Mitsubishi Electric CR800-R Instruction Manual page 147

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]
Table 8-18 Parameters
8 SYSTEM APPLICATION EXAMPLES
Value Remarks
- Input device
specifications
87.5[ms] Value from the
above formula
- Shown below
7.11[ms] -
- -
Application Example 2 8-135