Performance - Comau Robotics C5G Instruction Handbook Manual

General Safety Precautions

1.2.5 Performance

18
The performances below shall be considered before installing the robot system:
– Stop distances
– Mission time (typ. case).
Stop distances
– With Robot in programming modality (T1), if you press the sttop pushbutton (red
mushroom-shaped one on WiTP) in category 0 (secondo norma EN60204-1), you
will obtain:
Tab. 1.1 - Stop spaces in programming modality (T1)
Expected
Mode
speed
T1 250 mm/s
Tab. 1.2 - Safety electronics reaction time in programming
modality (T1)
Expected
Mode
speed
T1 250 mm/s
– Considering the Robot in automatico modality, under full extension, full load and
maximmum speed conditions, if you press the stop pushbutton (red
mushroom-shaped one on WiTP) in category 1 (according to norm EN60204-1)
you will trigger the Robot complete stop with controlled deleration ramp.
Example: for Robot NJ 370-2.7 you will obtain the complete stop in about 85 °
motion, that correspond to about 3000 mm movement measured on TCP flange.
Under the said conditions, the stopping time for Robot NJ 370-2.7 is equal to 1,5
seconds.
Mission time (typ. case)
– We remind you that the safety system efficiency covering is equal to 20 years
(mission time of safety-related parts of control systems (SRP/CS), according to
EN ISO 13849-1).
Case
Nominal
Limit
Case
For the safety inputs of the SDM module (e.g.
stop pushbutton of TP in wired version)
For the stop stop and enabling device inputs
from the TP in wireless version, when the
safety wire trasmission is active.
For the time-out of stop input and enabling
device from TP in wireless version, when the
safety wire transmission is lost or interrupted.
Stopping Stopping
time space
120 ms 30 mm
500 ms 125 mm
Stopping
time
150 ms
350 ms
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