Appendix B: Stopping Time and Stopping Distance at Emergency Stop
The stopping time and stopping distance at an emergency stop are shown in the graphs for each model.
The stopping time is the length of time corresponding to the "Stopping time" in the figure below. Be sure to confirm that a safe environment is provided where the robot will be installed and operated.
For models equipped with a safety board such as RC700-E, RC800-A, the stopping time and stopping distance when using the Safety Limited Speed (SLS), Safety Limited Position (SLP), and Soft Axis Limiting are equivalent to those of the emergency stop.
| Symbol | Description |
|---|---|
| a | Motor speed |
| b | Emergency stop, Maximum Speed of SLS exceeded, monitoring areas and Joint Angle Limit of SLP exceeded, restricted range of Soft Axis Limiting exceeded |
| c | Time |
| d | Stopping time |
Conditions
The stopping time and stopping distance depend on the parameters (setting values) that were set for the robot. These graphs show the times and distances for the following parameters.
These conditions are based on the ISO 10218-1:2011 Annex B.
- Accel: 100, 100
- Speed: 100 %, 66 %, 33 %Settings
- Weight: 100 %, 66 %, 33 % of the maximum payload, rated payload
- Arm elongation rate: 100 %, 66 %, 33 % *1
- Other settings: Default
- Motion: Singular axis motion of a Go command
- Input timing of the Stop signal: input with maximum speed. In this motion, it is the center of the motion range.
*1 Arm elongation rate
When J1 is operating, the arm elongation rate θ is as shown in the figure below.
Among the following arm elongation rate, the graph shows the results with the longest stopping time and stopping distance.
When J2 is operating, J3 is 0 mm.
| Axis | θ = 100% | θ = 66% | θ = 33% |
|---|---|---|---|
| J1 |  |  |  |
Explanation of legend
The graphs are displayed for each Weight setting value (at 100%, approx. 66%, and approx. 33% of the maximum payload, and at the rated payload).
- Horizontal axis: Arm speed (Speed setting)
- Vertical axis: Stopping time and stopping distance at each arm speed
- Time (sec): Stopping time (sec)
- Distance (deg): J1 and J2 stopping distance (degree)
- Distance (mm): J3 stopping distance
When single failures are taken into account, the following adjustments are used.
- Stopping distance and angle: Each axis reaches the mechanical stop
- Stopping time: Add 500 ms