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A Stopping Time and Stopping Distance
The information about stopping times and distances is available for both CATEGORY
0 and CATEGORY 1 stops. This appendix includes the information regarding stop
CATEGORY 0. Information on CATEGORY 1 stop is available on http://support.
universal-robots.com/.
A.1 CATEGORY 0 stopping distances and times
The table below includes the stopping distances and times measured when a CATE-
GORY 0 stop is triggered. These measurements correspond to the following configu-
ration of the robot:
• Extension: 100% (the robot arm is fully extended horizontally).
• Speed: 100% (the general speed of the robot is set to 100% and the movement is
• Payload: maximum payload handled by the robot attached to the TCP (5 kg).
The test on the Joint 0 was carried out by performing a horizontal movement, i.e. the
axis of rotation was perpendicular to the ground. During the tests for Joint 1 and 2 the
robot followed a vertical trajectory, i.e. the axes of rotation were parallel to the ground,
and the stop was performed while the robot was moving downwards.
Version 3.1
(rev. 17782)
performed at a joint speed of 183 /
Joint 0 (BASE)
Joint 1 (SHOULDER)
Joint 2 (ELBOW)
).
s
Stopping Distance (rad)
0.31
0.70
0.22
I-53
Stopping time (ms)
244
530
164
UR5/CB3
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