YASKAWA iC9200 Series, Operating Manual, Page: 135 / 220

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
SensorDLY
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
TO
WCDT
Max. response time without errors
(Worst Case Delay Time).
Documentation safety module.
Safety SDI
Safety SDO TI
OFDT
TO
OFDT
Max. response time on error
(One Fault Delay Time).
Documentation safety module.
Safety SDI
Safety SDO TI
DAT
TO
DAT
Max. acknowledgement time
(Device Acknowledgement Time).
Documentation safety module.
Safety SDI
Safety SDO TI
FSoEWD
TO
FSoEWD
Configured FSoE watchdog time
(FSoE WatchDog).
Documentation safety module.
Safety SDI
Safety SDO TI
FSoEWD_MAX
TO
FSoEWD_MAX
Maximum permitted
FSoE watchdog time
(FSoE WatchDog MAXimum).
see formula
Bus coupler TI
Slave
TO
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
TO
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
ActuatorDLY
Delay time of the actuator. Documentation of the actuator