Appendix C: Stopping Time and Stopping Distance When Safeguard is Open
The stopping time and stopping distance when the safeguard is opened are shown in the graphs for each model.
The stopping time is “Stopping time” in the figure below. Be sure to confirm that safety is ensured according to the installation environment and operation of the robot.
| Symbol | Description |
|---|---|
| a | Motor speed |
| b | Safeguard open |
| 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: Default
- Motion: Singular axis 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 The arm elongation rate when J1 is operating: Arm elongation rate 0 is as shown in the figure below.
The graphs indicate the results where the stopping time and the stopping distance in the longest among the following arm elongation rate.
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 value)
- Vertical axis: Stopping time and stopping distance in each arm speed
- Time [sec]: Stopping time
- Distance [deg]: Stopping distance of J1 and J2
- Distance [mm]: Stopping distance of J3
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