Table 17: Stopping Time And Distance For Tm5-900 Series - Omron Techman Robot Safety Manual

TM5-900 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)
33 519
66 512
100 466
33 374
66 719
100 664
33
366
66
412
100
442
33 508
66 589
100 476
33 635
66 645
100 668
33
366
66
479
100
503
33 474
66 571
100 568
33 508
66 566
100 583
33
549
66
645
100
594

Table 17: Stopping Time and Distance for TM5-900 Series

Second joint
Stop Stop
Distance Time Distance
(deg) (ms)
8.96 626
17.95 555
25.68 563
8.97 598
17.95 510
26.33 521
8.98 524
17.93 518
26.57 508
8.98 660
17.97 666
26.86 575
8.93 633
18.00 640
26.73 569
9.02 506
17.96 522
26.58 517
8.99 572
18.02 573
26.94 563
9.00 691
18.10 641
26.72 534
9.04 542
18.16 551
26.60 569
Third joint
Stop Stop Stop
Time Distance
(deg) (ms)
9.24 457
18.03 475 17.93
27.20 476 27.09
9.32 444
18.11 636 18.12
27.34 650 27.41
9.25 428
18.23 510 18.04
24.20 498 28.66
9.19 629
18.20 536 18.09
27.62 635 27.06
9.27 518
18.16 647 18.19
28.14 676 27.73
9.22 565
18.16 514 16.93
23.61 485 28.62
9.15 662
18.22 640 18.18
28.00 637 27.36
9.31 627
18.23 652 18.26
28.45 680 27.56
9.28 436
18.11 520 18.13
23.15 499 28.78
(deg)
8.99
8.96
8.97
9.23
9.00
8.96
9.21
9.18
8.97
51