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Performance Item
path (not achievable over all paths in the robot working envelope).
Stopping Distances and Times
The following graphs present information required by Clause 7.2 n of ISO 10218-1. This inform-
ation should be used to calculate the safe distance needed when designing and installing safe-
guarding devices.
WARNING: The stopping time and distance, or angle, of a robot joint from ini-
!
tiation of a stop signal is not negligible and must be taken into account when
designing and applying safeguarding devices.
The graphs show the time elapsed and distances traveled between the initiation of a stop sig-
nal and the cessation of all robot motion.
For stop category 1, the stopping time and distance values depend on the speed, load, and
extension of the robot, stated for 33%, 66% and 100% of the maximum payload (5.5 kg). Data
provided is for the three joints of greatest displacement (J1, J2, and J3).
NOTE: Where lines overlap (and may not be visible) differences are not sig-
nificant.
eCobra 600
60
40
20
0
0
Figure 8-8. Stopping Distance in Degrees versus Speed % for eCobra 600, Joint 1
138
J1 Stopping Distance (Cobra600)
20
40
Speed (%)
eCobra 600 and 800 Robots with EtherCAT
eCobra 600 Robot
60
80
eCobra 800 Robots
Payload 33%
Payload 66%
Payload 100%
100
120
24402-000 Rev B
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