Mitsubishi Electric CR800-R - Page 9

6.1 Error List for the Safety Monitoring Functions ................................................................................... 6-83
6.2 Errors Whose Specification Is Changed by Safety Monitoring Functions ...................................... 6-87
7. SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE ................................................. 7-88
7.1 Safety Response Time ........................................................................................................................... 7-88
7.2 How to Calculate a Stopping Distance ................................................................................................ 7-90
7.3 Maximum Stopping Time and Maximum Operating Angle ................................................................ 7-91
7.4 Calculating stopping distance and stopping time ............................................................................. 7-114
8. SYSTEM APPLICATION EXAMPLES ........................................................................................ 8-117
8.1 Application Example 1 .......................................................................................................................... 8-117
8.1.1 Function ........................................................................................................................................... 8-117
8.1.2 System configuration ...................................................................................................................... 8-117
8.1.3 Network communication settings .................................................................................................. 8-118
8.1.4 Safety communication settings (safety programmable controller) ........................................... 8-119
8.1.5 Safety program (safety programmable controller) ..................................................................... 8-120
8.1.6 Basic configuration (robot controller） ......................................................................................... 8-120
8.1.7 Defining 3D models (robot controller) .......................................................................................... 8-120
8.1.8 Safety logic edit (robot controller) ................................................................................................ 8-121
8.1.9 Safety monitoring function settings (robot controller) .............................................................. 8-121
8.1.10 Transmission interval monitoring time ...................................................................................... 8-122
8.1.11 Safety refresh monitoring time ................................................................................................... 8-122
8.1.12 Transmission delay time .............................................................................................................. 8-123
8.1.13 Safety response time ................................................................................................................... 8-124
8.2 Application Example 2 ......................................................................................................................... 8-125
8.2.1 Function .......................................................................................................................................... 8-125
8.2.2 System configuration ..................................................................................................................... 8-126
8.2.3 Network communication settings ................................................................................................. 8-127
8.2.4 Safety communication settings (safety programmable controller) .......................................... 8-128
8.2.5 Safety program (safety programmable controller) ..................................................................... 8-129
8.2.6 Basic configuration (robot controller） ......................................................................................... 8-130
8.2.7 Defining 3D models (robot controller) .......................................................................................... 8-130
8.2.8 Safety logic edit (robot controller) ................................................................................................ 8-130
8.2.9 Safety monitoring function settings (robot controller) .............................................................. 8-131
8.2.10 Transmission interval monitoring time ...................................................................................... 8-131
8.2.11 Safety refresh monitoring time ................................................................................................... 8-132
8.2.12 Transmission delay time .............................................................................................................. 8-133
8.2.13 Safety response time ................................................................................................................... 8-134