120
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
0
10
20
30
40
50
60
70
80
0
20
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80
100
120
S
to
p
p
in
g
D
is
tan
ce
(
d
e
g
)
Speed (%)
J3 Stopping Distance (Viper850)
Payload 33%
Payload 66%
Payload 100%
Figure 8-17. Stopping Distance in Degrees versus Speed (%) for Viper 850 Joint 3
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 (%)
J3 Stopping Time (Viper850)
Payload 33%
Payload 66%
Payload 100%
Figure 8-18. Stopping Time in Seconds versus Speed (%) for Viper 850 Joint 3
Stopping distances and times will not significantly degrade as a result of normal use within
the life of the robot. Stopping distance will vary only if there is an actuating mechanism fail-
ure, which may require replacement of the failed component.
If you want to measure stopping distances and time with your application, contact your local
OMRON support.
