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138
eCobra 600 and 800 Robots with EtherCAT
24402-000 Rev B
Performance Item
eCobra 600 Robot
eCobra 800 Robots
path (not achievable over all paths in the robot working envelope).
Stopping Distances and Times
The following graphs present information required by Clause 7.2 n of ISO 10218-1. This inform-
ation should be used to calculate the safe distance needed when designing and installing safe-
guarding devices.
!
WARNING:
The stopping time and distance, or angle, of a robot joint from ini-
tiation of a stop signal is not negligible and must be taken into account when
designing and applying safeguarding devices.
The graphs show the time elapsed and distances traveled between the initiation of a stop sig-
nal and the cessation of all robot motion.
For stop category 1, the stopping time and distance values depend on the speed, load, and
extension of the robot, stated for 33%, 66% and 100% of the maximum payload (5.5 kg). Data
provided is for the three joints of greatest displacement (J1, J2, and J3).
NOTE:
Where lines overlap (and may not be visible) differences are not sig-
nificant.
eCobra 600
0
20
40
60
0
20
40
60
80
100
120
St
opp
in
g
Di
st
an
ce
(d
eg
)
Speed (%)
J1 Stopping Distance (Cobra600)
Payload 33%
Payload 66%
Payload 100%
Figure 8-8. Stopping Distance in Degrees versus Speed % for eCobra 600, Joint 1