Conditions For Tact Time Measurement - Mitsubishi Electric MELFA CR750 Series User Manual

Caution
When XYZ position variables, the parts of layout or Robot information is
displayed in 3D monitor, tact time may not be calculated correctly.
17.12.1.

Conditions for tact time measurement

Be aware of the following restrictions on tact time calculation.
Caution
Do not start some simulators.
It is not measured correctly because of a lot of load for your computer.
Do not set ON a display of [Tool] and [Collision area].
It is not measured correctly because of a lot of load for your computer.
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 you want to
calculate the tact time for and calculate it.
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 with 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 a position array variable or joint array variable is included, also
include the corresponding "Dim" declaration in the tact time
calculation range.
If a program whose tact time is being measured includes a position array variable or joint array
variable, also include the corresponding "Dim" declaration in the tact time calculation range.
Set the hand data correctly when you measure the axis load
level.
Please set the hand and work condition (mass, center of gravity, and shape) actually used
correctly. When the setting is different from an actual robot, the axis load level cannot be correctly
calculated. The setting of the hand and work condition is set by parameter HNDDAT*, WRKDAR *.
The condition of the hand and work is specified by the Loadset command.
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