ABB FlexLoader, Руководство по применению

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A.6 Safety center response times
Subsystem response times
The following reaction times are estimated for the system. They have to be
considered when calculating stopping distances.
Response times Pluto
• Program execution time: ~5 ms (~10 µs per instruction, estimated number
of instructions < 500)
• Static or DynA input to any output: < 20.5 ms + program execution time
• Bus response time: + 10 ms
Response times external components
• Response time safety relay (Sentry BSR-series and SSR-series, E1T, RT9):
< 20 ms
• Light guard (Orion 2 Base): 16 ms
• Eden DYN / Magne safety switch: < 30 ms
Resulting system stop times
Typical total response times for initiating robot stop motion
• Protective stop due to light beam violation: < 61.5 ms
(< 16 ms + 20.5 ms + 5 ms + 20 ms)
• Protective stop due to door opening violation: < 75.5 ms
(< 30 ms + 20.5 ms + 5 ms + 20 ms)
Typical response times for external emergency stop
• External emergency or protective stop transfer to other equipment: < 45.5 ms
(< 20.5 ms + 5 ms + 20 ms)
Typical response times for internal emergency stop
• Response time: < 25.5 ms
(< 20.5 ms + 5 ms + 20 ms)
Application manual - FlexLoader Standard Safety Center 61
3HAC051769-001 Revision: E
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A Technical data
A.6 Safety center response times