Stopping Time and Stopping Distance

Description

You can set user-defined safety rated maximum stopping time and distance. If user-defined settings are used, the program speed is dynamically adjusted to always comply with the selected limits. The graphical data provided for Joint 0 (base), Joint 1 (shoulder) and Joint 2 (elbow) is valid for stopping distance and stopping time: Category 0 Category 1 Category 2 The Joint 0 test was carried out using a horizontal movement, where the rotational axis was perpendicular to the ground. For the Joint 1 and Joint 2 tests, the robot followed a vertical trajectory, where the rotational axes were parallel to the ground, and the stop was done while the robot was moving downward. The Y-axis is the distance from where the stop is initiated to the final position. The payload CoG is at the tool flange.

Joint 0 (BASE)   Stopping distance in meters for 33% of 5kg

Stopping distance in meters for 66% of 5kg

Stopping distance in meters for maximum payload of 5kg

Joint 0 (BASE)   Stopping time in seconds for 33% of 5kg

Stopping time in seconds for 66% of 5kg

Stopping time in seconds for maximum payload of 5kg

Joint 1 (SHOULDER)   Stopping distance in meters for 33% of 5kg

Stopping distance in meters for 66% of 5kg

Stopping distance in meters for maximum payload of 5kg

Joint 1 (SHOULDER)   Stopping time in seconds for 33% of 5kg

Stopping time in seconds for 66% of 5kg

Stopping time in seconds for maximum payload of 5kg

Joint 2 (ELBOW)   Stopping distance in meters for 33% of 5kg

Stopping distance in meters for 66% of 5kg

Stopping distance in meters maximum payload of 5kg

Joint 2 (ELBOW)   Stopping time in seconds for 33% of 5kg

Stopping time in seconds for 66% of 5kg

Stopping time in seconds for maximum payload of 5kg