Designations - YASKAWA iC9200 Series Operating Manual

iC9200 Series
5.12.7

Designations

Abbreviations sorted by components
Component
Sensor
Safety SDI
Safety SDI
Safety SDI
Safety SDO
Safety SDI
Safety SDO
Safety SDI
Safety SDO
Safety SDI
Safety SDO
Safety SDI
Safety SDO
Bus coupler
EtherCAT field bus
F-PLC / F-Logic
F-PLC / F-Logic
F-PLC / F-Logic
Actuator
HB700 | CPU | PMC921xEx | en | 24-04
Time 1 Description
T Delay time of the sensor
SensorDLY
(Sensor DeLaY).
TI Input smoothing time of the
ST
inputs of the safety SDI
(Smoothing Time).
TI With 2-channel evaluation dis-
DIS
crepancy time, otherwise 0
(DIScrepancy).
TI Max. response time without errors
WCDT
(Worst Case Delay Time).
TO
WCDT
TI Max. response time on error
OFDT
(One Fault Delay Time).
TO
OFDT
TI Max. acknowledgement time
DAT
(Device Acknowledgement Time).
TO
DAT
TI Configured FSoE watchdog time
FSoEWD
(FSoE WatchDog).
TO
FSoEWD
TI Maximum permitted
FSoEWD_MAX
FSoE watchdog time
TO
FSoEWD_MAX
(FSoE WatchDog MAXimum).
TI Max. Response time of the decen-
Slave
tralised periphery system, i.e. delay
TO
Slave
caused by the FSoE EtherCAT
coupler and the backplane bus.
TI EtherCAT cycle time for EtherCAT
BUS
bus communication. The EtherCAT
TO
BUS
cycle time results from the cycle
times of all connected EtherCAT
slaves.
T Cycle time of the safety CPU.
CL
T = T
CL
T Cycle monitoring time of the safety
CL_MAX
CPU.
T
CL_MAX
T Cycle time safety program.
FPROG
This value must be estimated. The
following specifications for totaliza-
tion apply:
■
Add 70µs per F device.
■
Add 20µs per safety-related
function block instances.
T Delay time of the actuator.
ActuatorDLY
/0.7
FPROG
≥ T /0.7
FPROG
Deployment CPU iC921xM-FSoE
Response times > Designations
Where from
Documentation of the sensor.
Configuration of the F periphery,
adapted to the sensor used.
Configuration of the F periphery,
adapted to the sensor used.
Documentation safety module.
Documentation safety module.
Documentation safety module.
Documentation safety module.
see formula
Documentation FSoE EtherCAT
coupler
EtherCAT slave documentation
iCube Engineer:
Value is to be specified at:
'Plant �� EtherCAT': 'Settings
�� Cycle time'
iCube Engineer:
Value to be specified at 'Plant
�� Safety PLC': 'Tasks and Events
�� Intervall' in the range of 5 ...
15ms.
iCube Engineer:
Value to be specified at 'Plant
�� Safety PLC': 'Tasks and Events
�� Watchdog'.
Value is estimated.
Documentation of the actuator
135