Mitsubishi Electric MELFA CR800 Series Instruction Manual page 135

③ Log data.
Operate the robot and start data logging.
Next, input the stop signal. Finish data logging after the robot has stopped. A simple way to input the
stop signal, is to input it from the emergency stop switch (EMS Switch) connected to the emergency
stop input of the robot controller. If a teaching pendant is connected, the emergency stop switch on
the teaching pendant can also be used. The robot can also be stopped by connecting a signal, which
acts as a trigger, to the DSI input of the Safety extension unit. When using this method, SS1 must be
assigned to the relevant DSI input in the safety input settings under Safety logic in RT ToolBox3.
Using the DSI input of the Safety extension unit to stop the robot will have an effect on
Caution
the DSI filter time specified in the DSI filter settings. For further information, refer to "(c)
DSI filter configuration".
The initial value is 10 ms, therefore there will be a delay of 10 ms until the DSI input is
enabled for the input signal.
Calculating stopping distance and stopping time 7-125
7 SAFE STOPPING DISTANCE