Tact Time Calculation; Conditions For Tact Time Calculation - Mitsubishi Electric MELFA FR CR800 Series User Manual

20.3. Tact Time Calculation

You can calculate the tact time and axis load level of the operation command section of programs created by
using the simulation function.
RV-F and RH-F series robots can calculate the axis load level.
Caution
Tact time calculation
The calculated tact time varies with the performance and load status of the computer used and will
not completely match the actual robot operating time (tact time).
Use this function as a rough yardstick for tact time study.
Under correct conditions, the results of tact time calculation with this software have an error of
about ±3% compared to the actual robot operating time (tact time).
For details on tact time deviation, see "20.3.3 Causes of tact time deviation".
Caution
Axis load level calculation
The axis load level numerically expresses the motor load.
The robot will generate an overload error and stops protecting the motor when the axis load level
exceeds 100%.The calculated axis load level assumes multiple iterations of the same operation.
However, be aware that stop will not occur in simulation even if the load level exceeds 100%.
There is a possibility that continuous operation will not be possible in an actual robot when the
calculated axis load level is high. You should lower the operation frequency with the Dly command,
and lower operation speed and the acceleration with the Accel and the Ovrd commands, etc.
Changing the operation point may lower the operation point.
Complete agreement with the calculated axis load level cannot be guaranteed because the axis
load level of an actual robot is influenced in robot individual differences, the ambient temperature, the
condition of the robot, etc. Use this function as a rough yardstick for studying robot movement.
Caution
Be aware that tact time may not be calculated correctly when measuring
tact time with the XYZ position variables, layout parts, or Robot information
displayed in the 3D monitor.

20.3.1. Conditions for tact time calculation

Note that the following restrictions are applied to calculation of the tact time.
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