Stopping Distances And Times - Omron Viper 650 User Manual

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 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.
114 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A