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Appendix G
Stopping Time and Distance
Stopping time and distance for stop category 1
The robot configuration to measure the stopping time and the stopping distance for the
stop category 1 is as follows:
Position: Maximum load position (the position of the robot arm fully stretched
horizontally to make the maximum load)
Speed: Maximum joint speed (maximum speed of 180
°
/sec which can be generated
at the robot joint)
Payload: Maximum load possible to be installed on the TCP (5 kg)
The behavior to measure the stopping distance for the joint J1 was driven in parallel to
the ground and joints J2 and J3 were driven perpendicular to the ground. The stop
category 0 was performed when each joint reached its maximum speed.
It takes 0.03 sec for the brake to be engaged for deceleration after the stop signal is
detected.
Stopping Distance (deg.)
Stopping Time (sec.)
Joint J1
34.67
0.61
Joint J2
31.60
0.55
Joint J3
29.08
0.51
Maximum Joint
Speed
(180 deg/s)
Speed (deg/s)
Maximum Stopping Time
Time (s)
0.030
Summary of Contents for HCR-5
Page 1: ...HCR 5 Collaborative Robot User Manual Aug 2019 V 2 001 ...
Page 2: ......
Page 14: ......
Page 96: ...Chapter 8 Safety Settings 96 ...
Page 101: ...Chapter 8 Safety Settings 101 3 Press the OK button ...
Page 188: ...Chapter 15 Maintenance 188 4 When the confirmation window appears press YES ...
Page 192: ...192 Appendix B Certification Safety ...
Page 193: ...193 ...
Page 194: ...194 MD Machinery Directive ...
Page 195: ...195 LVD Low Voltage Directive ...
Page 196: ...196 EMC Electro Magnetic Compatibility ...
Page 197: ...197 Cleanroom Body ...
Page 198: ...198 Cleanroom Controller ...
Page 199: ...199 Appendix C Dimensions for Installation ...
Page 205: ......