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1.4 Specifications
Item
Safety function
STO function
SS1 function
SS2 function
SOS function
SLS function
SLP function
Safety communication function
Safety
Input data
communication
Output data
function
Network
CC-Link IE
Station type
TSN
Protocol
Open system
Maximum number of safety
connections
Safety cycle time
Safety
Standard
performance
Table 1-4 Specifications
Description
The function electrically shuts off the
driving energy to the motor of the
robot arm.
The function to control and decelerate
the motor speeds of the robot. After
stopping, the robot transitions to the
STO state.
The function to control and decelerate
the motor speeds of the robot. After
stopping, the robot transitions to the
SOS state.
Without shutting off the driving energy
to the motors, this function monitors
the robot so that it stays at rest.
This is a function to monitor each part
of the robot arm so that their speeds
do not exceed monitoring speeds.
The function monitors specified
monitoring positions so that they do
not go across position monitoring
planes.
This function performs safety
communication with the safety
programmable controller using
functional safety-compatible
protocols. Input signals are used to
switch the safety monitoring function,
and output signals are used to output
the status of the safety monitoring
functions.
When the safety communication
function is enabled, the following
safety monitoring functions are
available.
SS1 (STO), SS2 (SOS), SLS, SLP
8 points
4 points
CC-Link IE TSN (CR800-R controller)
Local station (safety station)
Safety communication possible with
the MELSEC iQ-R series safety CPU
module (RnSFCPU)
CC-Link IE Safety Protocol Ver.2
Passive (safety connection
established from the communication
destination)
1
7.11 ms (safety cycle time)
ISO10218-1 (2011)
EN62061 (2006)
ISO13849-1 (2015)
IEC61508 (2010)
EN61800-5-1 (ES, EN for Drive)
EN61800-5-2 (Safety function Drive)
IEC61326-3-1 (EMC for RS)
EN60204-1
1 FUNCTIONS AND CONFIGURATION
Remarks
IEC 60204-1
Corresponds to
stop category 0
IEC 60204-1
Corresponds to
stop category 1
IEC 60204-1
Corresponds to
stop category 2
EN61800-5-2
compliant
EN61800-5-2
compliant
EN61800-5-2
compliant
IEC 61784-3
compliant
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Specifications 1-5
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