Supplementary Information regarding the Stopping Time and Stopping Distance when the Safeguard is Open

The stopping time and stopping distance described in Appendix C was measured by the motion determined by us based on the ISO 10218-1.
Therefore, it does not guarantee the maximum value of the stopping time and stopping distance in the customer’s environment.
The stopping time and stopping distance differs depending on the robot’s model, motion, and input timing of the stop signal. Make sure to always measure the stopping time and stopping distance that matches the customer’s environment.

KEY POINTS

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The following are included in the robot’s motion and parameter.

• The motion’s starting point, target point, and relay point
• Motion commands (Go, Move, Jump commands etc.)
• Weight and Inertia Settings
• Motion speed, acceleration, deceleration, and one where the motion timing changes

Also, refer to the following description.
GX1:
Weight and Inertia Settings
Safety Information for Auto Acceleration of Joint #3

GX4:
Weight and Inertia Settings
Safety Information for Auto Acceleration of Joint #3

GX8:
Weight and Inertia Settings
Safety Information for Auto Acceleration of Joint #3

GX10/GX20:
Weight and Inertia Settings
Safety Information for Auto Acceleration of Joint #3

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 position: Measure with a tape measure. The angle could also be measured with the Where or RealPos command.
• How to measure the stopping time: Measure with a stop watch. The Tmr function can also be used to measure the stopping time.

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.

To shorten the stopping time and stopping distance, use the Safety Limited Speed (SLS) and limit the maximum speed.
For details on the safety limited speed, refer to the following manual.
“Safety Function Manual“

Commands that can be useful when measuring stopping time and stopping distance

Commands	Functions
Where	Returns the data of the robot’s current position
RealPos	Returns the current position of the specified robot Unlike the motion target position of the CurPos, this obtains the position of the actual robot from the encoder in real time.
PAgl	Returns by calculating the Joint position from the specified coordinate value. P1 = RealPos 'Obtain the current position Joint1 = PAgl (P1, 1) ‘ Request the J1 angle from the current position
SF_RealSpeedS	Display the current speed from the limited speed position in mm/s.
Tmr	The Tmr function returns the elapsed time from when the timer starts in seconds.
Xqt	Runs the program specified with the function name and complete the task. The function used to measure the stopping time and stopping distance should be used to run tasks that were launched by attaching the NoEmgAbort options. You can run a task that does not stop with the emergency stop and safeguard open.

For more information, refer to the following manual.
"Epson RC+ SPEL+ Language Reference"