Transmission Interval Monitoring Time; Safety Refresh Monitoring Time - Mitsubishi Electric CR800-R Instruction Manual

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.
Item Description
SCcpu Safety cycle time of the safety CPU module
SCrc Safety cycle time of the robot controller
LS Communication cycle intervals
・ Transmission interval monitoring time of the safety programmable controller (TMact)
The transmission interval monitoring time set on the safety programmable controller must satisfy all of the
following conditions. Set a value equal to or higher than 30.0 [ms].
(1) TMact ≥ SCown × 3 = SCcpu × 3 = 10.00 × 3 = 30.00
(2) TMact ≥ SCoth × 2 + LS×2 = SCrc × 2 + LS × 2 = 7.11 × 2 + 1.00 × 2 = 16.22
・ Transmission interval monitoring time of the robot controller (TMpas)
The transmission interval monitoring time set on the robot controller must satisfy all of the following conditions.
Set a value equal to or higher than 22.0 [ms].
(1) TMpas ≥ SCown × 3 = SCrc × 3 = 7.11 × 3 = 21.33
(2) TMpas ≥ SCoth × 2 + LS × 2 = SCcpu × 2 + LS × 2 = 10.00 × 2 + 1.00 × 2 = 22.00

Safety refresh monitoring time

8.1.11
Check the conditions of the safety refresh monitoring time (RM). The following shows calculation examples.
Item Description
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)
LS Communication cycle intervals
SCact Safety cycle time on the active side
(Safety cycle time of the safety CPU module:
SCcpu)
SCpas Safety cycle time on the passive side
(Safety cycle time of the robot controller: SCrc)
a TMact - b
b A smallest multiple of SCact which is greater than
TMact /2
c TMpas - d
d A smallest multiple of SCpas which is greater than
TMpas /2
The safety refresh monitoring time (RM) must satisfy all of the following conditions. Set a value equal to or
higher than 36.6 [ms].
8-122 Application Example 1
Table 8-5 Parameters
Table 8-6 Parameters
Value Remarks
10.00[ms] Setting value
7.11[ms] -
1.00[ms] Setting value
Value Remarks
30.00[ms] Setting value
22.00[ms] Setting value
1.00[ms] Setting value
10.00[ms] Setting value
7.11[ms] -
10.00 Calculated
value
20.00 Calculated
value
7.78 Calculated
value
14.22 Calculated
value