Omron Techman Robot, Safety Manual

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Safety Manual TECHMAN ROBOT Safety System 3.3 51
TM5-900 Series
Stop Time and Stop Distance Table
Percentage of
Maximum
Payload （％）
Extension(
％
) Speed(
％
)
First joint Second joint Third joint
Stop
Time
(ms)
Stop
Distance
(deg)
Stop
Time
(ms)
Stop
Distance
(deg)
Stop
Time
(ms)
Stop
Distance
(deg)
33
33
33 519 8.96 626 9.24 457 8.99
66 512 17.95 555 18.03 475 17.93
100 466 25.68 563 27.20 476 27.09
66
33 374 8.97 598 9.32 444 8.96
66 719 17.95 510 18.11 636 18.12
100 664 26.33 521 27.34 650 27.41
100
33
366 8.98 524 9.25 428 8.97
66
412 17.93 518 18.23 510 18.04
100
442 26.57 508 24.20 498 28.66
66
33
33 508 8.98 660 9.19 629 9.23
66 589 17.97 666 18.20 536 18.09
100 476 26.86 575 27.62 635 27.06
66
33 635 8.93 633 9.27 518 9.00
66 645 18.00 640 18.16 647 18.19
100 668 26.73 569 28.14 676 27.73
100
33
366 9.02 506 9.22 565 8.96
66
479 17.96 522 18.16 514 16.93
100
503 26.58 517 23.61 485 28.62
100
33
33 474 8.99 572 9.15 662 9.21
66 571 18.02 573 18.22 640 18.18
100 568 26.94 563 28.00 637 27.36
66
33 508 9.00 691 9.31 627 9.18
66 566 18.10 641 18.23 652 18.26
100 583 26.72 534 28.45 680 27.56
100
33
549 9.04 542 9.28 436 8.97
66
645 18.16 551 18.11 520 18.13
100
594 26.60 569 23.15 499 28.78
Table 17: Stopping Time and Distance for TM5-900 Series