Calculating Stopping Distance And Stopping Time - Mitsubishi Electric CR800-R Instruction Manual

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE

7.4 Calculating stopping distance and stopping time

This section explains how to calculate stopping distance and stopping time with RT ToolBox3.
The stopping time refers to the maximum stopping time (Tmax) that does not include the safety data
transmission time (DTtrs) and response time (Trin). The stopping distance refers to the distance calculated from
the maximum stopping time (Tmax), which is the second term (0.5 × Vmax × Tmax) of the equation: maximum
stopping distance (Dmax).
Calculating the stopping distance and time based on actual peripheral devices (such as hands) and the program
that will be used will provide more accurate results. For information on how to use RT ToolBox3 or how to configure
the advanced settings, refer to the RT ToolBox3 or RT ToolBox3 mini Instruction Manual.
① Configure the log settings of the oscillograph function.
Connect the robot controller to RT ToolBox3 via Ethernet, set the controller to Online mode, then
select Tool → Oscillograph. Configure the communication settings as follows:
・Method: Real time monitor
・Data No.1 to No.4: Robot Information / XYZ position (FB) / Joint position (FB) / SCNI Signal
Note that Real time monitor cannot be selected when the robot controller is connected to RT ToolBox3
via USB.
If some of the data that has been received is lost, we recommend connecting the robot controller and
computer directly (not via a network hub), using a high-performance computer, or not using this
software while any other application is open.
② Create the robot log.
Open [Log Setting] from the menu bar, then check the Log the Measurement Data check box. Select
[Real time monitor] in the [Select the Interval to Log] drop down box, then choose a folder to save the
log file in. Select [Start Record] to start logging data. Select [Stop Record] to stop logging data.
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