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Appendix 5.3 Cyclic transmission delay time
The following is the formula to calculate cyclic transmission delay time.
(1) Safety communication
The table below shows formulas to calculate time from when a device in the safety CPU module of the sending
station turns on or off until that of the receiving station turns on or off. The formula for transmission delay time for
safety communication through the following roots are all the same.
• Master station (safety station) Local station (safety station)
• Master station (safety station) Local station (safety station)
• Local station (safety station) Local station (safety station)
SM: Sequence scan time
LS: Link scan time
n1: SM of the receiving stationLS (Round up the calculated value to the nearest integer.)
n2: Number of safety connections at the sending station (Round up the calculated value to the nearest
integer.)
Calculation value Formula
Normal value (in a stable connection) (SM of the sending station × 1) + (LS × (n1+n2)) + (SM of the receiving station × 1)
Normal value (in an unstable connection)
(Safety refresh monitoring time × 4)
- (transmission interval monitoring time of the sending station × 3)
- (transmission interval monitoring time of the receiving station × 4)
+ (SM of the receiving station × 3)