116
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
0
10
20
30
40
50
60
70
80
0
20
40
60
80
100
120
S
to
p
p
in
g
D
is
tan
ce
(d
e
g
)
Speed (%)
J2 Stopping Distance (Viper650)
Payload 33%
Payload 66%
Payload 100%
Figure 8-9. Stopping Distance in Degrees versus Speed % for Viper 650 Joint 2
0
0.1
0.2
0.3
0.4
0.5
0
20
40
60
80
100
120
S
to
p
p
in
g
T
im
e
(
s)
Speed (%)
J2 Stopping Time (Viper650)
Payload 33%
Payload 66%
Payload 100%
Figure 8-10. Stopping Time in seconds versus Speed % for Viper 650 Joint 2
