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1.14. Stopping Time and Stopping Distance
The information about stopping times and distances is available for both Stop Catagory 0 and
1
Stop Category
1. This appendix includes the information regarding Stop Category 0. Information
on Stop Category 1 is available on http://universal-robots.com/support/.
1.14.1. Stop Category 0 stopping distances and times
The table below includes the stopping distances and times measured when a Stop Category 0 is
triggered. These measurements correspond to the following configuration of the robot:
• Extension: 100% (the robot arm is fully extended horizontally).
• Speed: 100% (the general speed of the robot is set to 100% and the movement is
performed at a joint speed of 183 °/s).
• Payload: maximum payload handled by the robot attached to the TCP ( 10 kg ).
The test on the Joint 0 was carried out by performing a horizontal movement, i.e. the axis of
rotation was perpendicular to the ground. During the tests for Joint 1 and 2 the robot followed a
vertical trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was
performed while the robot was moving downwards.
Joint 0 (BASE)
Joint 1 (SHOULDER)
Joint 2 (ELBOW)
1. According to IEC 60204-1, see Glossary for more
1.15. Declarations and Certificates
EU Declaration of Incoporation in accordance with ISO/IEC 17050-1:2010
Manufacturer
Person in the Community
Authorized to Compile the
Technical File
Description and Identification
of the Partially-Completed
Machine(s)
Product and Function
User Manual
Stopping Distance (rad )
0.98
0.35
0.38
Universal Robots A/S
Energivej 25
DK-5260 Odense S Denmark
David Brandt
Technology Officer, Research and Development
Universal Robots A/S
Energivej 25, DK-5260 Odense S
Industrial robot (multi-axis manipulator with Control Box and
Teach Pendant). Function is determined by the completed
machine (with end-effector and intended use).
57
Stopping time (ms )
details.↩
750
240
280
UR10
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