7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
Safety Response Time 7-89
1): RM – TMact – (TMpas /2) + a
2): RM – (TMact /2) – TMpas + c
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
RM: Safety refresh monitoring time
TMact: Transmission interval monitoring time on the active side
TMpas: Transmission interval monitoring time on the passive side
SCact: Safety cycle time on the active side
SCpas: Safety cycle time on the passive side
・ When using multiple safety CPU modules
Safety remote I/O module -> Safety CPU module -> Safety CPU module -> … -> Robot controller
Safety data transmission time (maximum value): DTtrs
DTtrs = Σ(SCcpu × 3) + (SRref × 2) + (SCrc × 2.5) + ΣRM + SRin + Σn × 2
The safety cycle time of the robot controller is 7.11 [ms].
For details on safety CPU modules, CC-Link IE TSN, and safety remote I/O modules, refer to the following
manuals.
□ MELSEC iQ-R CPU Module User's Manual (SH-081263ENG/SH-081264ENG)
□ 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)
(c) Output device response time: DTout
It is equivalent to the time from when the robot controller detects a safety input OFF and the SS1 command is
enabled until when the robot stops. The time consists of the following two times: Robot controller response
time "Trrc" (from when the SS1 command is enabled until when the robot starts to decelerate) and maximum
stopping time "Tmax" (from when the robot starts to decelerate until when it stops). Refer to "7.3 Maximum
Stopping Time and Maximum Operating Angle".
Robot controller response time
The time varies depending on the robot.
Output device response time
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