WARNING
The stopping time and distance, or angle, of a robot joint from initiation of a stop sig-
nal 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 signal 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 (15 kg). Data provided is for the
three joints of greatest displacement (J1, J2, and J3).
0
0.1
0.2
0.3
0
20
40
60
80
100
120
5 kg
10 kg
15 kg
Joint 1 Stopping Time
St
o
p
p
in
g
T
ime
(s)
Speed (%)
10
30
50
70
0
20
40
60
80
100
120
Joint 1 Stopping Distance
St
o
p
p
in
g
D
ist
a
n
ce
(d
e
g
re
e
s)
Speed (%)
5 kg
10 kg
15 kg
2 Specifications
2-11
i4H Robots User's Manual (I660)
2-2
Performance Specifications
2
2-2-2
Stopping Distances and T
imes
Summary of Contents for i4-650H
Page 1: ...i4H Robots User s Manual i4 650H i4 750H i4 850H I660 E 02...
Page 6: ...Manual Information 4 i4H Robots User s Manual I660...
Page 74: ...2 Specifications 2 20 i4H Robots User s Manual I660...
Page 142: ...5 Troubleshooting 5 6 i4H Robots User s Manual I660...
Page 176: ...Appendix A 16 i4H Robots User s Manual I660...
Page 177: ...I Index I 1 i4H Robots User s Manual I660 I...
Page 180: ...Index I 4 i4H Robots User s Manual I660...
Page 181: ......