Table 18: Stopping Time And Distance For Tm14 Series - Omron Techman Robot Safety Manual

TM14 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)
33 416
66 662
100 482
33 374
66 643
100 644
33
482
66
531
100
624
33 680
66 684
100 690
33 595
66 597
100 581
33
548
66
568
100
568
33 591
66 608
100 582
33 611
66 615
100 618
33
570
66
567
100
568

Table 18: Stopping Time and Distance for TM14 Series

Second joint
Stop Stop
Distance Time Distance
(deg) (ms)
6.01 554
12.00 650
18.24 635
5.99 637
11.99 641
18.18 654
6.04 530
11.90 657
18.17 626
6.00 623
11.98 605
18.13 595
5.99 576
11.96 557
18.13 557
5.98 530
11.84 576
18.25 589
5.99 574
11.97 575
18.15 585
5.99 594
11.99 616
18.23 604
6.06 568
12.06 552
18.39 591
Third joint
Stop Stop Stop
Time Distance
(deg) (ms) (deg)
6.18 511 8.83
12.33 621 17.84
18.58 510 26.32
6.41 527 8.94
12.34 689 17.66
18.65 545 26.54
6.27 453 8.42
12.37 589 18.28
17.64 575 28.86
6.36 598 9.17
12.20 632 18.91
18.54 631 27.19
6.35 635 9.28
12.42 600 18.33
18.51 599 27.50
6.38 432 8.52
12.41 567 18.32
17.75 531 28.77
6.34 529 9.10
12.38 557 18.22
18.89 556 27.27
6.48 575 9.12
12.26 671 18.30
18.98 571 27.34
6.29 575 8.95
12.34 587 18.20
17.61 544 28.87
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