Appendix C. Tm Robot Stopping Time And Distance For All Series Product Models; Table 16: Stopping Time And Distance For Tm5-700 Series - Omron Techman Robot Safety Manual

Appendix C. TM Robot Stopping Time and Distance for all Series Product
Models
The stopping time and stopping distance of the Cat.1 stop functions of this product at different speeds and with different
payloads are shown below.
WARNING:
Any moving robot requires some distance to stop. When stopping a robot, make sure that
there is no interference with other equipment. This requires more distance at high operating
speeds or with heavier payloads.
TM5-700 Series
Percentage of
Maximum Extension(％)
Payload（％）
33
33 66
100
33
66 66
100
33
100 66
100
Safety Manual TECHMAN ROBOT Safety System 3.3
Stop Time and Stop Distance Table
First joint
Stop
Speed(％)
Time
(ms)
33
364
66
377
100
381
33
455
66
531
100
610
33
367
66
396
100
427
33
378
66
401
100
575
33
496
66
545
100
563
33
517
66
598
100
614
33
565
66
570
100
579
33
566
66
576
100
570
33
597
66
593
100
596

Table 16: Stopping Time and Distance for TM5-700 Series

Second joint
Stop Stop
Distance Time Distance
(deg) (ms)
9.00 600
17.96 516
26.55 657
8.99 567
17.95 594
26.34 528
8.98 534
17.94 501
26.76 526
9.01 531
17.95 547
26.75 551
8.96 529
17.96 506
26.46 526
8.94 568
17.90 524
26.58 575
8.96 585
17.92 585
26.33 356
8.95 588
17.92 578
26.88 343
8.94 576
17.86 516
26.00 544
Third joint
Stop Stop Stop
Time Distance
(deg) (ms)
9.29 442 8.97
18.15 466 17.91
27.13 486 26.92
9.17 422 8.96
18.08 457 17.94
27.72 457 23.41
9.30 432 9.00
18.19 530 18.02
27.80 541 28.81
9.23 475 8.99
18.12 478 17.97
26.99 570 26.91
9.29 433 8.97
18.14 526 17.98
28.36 583 27.73
9.38 636 9.08
18.10 545 18.16
28.53 527 28.75
9.26 567 9.12
18.16 675 18.28
30.98 666 27.40
9.34 625 9.28
18.26 656 18.26
31.10 550 27.56
9.34 681 9.34
18.14 555 18.09
26.45 528 28.80
(deg)
50