Supplementary Information on Stopping time and Stopping distance during an Emergency Stop

The stopping time and stopping distance in Appendix. B were measured using the motion determined by us based on the ISO 10218-1.
Therefore, we cannot guarantee the maximum stopping time and stopping distance in your environment.
The stopping time and stopping distance varies depending on the Manipulator’s model, motion, parameter and the timing in which the stop signal was input. Make sure to measure the stopping time and stopping distance according to the customer’s environment.

KEY POINTS

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The following are included in the Manipulator’s motion and parameter:

• The start, target and intermediate point of the motion
• Motion command (Go, Move, Jump etc.)
• Weight setting and Inertia setting
• Things that change the motion speed, acceleration, deceleration, and motion timing

For details, refer to the following.
LS50-C:
Weight and Inertia Settings

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 or input the stop signal with 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

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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 interfering with people and objects.
Therefore, make sure to always change the timing you input the stop signal and continue measuring to get the maximum value.

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

Introduction of commands that are useful in measuring the stopping time and stopping distance

Commands	Functions
Where	Displays the data of the robot’s current position.
RealPos	Returns the specified robot’s current position. Unlike the CurPos’s motion target position, it receives the robot's position from the encoder.
PAgl	Returns by calculating the Joint’s position from the specified coordinate value. P1 = RealPos ‘Gets the current position. Joint1 = PAgl (P1, 1) ‘ Call for J1’s angle from the current position
SF_RealSpeedS	Displays the current speed from the Safety Limited Speed in mm/s.
Tmr	The Tmr function returns the time, in seconds, since the timer starts.
Xqt	Runs the program specified by the function name and creates a task. Run the functions used to measure the stopping time and stopping distance with the task that was setup by installing the NoEmgAbort option. Run tasks that does not stop even with the emergency stop or when the safeguard is open.

For details, refer to the following manual.
“Epson RC+ SPEL+ Language Reference”