Mitsubishi Electric RV-FR Series Instruction Manual page 9

5.1 List of Robot (System) State Variables ................................................................................................ 5-74
5.2 Explanations of Robot (System) State Variables ................................................................................ 5-74
6. TROUBLESHOOTING ..................................................................................................................... 6-79
6.1 Error List for the Safety Monitoring Functions ................................................................................... 6-79
6.2 Errors Whose Specification Is Changed by Safety Monitoring Functions ...................................... 6-83
7. SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE .................................................. 7-84
7.1 Safety Response Time ........................................................................................................................... 7-84
7.2 How to Calculate a Stopping Distance ................................................................................................ 7-86
7.3 Maximum Stopping Time and Maximum Operating Angle ................................................................ 7-87
7.4 Calculating stopping distance and stopping time ............................................................................ 7-107
8. SYSTEM APPLICATION EXAMPLES ........................................................................................... 8-110
8.1 Application Example 1 ..........................................................................................................................8-110
8.1.1 Function ...........................................................................................................................................8-110
8.1.2 System configuration ......................................................................................................................8-110
8.1.3 Network communication settings .................................................................................................. 8-111
8.1.4 Safety communication settings (safety programmable controller) ...........................................8-112
8.1.5 Safety program (safety programmable controller) ......................................................................8-113
8.1.6 Basic configuration (robot controller） ..........................................................................................8-113
8.1.7 Defining 3D models (robot controller)...........................................................................................8-113
8.1.8 Safety logic edit (robot controller) .................................................................................................8-114
8.1.9 Safety monitoring function settings (robot controller) ...............................................................8-114
8.1.10 Transmission interval monitoring time .......................................................................................8-115
8.1.11 Safety refresh monitoring time ....................................................................................................8-115
8.1.12 Transmission delay time ...............................................................................................................8-116
8.1.13 Safety response time ....................................................................................................................8-117
8.2 Application Example 2 ..........................................................................................................................8-118
8.2.1 Function ...........................................................................................................................................8-118
8.2.2 System configuration ......................................................................................................................8-119
8.2.3 Network communication settings ................................................................................................. 8-120
8.2.4 Safety communication settings (safety programmable controller) .......................................... 8-121
8.2.5 Safety program (safety programmable controller) ..................................................................... 8-122
8.2.6 Basic configuration (robot controller） ......................................................................................... 8-123
8.2.7 Defining 3D models (robot controller).......................................................................................... 8-123
8.2.8 Safety logic edit (robot controller) ................................................................................................ 8-123
8.2.9 Safety monitoring function settings (robot controller) .............................................................. 8-124
8.2.10 Transmission interval monitoring time ...................................................................................... 8-124
8.2.11 Safety refresh monitoring time ................................................................................................... 8-125
8.2.12 Transmission delay time .............................................................................................................. 8-126
8.2.13 Safety response time ................................................................................................................... 8-127