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

Measure the stopping time and stopping distance of the actual operation with the following method:

1. Create a motion program in the customer’s environment.
2. When the motion to check the stopping time and stopping distance starts, input the stop signal on your own timing.
3. Write down the time and distance of when the manipulator stops from the minute the stop signal is input.
4. Repeat 1 through 3 mentioned above and check the maximum stopping time and stopping distance.

• How to input the stop signal: Manually operate the stop switch/safeguard or input by using the safety PLC.
• How to measure the stopping position: Use a measure. You can also measure the angle with the Where or RealPos command.
• How to measure the stopping time: Use a stop watch. You can also measure with the Tmr function.

CAUTION

---

The stopping time and stopping distance varies depending on the timing that the stop signal was input.

Perform a risk assessment based on the maximum stopping time and stopping distance and design the device to prevent the Manipulator from interfering with people and objects.

Therefore, make sure to always change the timing you input stop signal during the actual operation and continue to measure to get the maximum value.

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 (SLS), refer to the following manual:

“Safety Function Manual”