Appendix C: Stopping time and Stopping distance in Emergency
The stopping time and stopping distance in emergency stop are shown in a graph 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.
The stopping time and stopping distance of a safety limited speed, safety limited position, and soft axis limit is equivalent to that of the emergency stop for models equipped with Safety Boards such as RC700-E and RC800A.
| 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 vary depending on the parameters (setting value) set for the robot. These graphs show the time and distance for the following parameters.
These conditions are determined based on the ISO 10218-1:2011 Annex B.
- Accel : 100, 100
- Speed: 100 %, 66 %, 33 % setting
- Weight: 100 %, 66 %, 33 % of the maximum payload, rated payload
- Arm elongation rate: 100 %, 66 %, 33 % *1
- Other: Default
- Motion: Singular axis motion of the 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.
Among the following arm elongation rate, the results with the longest stopping time and stopping distance are shown in the graph.
When J2 is operating, J3 is 0 mm.
| Axis | θ = 100% | θ = 66% | θ = 33% |
|---|---|---|---|
| J1 |  |  |  |
Description of legend
The graph is shown for each Weight value (rated payload, 100%, about 66%, and about 33% of the maximum payload).
- Horizontal axis: Arm speed (Speed value)
- Vertical axis: Stopping time and stopping distance in each arm speed
- Time (sec): Stopping time (sec)
- Distance (deg): J1 and J2 stopping distance (degree)
- Distance [mm]: Stopping distance of J3
When single failures are taken into account, the following adjustments are used.
- Stopping distance and angle: Reaches the mechanical stop of each axis
- Stopping Time: Add 500 ms