How to check the stopping time and stopping distance in the customer’s environment

Measure the stopping time and stopping distance of the actual motion with the following method.

1. Create a motion program in the customer’s environment.
2. After the motion to check the stopping time and stopping distance starts, input the stop signal at your own timing.
3. Record the time and distance from when the stop signal was input until the robot stopped.
4. Check the maximum stopping time and stopping distance by repeating 1 through 3 mentioned above.

• How to input the stop signal: Operate the stop switch/safeguard manually or input the stop signal with the safety PLC.
• How to measure the stopping distance: The angle could also be measured with the Where or RealPos command.
• How to measure the stopping time: Measure with a stop watch or with the Tmr function.

CAUTION

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The stopping time and stopping distance changes depending on the timing the stop signal is input.

In order to prevent collision with people or objects, perform a risk assessment based on the maximum stopping time and stopping distance and perform an equipment design.

Therefore, make sure to measure the maximum value by changing the timing of the stop signal input during the actual motion and measure repeatedly.