Mitsubishi Electric CR800-R Instruction Manual page 128

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
④ Interpret the stopping distance and stopping time.
The logged data will be saved as a file in the folder you have specified. The current date and time will
be used as the file name (e.g. "LOGYYYYMMDD-hhmmss.csv"). The first three rows in the CSV file
contain information such as column titles and units of measurement. Data sampled at intervals is
contained in the rows from the fourth row onwards. Check the values in the Output column. This
number has been changed from a 32-bit binary value (assigned to the general-purpose output signal)
to a decimal value. If the output signal of "ERRRESET" is set to "2", the value will increase to four (2
= 4) when an error occurs. When the emergency stop signal is input, the robot will enter an error state.
By checking the time when bit 2 changes to "4" in the output column, you can see when the stop signal
was input.
The CSV file can be used to check the time that the robot stopped. The "Tool point speed (FB)" column
in the file shows the speed of the tool control point. Look for where the speed decreases to zero after
the stop signal has been input.
The stopping time is the time from when the stop signal is input to when the speed becomes zero. By
checking the XYZ position (FB) data or Joint position (FB) data at the times when the stop signal was
input and at the time the robot stopped, it is possible to find the stopping distance of the tool center
point within the XYZ coordinate system and the stopping distance (angle) of individual axes. Refer to
the graphs on the following page which show an example of the stopping distance of the J1 axis. If
there is a delay when the stop signal is input, consider the time that the signal was output as earlier
than what is shown in the graph.
If the device used to input the stop signal
has a delay, add the time of the delay onto
the stopping time.
7-116 Calculating stopping distance and stopping time
Stopping time
Stopping distance
2