Mitsubishi Electric MELFA FR CR800 Series User Manual page 491

Caution
Do not start multiple simulations.
Correct measurement may not result due to the PC load.
Do not set the [Tool] and [Collision area] displays ON
Correct measurement may not result due to the PC load.
Do not use a program that has signal input or robot status
changes.
For programs that have signal input from the outside or that have changes in robot status
variables or the like, either comment out such sections or extract just the section for which you
want to calculate the tact time for and then perform calculations.
When studying the tact time for such a program, take this into account by adding an
approximate input wait time to the calculation results.
Do not use a program with an infinite loop.
The tact time for a program that falls into an infinite loop cannot be correctly calculated. Confirm
that the robot program does not fall into an infinite loop in a FOR statement or GOTO statement.
Do not use M_TIMER(1).
Do not use M_TIMER(1). This software's tact time calculation uses M_TIMER(1). If
M_TIMER(1) is used during the program, the tact time can not be calculated accurately. Change
the program to use any timer from M_TIMER(2) to M_TIMER(8) instead, then calculate the tact
time.
If the program contains a position array variable or joint array
variable, include the Dim declaration in the tact time calculation
range.
If the program whose tact time is to be calculated contains a position array variable or joint array
variable, also include the Dim declaration in the tact time calculation range.
Set hand data correctly.
Please set the actually used hand and work conditions (mass, center of gravity, and shape)
correctly. If the setting is different from the actual robot, the tact time and axis load factor cannot
be correctly calculated. The setting of the hand and work condition is set by parameter HNDDAT*,
WRKDAT *. The hand and work conditions are specified by the Loadset command.
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