5
Basic Specifications
5.5 Stopping Distance and Time for S-, L-, and E-Axes
5-4
175873-1CD
HW1483557
VS100
5.5
Stopping Distance and Time for S-, L-, and E-Axes
5.5.1 General Information
• The stopping distance is an angle traveled by the manipulator from
the moment when the stop signal is activated until the manipulator
comes to a complete standstill.
• The stopping time is a time elapsed from the moment that the stop
signal is activated until the manipulator comes to a complete
standstill.
• The data that are given for the main axes S, L and E are the
maximum displacement.
• Superposed axes motions may result in longer stopping distance.
• Stopping distance and stopping time are measured in accordance
with ISO 10218-1, Annex B.
• Stop categories: According to IEC60204-1
• Stop category 0
• Stop category 1
• The values specified for Stop category 0 are the reference values
that are determined by tests and simulations. The actual stopping
distance and stopping time may differ.
• The stopping distance and stopping time are measured using the
manipulator-internal measuring technique.
5.5.2 Definition of Use
Load :
Rated load weight and load on an arm
Speed :
Operating speed of the manipulator
Extension : Distance between the rotation center and the P-point of
each axis
5.5.3 Stopping Distance and Time for Stop Category 0: S-, L- and E-Axes
Measurement Conditions
• Load:
Maximum load
• Speed:
Maximum speed
• Posture: Maximum inertia generating posture
Axis
Stopping distance (deg)
Stopping Time (sec)
S-axis
31.7
0.669
L-axis
25.5
0.451
E-axis
20.9
0.388
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