Table 19: Stopping Time And Distance For Tm12 Series - Omron Techman Robot Safety Manual

TM12 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)
33 365
66 364
100 473
33 368
66 634
100 621
33 541
66 564
100 591
33 662
66 657
100 659
33 501
66 661
100 661
33 539
66 543
100 530
33 584
66 596
100 603
33 579
66 581
100 585
33 580
66 548
100 564

Table 19: Stopping Time and Distance for TM12 Series

Second joint
Stop Stop
Distance Time Distance
(deg) (ms)
6.02 634
12.00 557
18.20 559
6.01 563
12.01 531
18.17 541
5.98 597
12.01 587
18.17 592
6.02 644
12.01 645
18.16 666
6.03 664
12.00 601
18.16 588
6.02 545
12.01 545
18.40 565
5.99 540
11.99 560
18.14 535
6.06 549
12.09 564
18.27 556
6.06 558
12.12 537
18.41 518
Third joint
Stop Stop Stop
Time Distance
(deg) (ms)
6.27 674
12.18 588 18.12
18.48 615 27.26
6.27 584
12.24 653 18.30
18.45 552 27.73
5.22 544
12.21 532 18.14
17.80 569 28.90
6.16 632
12.26 657 18.10
18.67 695 27.08
6.12 680
12.33 676 18.30
18.91 570 27.50
6.38 513
12.36 520 18.15
17.88 591 28.82
6.19 606
12.52 592 18.01
18.88 572 27.07
6.26 613
12.52 606 18.12
19.24 582 27.75
5.36 608
12.39 547 18.15
18.14 611 27.50
(deg)
9.35
9.19
8.94
9.20
9.36
9.10
9.17
9.33
9.34
53