Simulation Robot Position Variable Editing; Tact Time Calculation - Mitsubishi Electric MELFA CR750 Series User Manual

17.11.

Simulation Robot Position Variable Editing

You can edit position variables by moving the simulation robot and reading the position variables from the
simulation robot posture.
Move the robot to the target position with jog operations.
Click the [Add] button or [Change] button for position variables in a program opened in debugging status to
display the position edit screen, then click the [Read current position] button. You can read in the current
position of the simulation robot.
17.12.

Tact Time Calculation

You can use the simulation function to calculate the tact time for a program prepared and the axis load level.
The robot that can calculate the axis load level is RV-F and RH-F series.
Table 17-7 The Function of axis load level which can be used by each version
Version of RT
ToolBox2
Caution
Tact time calculation
The calculated tact time varies with the capacity of the computer used and its load status and does
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 "17.12.3 Causes of tact time deviation".
Caution
Axis load level calculation
The axis load level is expressing of the motor load numerically.
The robot causes the overload error and stops to protect the motor when the axis load level
exceeds 100%.The axis load level assumes that the robot repeated the same operation and is
calculated.
There is a possibility not to be able to operate continuously in an actual robot when the calculated
axis load level is high. You should lower the operation frequency by the Dly command, and lower
operation speed and the acceleration by Accel and the Ovrd command, etc. There is a possibility that
the axis load level falls by changing the operation point.
It is likely not to agree to the calculated axis load level completely because the axis load level of an
actual robot is influenced in a robot individual difference, an environmental temperature, and the
state etc. of the robot. Use this function as a rough yardstick for robot movement study.
17-425
Ver.2.50C or earlier Not use
Ver.3.00A or later RV-F,R-HF series
Series of robot.
17-425