ABB IRB 910INV, Product Specification

Page: 45 / 90

1.9 Robot stopping distances and times
1.9.1 Robot stopping distances according to ISO 10218-1
About the data for robot stopping distances and times
All measurements and calculations of stopping distances and times are done
according to ISO 10218-1, with single axis motion on axes 1, 2, and 3. If more than
one axis is used for the movement, then the stopping distance and time can be
longer. Normal delays of the hardware and software are taken into account. See
more about the delays and their impact on the results,
Reading the data on page 47 .
The stopping distances and times are presented using the tool data and extension
zones presented for the respected robot variant. These variables are 100%, 66%,
and 33% of the maximum values for the robot.
The stop categories 0 and 1 are according to IEC 60204-1.
Note
The category 0 stop is not necessarily the worst case (depending on load, speed,
application, wear, etc.).
Note
For SCARA robots without brakes on axis 1 and 2, the stopping distances for
category 0 stops in actual applications can be longer than those stated in this
document because without brakes, it is the friction that will stop the robot (on
axes without brakes).
Note
The stop category 1 is a controlled stop and will therefore have less deviation
from the programmed path compared with a stop category 0.
Loads
The tool data that is used is presented for the respective robot variant.
The used loads represent the rated load. No arm load is used. See the Load
diagrams on page 24 .
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Product specification - IRB 910INV 45
3HAC068057-001 Revision: M
© Copyright 2019-2023 ABB. All rights reserved.
1 Description
1.9.1 Robot stopping distances according to ISO 10218-1