ABB IRB 1090 Product Specification page 48

1 Description
1.9.1 Robot stopping distances according to ISO 10218-1
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Axis 3
Speed
The speed in the simulations is based on TCP0.
The TCP0 speed is measured in meters per second when the stop is triggered.
Stopping distances
The stopping distance is measured in degrees.
Stopping times
The stopping time is measured in seconds.
Limitations
The stopping distance can vary depending on additional loads on the robot.
The stopping distance for category 0 stops can vary depending on the individual
brakes and the joint friction.
Reading the data
The data for stop category 0 is presented in tables, with distance and time for each
axis.
The data for stop category 1 is presented as graphs with curves representing the
different loads.
There is a short delay in the stop, which means that if the axis is accelerating when
the stop is initiated (C), it will continue to accelerate during this delay time. This
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Illustration
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Product specification - IRB 1090
3HAC088057-001 Revision: B