C Stopping Time And Stopping Distance - Elite EC66 User Manual

C Stopping Time and Stopping Distance

Stopping distance and stopping time of stop category 0
The table below shows the stopping distance and the stopping time measured when the stop
category 0 is triggered. These measuring results correspond to the following configurations of the
robot:
• Extension: 100% (the robot arm is completely extended horizontally)
• Speed: 100% (the general speed of the robot is set as 100%, and the robot moves at a
joint speed of 180  /s)
• Payload: a maximum payload (6kg) that can be handled by the robot connected to TCP.
The Joint 0 test was carried out by performing a horizontal movement, where the rotational
axis was perpendicular to the ground. During the Joint 1 and Joint 2 tests, the robot followed a
vertical trajectory, where the rotational axes were parallel to the ground, and the stop was
performed while the robot was moving downward.
Joint 0 (base)
Joint 1 (shoulder)
Joint 2 (elbow)
Stopping distance (rad)
0.21
0.60
0.21
Stopping time (ms)
210
500
350
61