A Stopping Time And Stopping Distance - Universal Robots UR5 User Manual

A Stopping Time and Stopping Distance

The information about stopping times and distances is available for both Stop Catagory
0 and Stop Category
Category 0. Information on Stop Category 1 is available on http://universal-robots.
com/support/.
A.1 Stop Category 0 stopping distances and times
The table below includes the stopping distances and times measured when a Stop
Category 0 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
• 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.
1
According to IEC 60204-1, see Glossary for more details.
Version 3.4.5
1
1. This appendix includes the information regarding Stop
is 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