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

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