Mitsubishi Electric CR800-R - Page 147

8 SYSTEM APPLICATION EXAMPLES
Application Example 2 8-135
The following shows calculation examples.
Table 8-18 Parameters
Item
Description
Value
Remarks
DTin
Input device response time
-
Input device
specifications
DTtrs
Safety data transmission time (maximum value)
87.5[ms]
Value from the
above formula
DTout
Output device response time
-
Shown below
Trrc
Robot controller response time
7.11[ms]
-
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]