Annex C Stop Distance And Stop Time; C.1 Measurement Methods And Conditions - Doosan M0609 Installation Manual

Annex C Stop Distance and Stop Time

C.1 Measurement Methods and Conditions

C.1.1 General Information
 Stop distance is the angle traveled from the moment a stop signal is generated to the moment
all manipulators stop operation.
 Stop time is the time from the moment a stop signal is generated to the moment all
manipulators stop operation.
 Stop distance and stop time data are provided for Joint 1, Joint 2 and Joint 3, which have large
travel distances.
 The movement of an overlapping axis can cause a longer stop distance.
 Stop distance and stop time data are defined according to
C.1.2 Stop Category:
 Stop Category 1
The stop distance and stop time of Joint 1 (Base) and Joint 2 (Shoulder) are measured at
33%, 66% and 100% of the maximum speed, stretch level and load. The stop distance and
stop time of Joint 3 (elbow) is measured at 33%, 66% and 100% of maximum speed and load.
The stretch level during Joint 3 measurement is locked at maximum because of the lower arm
length and completely flat wrist.
 Stop Category 0
The stop distance and stop time of Joint 1 (Base), Joint 2 (Shoulder) and Joint 3 (Elbow) are
measured at maximum speed, stretch level and load. The axes of Joint 2 and Joint 3 are
parallel to each other, so an impact caused by forced stop on one part may cause a slip on the
other side. The angle deviation is also measured.
Note: The measurements are the result of the worst case. Measurement may vary according to
circumstances
Joint 1 measurement is performed with the rotating axis perpendicular to the ground and during
horizontal movement.
Joint 2 and Joint 3 measurements are performed with the rotating axis parallel to the ground and
when the robot is stopped in a downward movement vertical to the ground.
C.2 M1013
C.2.1 Stop Category 1
Doosan Robotics Installation Manual v1.3
KS B ISO 10218-1:2011
100
Annex B.