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

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
LS: Communication cycle interval (cyclic data transfer processing time)
The safety cycle time of the robot controller is 7.11 [ms].
The safety cycle time of the safety CPU module and CC-Link IE TSN communication cycle interval (LS) are the
parameter values set in the safety CPU module and master/local module. Refer to the following manuals.
□ MELSEC iQ-R CPU Module User's Manual (Startup) (SH-081263ENG)
□ MELSEC iQ-R CPU Module User's Manual (Application) (SH-081264ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Startup) (SH-082127ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Application) (SH-082129ENG)

Safety refresh monitoring time

4.7.3
Set a safety refresh monitoring time (RM) on the safety programmable controller so that the value satisfies all of
the following conditions.
Conditions
(1) RM ≥ TMact + (TMpas /2) + (LS × 2) - a + (SCpas /2)
(2) RM ≥ (TMact /2) + TMpas + (LS × 2) - c + (SCpas /2)
(3) RM > TMact
(4) RM > TMpas
RM: Safety refresh monitoring time
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 interval (cyclic data transfer processing time)
SCact: Safety cycle time on the active side (safety cycle time of the safety CPU module)
SCpas: Safety cycle time on the passive side (safety cycle time of the robot controller: 7.11[ms])
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 cycle time of the robot controller is 7.11 [ms].
The safety cycle time of the safety CPU module and CC-Link IE TSN communication cycle interval (LS) are the
parameter values set in the safety CPU module and master/local module. Refer to the following manuals.
□ MELSEC iQ-R CPU Module User's Manual (Startup) (SH-081263ENG)
□ MELSEC iQ-R CPU Module User's Manual (Application) (SH-081264ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Startup) (SH-082127ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Application) (SH-082129ENG)
4-76 Safety Communication Function