Transmission Delay Time - Mitsubishi Electric RV-FR Series Instruction Manual

Transmission delay time

4.7.4
The transmission delay time of the safety communication function is calculated as follows.
(1) The time from when the safety device of the safety CPU module (sending station) turns OFF until when the
SCNI signal of the robot controller (receiving station) turns OFF and the safety monitoring function is
enabled
(2) The time from when the safety monitoring function of the robot controller (sending station) is enabled and
the SCNO signal turns OFF until when the safety device of the safety CPU module (receiving station) turns
OFF
Calculation value
Normal value
Maximum value
SCsnd: Safety cycle time (sending station)
SCrcv: Safety cycle time (receiving station)
SCrc: Safety cycle time (robot controller: 7.11[ms])
LS: Communication cycle interval (cyclic data transfer processing time)
TMsnd: Transmission interval monitoring time (sending station)
The safety cycle time of the robot controller is 7.11 [ms].
The safety cycle time of the safety CPU module and CC-Link IE TSN communication cycle interval (LS) are the
parameter values set in the safety CPU module and master/local module. Refer to the following manuals.
□ MELSEC iQ-R CPU Module User's Manual (Startup) (SH-081263ENG)
□ MELSEC iQ-R CPU Module User's Manual (Application) (SH-081264ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Startup) (SH-082127ENG)
□ MELSEC iQ-R CC-Link IE TSN User's Manual (Application) (SH-082129ENG)
Formula
SCsnd + LS + SCrcv + TMsnd + (SCrc × 1.5)
SCsnd + (LS × 2) + (SCrcv × 2) + TMsnd + (SCrc × 1.5)
4 SAFETY MONITORING FUNCTIONS
Safety Communication Function 4-73