YASKAWA iC9200 Series User Manual

HB700 | CPU | PMC921xEx | en | 24-04 135
iC9200 Series
Deployment CPU iC921xM-FSoE
Response times > Designations
5.12.7 Designations
Abbreviations sorted by components
Component Time
1
Description Where from
Sensor T
SensorDL
Y
Delay time of the sensor
(Sensor DeLaY).
Documentation of the sensor.
Safety SDI TI
ST
Input smoothing time of the
inputs of the safety SDI
(Smoothing Time).
Configuration of the F periphery,
adapted to the sensor used.
Safety SDI TI
DIS
With 2-channel evaluation dis-
crepancy time, otherwise 0
(DIScrepancy).
Configuration of the F periphery,
adapted to the sensor used.
Safety SDI
Safety SDO
TI
WCDT
T
O
WCDT
Max. response time without errors
(Worst Case Delay Time).
Documentation safety module.
Safety SDI
Safety SDO
TI
OFDT
T
O
OFDT
Max. response time on error
(One Fault Delay Time).
Documentation safety module.
Safety SDI
Safety SDO
TI
DA
T
TO
DAT
Max. acknowledgement time
(Device Acknowledgement Time).
Documentation safety module.
Safety SDI
Safety SDO
TI
FSoEWD
T
O
FSoEWD
Configured FSoE watchdog time
(FSoE WatchDog).
Documentation safety module.
Safety SDI
Safety SDO
TI
FSoEWD_MAX
T
O
FSoEWD_MAX
Maximum permitted
FSoE watchdog time
(FSoE WatchDog MAXimum).
see formula
Bus coupler TI
Slave
T
O
Slave
Max. Response time of the decen-
tralised periphery system, i.e. delay
caused by the FSoE EtherCAT
coupler and the backplane bus.
Documentation FSoE EtherCAT
coupler
EtherCAT field bus TI
BUS
T
O
BUS
EtherCAT cycle time for EtherCAT
bus communication. The EtherCAT
cycle time results from the cycle
times of all connected EtherCAT
slaves.
EtherCAT slave documentation
iCube Engineer:
Value is to be specified at:
‘Plant 🠂 EtherCAT’: ‘Settings
🠂 Cycle time’
F-PLC / F-Logic T
CL
Cycle time of the safety CPU.
T
CL
= T
FPROG
/0.7
iCube Engineer:
Value to be specified at ‘Plant
🠂 Safety PLC’: ‘Tasks and Events
🠂 Intervall’ in the range of 5 ...
15ms.
F-PLC / F-Logic T
CL_MAX
Cycle monitoring time of the safety
CPU.
T
CL_MAX
≥ T
FPROG
/0.7
iCube Engineer:
Value to be specified at ‘Plant
🠂 Safety PLC’: ‘Tasks and Events
🠂 Watchdog’.
F-PLC / F-Logic T
FPROG
Cycle time safety program.
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.
Value is estimated.
Actuator T
ActuatorDL
Y
Delay time of the actuator. Documentation of the actuator

YASKAWA iC9200 Series Specifications

General

Brand	YASKAWA
Model	iC9200 Series
Category	Industrial Equipment
Language	English