • Page 7 ■ Revision history Date of print Manual No. Details of revisions 2021-04-01 BFP-A3772  First print 2022-03-31 BFP-A3772-A  Added countermeasures for error H231n. 2023-04-17 BFP-A3772-B  Corrected "1.4 Specifications".  Corrected other mistakes and changed some sections. 2023-06-07 BFP-A3772-C ...

  • Page 8: Table Of Contents

    [CONTENTS] FUNCTIONS AND CONFIGURATION .................... 1-1 1.1 Overview ..............................1-1 1.2 Supported Products..........................1-2 1.3 System Configuration ..........................1-3 1.4 Specifications ............................1-6 1.5 Risk Assessment ............................. 1-9 1.5.1 Residual Risk (Common) ........................1-9 1.5.2 Residual Risk (Specific to Each Function) ..................1-9 SET-UP ............................
  • Page 9 6.1 Error List for the Safety Monitoring Functions ................... 6-83 6.2 Errors Whose Specification Is Changed by Safety Monitoring Functions ........6-87 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE ..........7-88 7.1 Safety Response Time ........................... 7-88 7.2 How to Calculate a Stopping Distance ....................7-90 7.3 Maximum Stopping Time and Maximum Operating Angle ..............
  • Page 10 INTRODUCTION Thank you for purchasing an industrial robot from Mitsubishi Electric Corporation. The safety communication function extends robot safety functions through safety communication with the safety programmable controller. Before using the safety communication function, make sure that you have read and fully understood the contents of this manual.
  • Page 11 RELEVANT DOCUMENTS The relevant manuals are shown below. For the latest version of the manuals, check the MITSUBISHI ELECTRIC FA website. CR800 series controller Document BFP-A3470 CR800 Controller RV-FR Series Standard Specifications Manual BFP-A3468 CR800 Controller RH-FRH Series Standard Specifications Manual...
  • Page 12 CR800 series controllers. The following functions are available. SS1 (STO), SS2 (SOS), SLS, SLP Safety communication This is a CR800-R/CR860-R controller function available by switching the network function robot safety monitoring function through safety communication. The following functions are available.

  • Page 13: Functions And Configuration

    The safety communication function sends/receives safety I/O signals to/from the safety programmable controller. The function is implemented with the safety monitoring function of the CR800-R/CR860-R controllers. The following table lists safety monitoring functions that can be implemented with the safety communication function.

  • Page 14: Supported Products

    C2 or CC-Link IE The master/local module (RJ71GN11-T2) is controller later required. Available for CR800-R controllers with version C2 or later manufactured in or after April 2021. CR860-R The master/local module (RJ71GN11-T2) is controller required. Available for CR860-R controllers with version C2z.

  • Page 15: System Configuration

    1 FUNCTIONS AND CONFIGURATION 1.3 System Configuration Fig. 1-1 shows a system architecture. This function allows the CR800-R/CR860-R controllers to perform safety communication with the safety programmable controller (MELSEC iQ-R series safety CPU module) using the master/local module. Using safety programmable controllers enables to perform safety communication with safety remote I/O modules and other equipment.
  • Page 16 Note 1: This is the standard equipment of the CR800-R series. Devices such as a power supply module and base unit are required separately. Refer to the following manuals. □ CR800 Controller RV-FR Series Standard Specifications Manual (BFP-A3470) □...
  • Page 17 1 FUNCTIONS AND CONFIGURATION ◆ Multiple CPU system This function allows multiple CPU modules in the multiple CPU system to use one master/local module. Programmable controller CPU module (CPU No.1) can perform standard communication, and robot CPU module of robot controllers (CPU No.2 to No.4) can perform safety communication with the master station individually. Station No.0 Station No.1 CPU No.1...

  • Page 18: Specifications

    SS1 (STO), SS2 (SOS), SLS, SLP Safety Input data 8 points communication Output data 4 points function Network CC-Link IE TSN (CR800-R/CR860-R controllers) CC-Link IE Station type Local station (safety station) Safety communication possible with the MELSEC iQ-R series safety CPU module (RnSFCPU) Protocol CC-Link IE Safety Protocol Ver.2...
  • Page 19 1 FUNCTIONS AND CONFIGURATION The following table shows the safety performance of the CR800-R controller. Function Item Performance Remarks Safety Level (Note 1) SIL 3 (IEC 61508:2010) Performance when: • External emergency stop Category 4, PL e input when the test pulse...
  • Page 20 1 FUNCTIONS AND CONFIGURATION The following table shows the safety performance of the CR860-R controller. Function Item Performance Remarks Safety Level (Note 1) SIL 3 (IEC 61508:2010) Performance when: • External emergency stop Category 4, PL e input when the test pulse (EN ISO 13849-1:2015) diagnosis settings are Mean time to dangerous...

  • Page 21: Risk Assessment

    1 FUNCTIONS AND CONFIGURATION 1.5 Risk Assessment To ensure safety, the user needs to assess all the risks and determine residual risks for the mechanical system as a whole. Companies or individuals who configure the system will accept full responsibility for installation and authorization of the safety system.
  • Page 22 1 FUNCTIONS AND CONFIGURATION (6) SLP function In the following cases, the monitoring position may go across a position monitoring plane or a position monitoring area. The following shows some concrete examples. • When the position monitoring plane is applied, the robot position is beyond the plane. •...

  • Page 23: Set-Up

    2 SET-UP 2. SET-UP This chapter explains how to set this function using the set-up procedure of a system incorporating the function. For setting examples, refer to “8 SYSTEM APPLICATION EXAMPLES". Below is the set-up procedure. System construction, network settings, and communication destination settings System Configurations and Connections Install devices to configure a system.

  • Page 24: Connections And Communication Destination Settings

    3 CONNECTIONS AND COMMUNICATION DESTINATION SETTINGS 3. CONNECTIONS AND COMMUNICATION DESTINATION SETTINGS This chapter explains system configurations, safety programmable controller settings at the communication destination, network settings, and other settings to use this function. 3.1 System Configurations and Connections Connect the safety programmable controller-side master/local module (master station) and the robot-side master/local module (local station) using an Ethernet cable.

  • Page 25: Robot-Side System Configuration

    To construct a robot-side system (local station), install the master/local module (Item No.5) in the MELSEC iQ-R series system that consists of the CR800-R/CR860-R controller standard equipment (Items No.1 through No.4). As described in the standard specifications, up to three robots can be connected to modules (CPU No.2 to No.4) in the MELSEC iQ-R series multiple CPU system, and four CPU modules in that system use one master/local module.

  • Page 26: Network Communication Settings

    3 CONNECTIONS AND COMMUNICATION DESTINATION SETTINGS 3.2 Network Communication Settings Set the parameters of the CC-Link IE TSN master/local stations. The control CPUs of the master/local modules are the safety CPU module on the safety programmable controller side and the programmable controller CPU module (CPU No.1) on the robot side respectively.

  • Page 27: Creating A Safety Program

    "1" for word devices. The first eight points of the specified device are sent as the SCNI inputs of the robot controller. Note 1: Even when setting the CR860-R, set "CR800-R" as the communication destination. 3.4 Creating a Safety Program Create a safety program in the safety CPU module for safety control of the system.

  • Page 28: Safety Monitoring Functions

    4 SAFETY MONITORING FUNCTIONS 4. SAFETY MONITORING FUNCTIONS This chapter provides information on the safety monitoring functions of the robot controller and how to configure the settings. 4.1 Overview of the Safety Monitoring Functions The following table lists safety monitoring functions that can be implemented with the safety communication function.

  • Page 29: Simulation

    4 SAFETY MONITORING FUNCTIONS Simulation 4.1.1 You can check operation of safety monitoring function with simulation on RT ToolBox3/RT ToolBox3 Pro. (This simulation is not available on RT toolBox3 mini. ) Safety I/O (SCNI/SCNO) are assigned as shown in the table below. Switch the SCNI signal using the pseudo- input function.

  • Page 30: Startup And Basic Configuration

    4 SAFETY MONITORING FUNCTIONS 4.2 Startup and Basic Configuration The safety monitoring function is disabled in the factory default setting. To use the safety monitoring function, it needs enabling and parameters for each monitoring function needs configuring. Changing the parameters for the safety monitoring functions requires RT ToolBox3, RT ToolBox3 mini, or RT ToolBox3 Pro separately.

  • Page 31: Password Setting

    4 SAFETY MONITORING FUNCTIONS (2) Parameter setting procedure Set the parameters in the following steps. Connect RT ToolBox3 to the controller and put it in the online state. Connecting RT ToolBox3 Display the editing screen for the safety monitoring function parameters, and Parameter configuration set each parameter.
  • Page 32 4 SAFETY MONITORING FUNCTIONS Press the [Change Password] button on the bottom of the editing screen for parameters related to the safety monitoring function to display [Register/Change Password]. Change the password by entering a new and the current passwords. Fig. 4-3: Register/Change Password screen Use 8 to 32 single-byte characters for the password.

  • Page 33: Enabling/Disabling Functions, Safety Communication Settings

    4 SAFETY MONITORING FUNCTIONS Enabling/disabling functions, safety communication settings 4.2.4 To use the safety monitoring functions, enable them on the Basic Configuration screen for the safety monitoring functions. Enable the safety monitoring functions and configure safety communication settings. From Workspace, select [Online] ->...
  • Page 34 4 SAFETY MONITORING FUNCTIONS ・Communication settings Fig. 4-6: Communication setting screen Table 4-2 Communication settings Item Setting value Communication partner IP address of the master Set the IP address on the safety programmable controller (master station) station side. Host station settings IP address of the Set the IP address of the RJ71GN11-T2 in the robot-side MELSEC iQ-R master/local module...
  • Page 35 4 SAFETY MONITORING FUNCTIONS ・Assigning safety connection status output signals To use a safety connection establishment status output signal and safety connection disconnection status output signal, assign them. The robot controller cannot run programs and turn ON the servos unless safety connection (safety communication with the safety programmable controller) is established.

  • Page 36: Recovery Mode

    4 SAFETY MONITORING FUNCTIONS Recovery mode 4.2.5 The recovery mode is a function to temporarily cancel the stop state activated by the SLP safety monitoring. To use this mode, a signal to indicate that the recovery mode is enabled must be assigned to the dedicated output. In The Output Number for Recovery Mode in the Basic Configuration screen, configure the output number.

  • Page 37: Parameter Crc Output Number

    4 SAFETY MONITORING FUNCTIONS During the recovery mode, the SLP function generates no errors even if the robot Caution intrudes into the restricted area. Take care not to let the robot interfere with peripheral devices. Also, during the recovery mode, the safety monitoring functions are stopped temporarily.
  • Page 38 4 SAFETY MONITORING FUNCTIONS (3) Dedicated output signals A CRC of the parameter file is output to the dedicated output signals configured in the Basic Configuration screen. The output signal width is fixed to 16 bits. Example) • Parameter CRC output number: The start number = 16, the end number = 31 •...

  • Page 39: Defining 3D Models

    4 SAFETY MONITORING FUNCTIONS 4.3 Defining 3D Models This chapter talks about defining shape models for the robot and the robot tools used for the safety monitoring. The shape models defined in this chapter are used for judgment in the safely-limited speed function, safely-limited position function, and Area Input.
  • Page 40 4 SAFETY MONITORING FUNCTIONS (3) Properties [Safe monitoring] in Properties enables viewing the relevant settings. (a) Arm model Selecting [AREA Input] -> [Arm model] in Properties and setting Display to True displays a shape model of the robot used for the safety monitoring function in the 3D Monitor screen. Fig.
  • Page 41 4 SAFETY MONITORING FUNCTIONS (c) Safety monitoring plane Selecting [Display monitoring plane] in Properties and setting the items of 1 through 8 to True displays the selected safety monitoring planes 1 to 8 in the 3D Monitor screen. Fig. 4-14: Safety monitoring plane (d) Safety monitoring area Selecting [Display monitoring area] in Properties and setting the items of 1 through 8 to True displays the selected safety monitoring areas 1 to 8 in the 3D Monitor screen.

  • Page 42: Arm Model

    4 SAFETY MONITORING FUNCTIONS Arm model 4.3.2 The shape of the robot arm has been modeled with sphere models and cylinder models and the robot model is used for judging the speed and area of the robot. The model can be used as it is in the initial condition. However, when cables, solenoid valves, or etc. are attached to the robot arm, resize the model as necessary.

  • Page 43: Tool Model

    4 SAFETY MONITORING FUNCTIONS Tool model 4.3.3 The shape of a robot tool is defined with up to four sphere models. Resize the model as necessary. (1) Changing monitoring models To change monitoring models, open the Robot Model screen from Workspace by selecting [Online] -> [Parameter] ->...
  • Page 44 4 SAFETY MONITORING FUNCTIONS (2) Enabling or disabling monitoring models Entering a value larger than 0 in Radius enables the tool model position monitoring. The [Enable] and [Disable] buttons for each position configures the speed monitoring. Fig. 4-17: Tool model After configuring the parameters, check that the settings are correct with 3D Monitor.

  • Page 45: Safety Logic Edit

    4 SAFETY MONITORING FUNCTIONS 4.4 Safety Logic Edit The robot controller uses safety inputs to switch the safety monitoring function and safety outputs to output the monitoring status of the safety monitoring functions. Link the safety I/O to the safety monitoring functions using the safety logic settings.
  • Page 46 4 SAFETY MONITORING FUNCTIONS The matrix on the Safety Input screen has rows representing safety inputs (SCNI, AREA, LOGIC, MODE). The columns represent safety monitoring start commands for each safety function (SS1, SS2, SLS1, SLS2, SLS3, SLSM, SLP1, SLP2, SLP3, SLPM). Checking intersections of the rows and columns defines safety functions started when the individual safety inputs are enabled.
  • Page 47 4 SAFETY MONITORING FUNCTIONS Example 2: To assign SCNI03 to SLS1, SLS2, and SLP1, and SCNI04 to SLS1, configure the settings as shown in Fig. 4-20. When SCNI03 turns OFF, SLS1, SLS2, and SLP1 will be activated. When SCNI04 turns OFF, SLS1 will be activated.
  • Page 48 4 SAFETY MONITORING FUNCTIONS (1) SCNI Input Data received during safety communication is used as the safety input SCNI to switch the safety monitoring function of the robot controller. Up to 8 points can be input. When SCNI turns OFF, the assigned safety monitoring function will be enabled.
  • Page 49 4 SAFETY MONITORING FUNCTIONS (2) Area Input (a) Overview AREA Input is a state that is enabled (or disabled) when the robot intrudes into or moves outside an area that is specified beforehand. Configuration of up to three areas is supported. The relation of the positions of the arm model and tool model, which are defined in Chapter 4.3 , to an area specified in this sub-section is monitored in real time, which switches AREA Input between the enabled and disabled states.
  • Page 50 4 SAFETY MONITORING FUNCTIONS (c) Configuring Area Input monitoring conditions Areas for area signals is configured in the Area Input screen. Selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Safety Logic] -> [Area Input] from Workspace displays the Area Input screen. Fig.
  • Page 51 4 SAFETY MONITORING FUNCTIONS Diagonal point 2 （X2,Y2,Z2） Diagonal point 1 （X1,Y1,Z1） Fig. 4-24: Area Input area Definition (d) How to view the Area Input state State variable M_SfIArea enables obtaining the Area Input state. The Operation Check screen for the safety input also enables viewing it. Safety Logic Edit 4-39...
  • Page 52 4 SAFETY MONITORING FUNCTIONS (3) Logic Input (a) Overview Logic Input is a state enabled based on a combination of SCNIn inputs (n = 01 to 08) and AREAm inputs (m = 1 to 3). It enables the AND condition of SCNI and AREA to start the safety functions. From Workspace, select [Online] ->...
  • Page 53 4 SAFETY MONITORING FUNCTIONS (4) Mode Input Mode Input is input that works based on the mode selector switch state (MANUAL or AUTO) of the robot controller. It enables switching automatically the safety monitoring functions based on the mode selector switch state.

  • Page 54: Safety Output Configuration

    4 SAFETY MONITORING FUNCTIONS Safety output configuration 4.4.2 This enables assigning the Disable states of the robot controller's safety monitoring functions (STO, SS1, SOS, SS2, SLS*, SLP*) and Area states to the safety outputs (SCNO outputs) of the safety programmable controller. When the assigned safety monitoring function and Area state are disabled, the SCNO output turns ON.

  • Page 55: Checking Operation Of The Safety Inputs And Outputs

    4 SAFETY MONITORING FUNCTIONS Checking operation of the safety inputs and outputs 4.4.3 After configuring the safety inputs and outputs, be sure to check that they operate as intended. (1) How to check operation of the safety inputs From Workspace, select [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Safety Logic] -> [Safety input (Safety communications)] to open the Safety Input screen.
  • Page 56 4 SAFETY MONITORING FUNCTIONS (2) How to check operation of the safety outputs From Workspace, select [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [Safety Logic] -> [Safety Output (Safety communications)] to open the Safety Output screen. Pressing the Operation Check button in this screen enables checking current states of the safety inputs and current states of safety monitoring.

  • Page 57: Safety Monitoring Functions

    4 SAFETY MONITORING FUNCTIONS 4.5 Safety Monitoring Functions This chapter provides the functional overview and configuration method of the safety monitoring function. Safe torque off (STO) 4.5.1 (1) Overview This function electrically shuts off the motor driving energy according to input signals from external devices. (This function corresponds to stop category 0 of IEC 60204-1.) (2) Operation sequence (a) STO start conditions...

  • Page 58: Safe Operating Stop (Sos)

    4 SAFETY MONITORING FUNCTIONS Safe operating stop (SOS) 4.5.2 (1) Overview This is a function to keep shifts of the robot from the stop position within a specified value. This function provides the motors with driving energy necessary to keep the stop state. Change in the position or speed during the SOS monitoring causes error H2282 (SOS position error, SOS speed error).
  • Page 59 4 SAFETY MONITORING FUNCTIONS (d) When the robot moves during the SOS monitoring When one of the following items exceeds the allowable range during the SOS monitoring, the SS1 function stops the robot. Joint position command (ii) Joint position FB (iii) Joint speed command (iv)
  • Page 60 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions Parameters related to the SOS function can be configured on the SOS screen, which can be opened by going to Workspace and selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] - >...

  • Page 61: Safe Stop 1 (Ss1)

    4 SAFETY MONITORING FUNCTIONS Safe stop 1 (SS1) 4.5.3 (1) Overview The SS1 command input starts deceleration and, after the motors of all the axes are decreased to a speed at or below specified speeds or a specified time elapses, motor driving power is turned off (STO is started). (This function corresponds to stop category 1 of IEC 60204-1.) Failure in deceleration within a specified maximum delay causes error H2280 (SS1 deceleration timeout).
  • Page 62 4 SAFETY MONITORING FUNCTIONS (b) When deceleration fails with SS1 enabled Elapsed time from when the SS1 command is enabled is measured. If the motors fail to stop by the time the SS1 deceleration monitoring time elapses, error H2280 occurs. The operation sequence is shown below: Speed 速度...
  • Page 63 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions (a) Safe stop speed In Workspace, open the SOS screen by selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] -> [SOS]. Then, in the Stop Speed fields, enter speeds at which the motors are judged to have stopped. These settings are shared by the SS1, SS2, and SOS functions.

  • Page 64: Safe Stop 2 (Ss2)

    4 SAFETY MONITORING FUNCTIONS Safe stop 2 (SS2) 4.5.4 (1) Overview The SS2 command input starts deceleration and, after the motors of all the axes are decreased to a speed at or below the safe stop speed, SOS is started. (This function corresponds to stop category 2 of IEC 60204-1.) Failure in deceleration within a specified maximum delay causes error H2281 (SS2 deceleration timeout).
  • Page 65 4 SAFETY MONITORING FUNCTIONS (b) When the motors fail to decelerate within monitoring time with SS2 enabled Time is measured after the SS2 command is enabled. If the motors fail to stop by the time the SS2 deceleration monitoring time elapses, error H2281 occurs and STO shuts off the driving power. operation sequence is shown below: Speed 速度...
  • Page 66 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions (a) Safe stop speed From Online, open the SOS screen by selecting [Parameter] -> [Safety parameter] -> [Safety option] -> [SOS]. Then, in the Stop Speed fields, enter speeds at which the motors are judged to have stopped. These settings are shared by the SS1, SS2, and SOS functions.

  • Page 67: Safely-Limited Speed Function (Sls)

    4 SAFETY MONITORING FUNCTIONS Safely-limited speed function (SLS) 4.5.5 (1) Overview This is a function to monitor the robot and the robot tool speeds so that they are under specified speed limits. When they are above a speed limit, the SS1 function stops the robot. Configuration of up to four different types (SLS1, SLS2, SLS3, SLSM) of speed monitoring conditions are supported.
  • Page 68 4 SAFETY MONITORING FUNCTIONS (b) When a specified speed limit is exceeded during the SLS_ monitoring Detection of a speed command or speed feedback exceeding the monitoring speed during the SLS_ monitoring causes error 230* (Abnormal SLS joint speed) or error 231* (Abnormal SLS orthogonal speed). The operation sequence is shown in the figure below: Speed 速度...
  • Page 69 4 SAFETY MONITORING FUNCTIONS (d) Operation with the servos on or off When the servos are off, the SLS monitoring is disabled. The SLS monitoring is enabled 200 ms after the servos are turned on. 200ms Servo-on/off サーボON/OFF Enabled 有効 SLS指令...
  • Page 70 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions (a) Speed monitoring position Positions subject to robot speed monitoring are defined with an arm model and tool models. For configuration of an arm model and tool models, see 4.3 Defining 3D Models. Positions subject to monitoring on an arm model are A1, A2, and the origin of the mechanical interface coordinates in the figure below.
  • Page 71 4 SAFETY MONITORING FUNCTIONS (b) Monitoring speed limits There are two modes available for configuration of the SLS monitoring speeds: Simple Mode and Detail Mode. Detail Mode enables detailed configuration of allowable speeds. Besides synthesized speeds, it allows monitoring of speeds of X, Y, Z components and joint angular speeds. Table 4-10: Items available for monitoring in each SLS mode Monitoring items Configuration...
  • Page 72 4 SAFETY MONITORING FUNCTIONS Fig. 4-49: Detail mode of monitoring speed limits (c) Restricting the movement speed The speed monitoring restricts the speed of movements made based on the interpolation command with Speed Limit OVRD specified beforehand. However, if a speed to which Speed Limit OVRD is applied exceeds the monitoring speed, error H230* (Abnormal SLS joint speed) or error H231* (Abnormal SLS orthogonal speed) occurs and the SS1 function stops the robot.
  • Page 73 4 SAFETY MONITORING FUNCTIONS Restriction on the commanded speed by Speed Limit OVRD is effective for the speed of Caution movements made by the interpolation command. The restriction is not effective for the correction speed generated by the compliance control, force sense control, or tracking function.
  • Page 74 4 SAFETY MONITORING FUNCTIONS (4) Operation check The following shows how to check that the monitoring speed is configured correctly. (a) How to check the SLS monitoring state From Workspace, open the Operation Check screen by selecting [Online] -> [Parameter] -> [Safety Parameter] ->...

  • Page 75: Safely-Limited Position Function (Slp)

    4 SAFETY MONITORING FUNCTIONS Safely-limited position function (SLP) 4.5.6 (1) Overview This function defines safeguarded spaces around the robot that restrict intrusion of the robot into them and monitors the robot arm and tools so that they do not enter the spaces. If the robot gets close to a safeguarded space during operation, the robot stops.
  • Page 76 4 SAFETY MONITORING FUNCTIONS (b) Description of position monitoring The enabled SLP monitoring function monitors an arm model and tool models according to predefined monitoring settings so that the models do not go into the restricted area applied at the time. (c) Stop position prediction function This function predicts whether the robot enters safeguarded spaces while it is run by the interpolation command or jog operation.
  • Page 77 4 SAFETY MONITORING FUNCTIONS SLP 監視 monitoring Robot position ロボット位置 領域 area Predicted position 予測位置 Actual position 実際位置 Enabled 有効 SLP_指令 SLP_ command Disabled 無効 Enabled 有効 SLP_監視 SLP_ monitoring Disabled 無効 SLP_ｴﾗｰ Error エラー SLP_ error No error エラー無し SLP事前停止...
  • Page 78 4 SAFETY MONITORING FUNCTIONS Safeguarded When the space Initial state margin is set SPPFMG Fig. 4-55: SLP prior stop when the margin is set SPPFMG parameter is available with software version of each device shown in the following table. Table 4-12: Software version that supports SPPFMG parameter Device Compatible version Controller...
  • Page 79 4 SAFETY MONITORING FUNCTIONS (d) When intrusion into an SLP restricted area is detected Intrusion of one of the following items into an SLP restricted area causes error H220* (SLP robot position error) and SS1 stops the robot. (i) Position command (Whole arm and tools) (ii) Position FB (Whole arm and tools) STO/SS1 SLP 監視...
  • Page 80 4 SAFETY MONITORING FUNCTIONS (3) Configuring monitoring conditions (a) Arm model and tool model Monitoring targets can be configured as a sphere model or cylinder model fixed to the robot or hand. Change in an arm model can only be made to the size. For tool models, free configuration of up to four sphere models is supported.
  • Page 81 4 SAFETY MONITORING FUNCTIONS ④ Monitoring Position This enables selecting a monitoring position of the robot subject to position monitoring. Selecting [Whole Arm and Tool] enables the position monitoring that uses an arm model and tool models defined in 4.3 Defining 3D Models. Selecting [Tool Only] enables the position monitoring that only monitors tool models.
  • Page 82 4 SAFETY MONITORING FUNCTIONS (c) Safety monitoring area This enables configuring safety monitoring areas. Definition of up to eight areas is supported. Fig. 4-61: Safety monitoring area ① Area Setting Definition of up to eight areas is supported. Select a monitoring area (Area 1 to Area 8) to be changed or edited from the pull-down menu.
  • Page 83 4 SAFETY MONITORING FUNCTIONS (4) Operation check Be sure to check that the monitoring conditions for the SLP function are configured correctly. The following describes how to check that. ① How to check monitoring plane switching Open the Operation Check screen by selecting [Online] -> [Parameter] -> [Safety Parameter] -> [Safety option] ->...

  • Page 84: Safety Diagnosis Function

    4 SAFETY MONITORING FUNCTIONS 4.6 Safety Diagnosis Function Test pulse diagnosis (EMG) 4.6.1 This function enables diagnosis of external wiring by pulse signals output from the emergency stop ports (EXTEMG11, EXTEMG21). Changing parameter TPOEMG allows EXTEMG11 and EXTEMG21 to output off- pulses regularly.

  • Page 85: Safety Communication Function

    4 SAFETY MONITORING FUNCTIONS 4.7 Safety Communication Function This function communicates with the external safety device (safety programmable controller) using functional safety-compatible protocols. Input signals are used to switch the safety monitoring function, and output signals are used to output the status of the safety monitoring functions. If a communication error is detected, the SS1 function will stop the robot.
  • Page 86 4 SAFETY MONITORING FUNCTIONS Table 4-14 List of resettable errors Error number Description H8250 Safety comm. Received error info H8252 Safety comm. timeout H8253 H8254 H8257 Safety comm. data error H8291 Safety connection timeout If an error that cannot be reset is occurring, cycle the power. <2>...
  • Page 87 4 SAFETY MONITORING FUNCTIONS The timeout time during waiting for safety connection establishment can be set with the parameter. In the default settings, timeout does not occur in the following situations: 30 seconds for the initial connection after power-on or at reconnection.

  • Page 88: Transmission Interval Monitoring Time

    4 SAFETY MONITORING FUNCTIONS Transmission interval monitoring time 4.7.2 Set transmission interval monitoring times on the safety programmable controller and robot controller so that they satisfy all of the following conditions. Conditions (1) TM ≥ SCown × 3 (2) TM ≥ SCoth × 2 + LS × 2 TM: Transmission interval monitoring time SCown: Safety cycle time of the own station SCoth: Safety cycle time of the other station...

  • Page 89: Transmission Delay Time

    4 SAFETY MONITORING FUNCTIONS Transmission delay time 4.7.4 The transmission delay time of the safety communication function is calculated as follows. (1) The time from when the safety device of the safety CPU module (sending station) turns OFF until when the SCNI signal of the robot controller (receiving station) turns OFF and the safety monitoring function is enabled (2) The time from when the safety monitoring function of the robot controller (sending station) is enabled and...

  • Page 90: Robot (System) State Variables

    5 ROBOT (SYSTEM) STATE VARIABLES 5. ROBOT (SYSTEM) STATE VARIABLES The table below shows state variables that are related to the safety communication function and safety monitoring functions. 5.1 List of Robot (System) State Variables Table 5-1 Safety connection status (state variables) Name of Number of Description...
  • Page 91 5 ROBOT (SYSTEM) STATE VARIABLES M_SCNI [Function] Regarding the SCNI signal status of the safety communication function, this refers to the current value. SCNI signal OFF: 1 SCNI signal ON: 0 [Format] Example) <Numerical variable> = M_SCNI (<SCNI number>) [Terminology] <Numerical variable>...
  • Page 92 5 ROBOT (SYSTEM) STATE VARIABLES M_ SCNILogic [Function] Regarding the safety communication function's SCNI and area input's logic input, this refers to the current value. LOGIC input OFF: 1 LOGIC input ON: 0 [Format] Example) <Numerical variable> = M_SCNILogic (<LOGIC number>) [Terminology] <Numerical variable>...
  • Page 93 5 ROBOT (SYSTEM) STATE VARIABLES M_SfSts [Function] This refers to the running state of the safety monitoring functions. (1: Enabled, 0: Disabled) [Format] Example) <Numerical variable> = M_SfSts( <Function number> ) [Terminology] <Numerical variable> This refers to the running state of a safety monitoring function corresponding to the function number.
  • Page 94 5 ROBOT (SYSTEM) STATE VARIABLES M_SlpPreStp [Function] The variable returns the present SLP pre-stop status. [Format] Example) <Numerical variables>=M_SlpPreStp [Terminology] <Numerical variable> The current SLP pre-stop status is returned. Not in pre-stop status: 0 During pre-stop: 1 to 8 (number of the applicable position monitoring plane) 101 to 108 (100 + number of the applicable position monitoring area) [Reference Program] M_Outb(100) = M_SlpPreStp 'The variable outputs the present SLP pre-stop status from the output signal...

  • Page 95: Troubleshooting

    6 TROUBLESHOOTING 6. TROUBLESHOOTING 6.1 Error List for the Safety Monitoring Functions Errors related to the safety monitoring functions are listed below. For details about the errors not listed, refer to "Instruction manual/ Troubleshooting" coming with the robot. (Errors whose error number is suffixed with * requires resetting the power supply.) Table 6-1 Error list for the safety monitoring functions Error number Error causes and solutions...
  • Page 96 6 TROUBLESHOOTING Error number Error causes and solutions Error message Illigal setting of safety IO I/F Both safety IO and safety communication are set to valid. Safety IO and safety H0251 * Cause communication cannot be used together. Solution Disable either safety IO or safety communications. Error message N/W module slot error There is no available module in the slot No.
  • Page 97 6 TROUBLESHOOTING Error number Error causes and solutions Error message SS2 deceleration time exceeded Cause The robot didn't stop within deceleration time from SS2 enabled. H2281 * Check operation instructions, terminal load, and stop speed (SFSPZERO) Solution parameter of the robot. Error message SOS (Position error) Cause...
  • Page 98 6 TROUBLESHOOTING Error number Error causes and solutions Error message SF (Process error) Cause The Safety Function is not normally executed. Reset the error by power-cycling the robot. If the same error recurs, contact the Solution manufacturer. H2370 * Error message SF (Process Counter error) Cause The Safety Function of servo CPU is not normally executed.

  • Page 99: Errors Whose Specification Is Changed By Safety Monitoring Functions

    6 TROUBLESHOOTING Error number Error causes and solutions Error message System bus error Cause A system bus error was detected. ・ Check the extension cable connection. ・ Check the mounting status of the module. H8270 * ・ Take measures to reduce noise. Solution ・...

  • Page 100: Safety Response Time And Safe Stopping Distance

    7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE 7. SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE Below are the definitions of safety response times and maximum stopping distances for the robot. 7.1 Safety Response Time Calculate the maximum safety response time (SFRT) from when the safety input device turns OFF until when the robot stops (including error detections) with the following values according to the system being constructed: (a) Input device response time, (b) Safety data transmission time (maximum value), and (c) Output device response time.
  • Page 101 □ MELSEC iQ-R CC-Link IE TSN User's Manual (SH-082127ENG/SH-082129ENG) □ CC-Link IE TSN Remote I/O Module (With Safety Functions) User's Manual (SH-082227ENG) □ Mitsubishi Electric Safety Programmable Controller MELSEC iQ-R Series Machinery Directive (2006/42/EC) Compliance (BCN-P5999-0502) □ MELSEC iQ-R Safety Application Guide (SH-081538ENG)

  • Page 102: How To Calculate A Stopping Distance

    7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE 7.2 How to Calculate a Stopping Distance Assuming that the power supply to the robot controller is shut off during operation or that an error triggers the SS1 function, the maximum stopping distance in the worst scenario can be approximated by the following formula. (Assume that the robot has brakes on all the axes.) Maximum stopping distance Dmax = (Vmax ×...

  • Page 103: Maximum Stopping Time And Maximum Operating Angle

    7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE <Maximum stopping time> The maximum stopping time Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate differs from robot to robot. Ovrd 100% Ovrd 100% (see chapter 7.3 ) L=100% M=100% 0.29 58.80...
  • Page 104 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE (2) The degree of extension of the robot arm (a) RV-FR series Axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100% L=66% L=33% J3 axis...
  • Page 105 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE (b) RH-FRH series Axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100% L=66% L=33% J3 axis J2 axis J1 axis L=100% Note) The robot in the figure is RH-6FRH. Maximum Stopping Time and Maximum Operating Angle 7-93...
  • Page 106 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE (3) Load dimension for J6 axis in RV series/J4 axis in RH series Axis of rotation Robot Flange Center Load (M kg) Robot model Load type Mass kg Size mm Distance mm RV-2FRB Load 1 RV-2FRLB...
  • Page 107 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-2FRB Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.48 0.60 0.72...
  • Page 108 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-2FRLB Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.77 0.85 0.93...
  • Page 109 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-4FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.48 0.56 0.64...
  • Page 110 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-4FRL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.49 0.57 0.65...
  • Page 111 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-7FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.48 0.56 0.64...
  • Page 112 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-7FRL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.45 0.53 0.61...
  • Page 113 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-7FRLL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.63 0.75 0.87...
  • Page 114 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-13FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.59 0.69 0.80...
  • Page 115 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-13FRL Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.56 0.66 0.76...
  • Page 116 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-20FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.75 0.87 0.99...
  • Page 117 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-35FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 0.94 1.26 1.59...
  • Page 118 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-50FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 1.00 1.31 1.64...
  • Page 119 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RV-80FR Stopping time and stopping distance (emergency stop) Stopping time [s] Stopping distance [deg] Axis Arm extension Load rate Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100% 1.07 1.38 1.71...
  • Page 120 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RH-3FRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100%...
  • Page 121 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RH-6FRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100%...
  • Page 122 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RH-12FRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100%...
  • Page 123 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RH-20FRH Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100%...
  • Page 124 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RH-3FRHR Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100%...
  • Page 125 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE RH-1FRHR Stopping time and stopping distance (emergency stop) Stopping distance Stopping time [s] J1/J2/J4 axis [deg] Axis Arm extension Load rate J3 axis [mm] Ovrd 33% Ovrd 66% Ovrd 100% Ovrd 33% Ovrd 66% Ovrd 100% M=100%...

  • Page 126: Calculating Stopping Distance And Stopping Time

    7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE 7.4 Calculating stopping distance and stopping time This section explains how to calculate stopping distance and stopping time with RT ToolBox3. The stopping time refers to the maximum stopping time (Tmax) that does not include the safety data transmission time (DTtrs) and response time (Trin).
  • Page 127 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE ③ Log data. Operate the robot and start data logging. Next, input the stop signal. Data logging will finish after the robot has stopped. A simple way to input the stop signal is to input it from the emergency stop switch (EMS Switch) connected to the emergency stop input of the robot controller.
  • Page 128 7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE ④ Interpret the stopping distance and stopping time. The logged data will be saved as a file in the folder you have specified. The current date and time will be used as the file name (e.g. "LOGYYYYMMDD-hhmmss.csv"). The first three rows in the CSV file contain information such as column titles and units of measurement.

  • Page 129: System Application Examples

    (station No.1) [NZ2GNSS2-16DTE] <3> Local station Programmable controller CPU module (station No.2) [RnCPU] CR800-R controller Robot CPU module [R16RTCPU] Controller [CR800-R] Master/local module [RJ71GN11-T2] * Connect safety sensor 1 to the safety inputs X0 and X1 of the safety remote I/O module.

  • Page 130: Network Communication Settings

    8 SYSTEM APPLICATION EXAMPLES <1>Safety programmable controller (master station) <2>Safety remote I/O module Safety CPU module (remote station) Safety function module Master/local CC-Link IE TSN module (Ethernet cable) Safety sensor 1 <3>Programmable controller (local station) Programmable controller CPU module CC-Link IE TSN (Ethernet cable) Robot CPU module Master/local...

  • Page 131: Safety Communication Settings (Safety Programmable Controller)

    SA\X Safety Send data output Station No.1 Safety input Station No.2: <3> Programmable controller (local station) CPU No.1 ： RnCPU CPU No.2 ： CR800-R controller SA\Y SA\X SCNI Send data Data received Station No.2 - Station No.2 - CPU No.2 CPU No.2...

  • Page 132: Safety Program (Safety Programmable Controller)

    8 SYSTEM APPLICATION EXAMPLES Safety program (safety programmable controller) 8.1.5 Create a safety program of the safety programmable controller. ・ When the safety input SA\X0 (safety sensor 1) is ON, the safety internal relay SA\M1 turns ON. ・ When the safety internal relay SA\M1 is ON, the safety output SA\Y10 turns ON. * In addition, processes such as checking the safety refresh communication status and releasing the safety station interlock are required.

  • Page 133: Safety Logic Edit (Robot Controller)

    8 SYSTEM APPLICATION EXAMPLES Safety logic edit (robot controller) 8.1.8 Set the safety logic of the robot controller. ・ When safety input SCNI01 is OFF, the SS1 function is activated. ・ When MODE input is AUTO, the SLS1 function is activated. Fig.

  • Page 134: Transmission Interval Monitoring Time

    8 SYSTEM APPLICATION EXAMPLES Transmission interval monitoring time 8.1.10 Check the conditions of the transmission interval monitoring time (TM). The following shows calculation examples. Table 8-5 Parameters Item Description Value Remarks SCcpu Safety cycle time of the safety CPU module 10.00[ms] Setting value SCrc...

  • Page 135: Transmission Delay Time

    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 ×...

  • Page 136: Safety Response Time

    8 SYSTEM APPLICATION EXAMPLES 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.

  • Page 137: Application Example 2

    8 SYSTEM APPLICATION EXAMPLES Table 8-9 Parameters Item Description Value Remarks DTin Input device response time Input device specifications DTtrs Safety data transmission time (maximum value) 138.0[ms] Value from the above formula DTout Output device response time Shown below Trrc Robot controller response time 7.11[ms] Tmax...

  • Page 138: System Configuration

    <3> Remote station Safety remote I/O module (station No.2) [NZ2GNSS2-16DTE] <4> Local station Programmable controller CPU module (station No.3) [RnCPU] CR800-R controller × 3 Robot CPU module [R16RTCPU] Controller [CR800-R] Master/local module [RJ71GN11-T2] <5> Local station Programmable controller CPU module (station No.4)

  • Page 139: Network Communication Settings

    8 SYSTEM APPLICATION EXAMPLES <1>Safety programmable controller (master station) Safety CPU module Safety function module Master/local module CC-Link IE TSN (Ethernet cable) Robot system 1 <2>Safety remote I/O module <4>Programmable controller (local station) (remote station) Robot CPU module 1 Robot CPU module 2 Programmable controller CPU CC-Link IE...

  • Page 140: Safety Communication Settings (Safety Programmable Controller)

    Station No.2 Safety Data received input Station No.2 Station No.3: <4> Programmable controller (local station) CPU No.1: RnCPU CPU No.2: CR800-R controller (1) CPU No.3: CR800-R controller (2) CPU No.4: CR800-R controller (3) SA\Y SA\X SCNI Send data Data received Station No.3 -...

  • Page 141: Safety Program (Safety Programmable Controller)

    8 SYSTEM APPLICATION EXAMPLES Safety program (safety programmable controller) 8.2.5 Create a safety program of the safety programmable controller. ・ When the safety inputs SA\X0 (safety sensor 1A), SA\X4 (emergency stop switch 1), and SA\X14 (emergency stop switch 2) are ON, the safety internal relay SA\M10 turns ON. ・...

  • Page 142: Basic Configuration

    8 SYSTEM APPLICATION EXAMPLES Basic configuration (robot controller） 8.2.6 Configure the basic settings of robot controller safety functions. Table 8-12 Basic settings Setting Setting value Remarks Enable / Disable the Safety Function Enable Safety Input / Output I/F Safety communications CC-Link IE TSN Communication partner IP address 192.168.3.253...

  • Page 143: Safety Monitoring Function Settings (Robot Controller)

    8 SYSTEM APPLICATION EXAMPLES Safety monitoring function settings (robot controller) 8.2.9 Set the safety monitoring functions of the robot controller. Table 8-13 Safety monitoring function settings Function Item Setting value Remarks SLS1 XYZ monitoring speed 3500 [mm/s] > Composite speed SLS2 XYZ monitoring speed 250 [mm/s]...

  • Page 144: Safety Refresh Monitoring Time

    8 SYSTEM APPLICATION EXAMPLES Safety refresh monitoring time 8.2.11 Check the conditions of the safety refresh monitoring time (RM). The following shows calculation examples. Table 8-15 Parameters Item Description Value Remarks TMact Transmission interval monitoring time on the active 16.30[ms] Setting value side (Transmission interval monitoring time to be set on...

  • Page 145: Transmission Delay Time

    8 SYSTEM APPLICATION EXAMPLES 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. Table 8-16 Parameters Item Description Value Remarks SCcpu Safety cycle time of the safety CPU module 3.00[ms] Setting value SCrc...

  • Page 146: Safety Response Time

    8 SYSTEM APPLICATION EXAMPLES 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.
  • Page 147 8 SYSTEM APPLICATION EXAMPLES The following shows calculation examples. Table 8-18 Parameters Item Description Value Remarks DTin Input device response time Input device specifications DTtrs Safety data transmission time (maximum value) 87.5[ms] Value from the above formula DTout Output device response time Shown below Trrc Robot controller response time...
  • Page 148 8 SYSTEM APPLICATION EXAMPLES 8-136 Application Example 2...
  • Page 150 Sep. 2023 MEE Printed in Japan on recycled paper. Specifications are subject to change without notice.

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