Omron Techman Robot, Safety Manual

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Safety Manual TECHMAN ROBOT Safety System 3.3 52
TM14 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
33 416 6.01 554 6.18 511 8.83
66 662 12.00 650 12.33 621 17.84
100 482 18.24 635 18.58 510 26.32
66
33 374 5.99 637 6.41 527 8.94
66 643 11.99 641 12.34 689 17.66
100 644 18.18 654 18.65 545 26.54
100
33
482 6.04 530 6.27 453 8.42
66
531 11.90 657 12.37 589 18.28
100
624 18.17 626 17.64 575 28.86
66
33
33 680 6.00 623 6.36 598 9.17
66 684 11.98 605 12.20 632 18.91
100 690 18.13 595 18.54 631 27.19
66
33 595 5.99 576 6.35 635 9.28
66 597 11.96 557 12.42 600 18.33
100 581 18.13 557 18.51 599 27.50
100
33
548 5.98 530 6.38 432 8.52
66
568 11.84 576 12.41 567 18.32
100
568 18.25 589 17.75 531 28.77
100
33
33 591 5.99 574 6.34 529 9.10
66 608 11.97 575 12.38 557 18.22
100 582 18.15 585 18.89 556 27.27
66
33 611 5.99 594 6.48 575 9.12
66 615 11.99 616 12.26 671 18.30
100 618 18.23 604 18.98 571 27.34
100
33
570 6.06 568 6.29 575 8.95
66
567 12.06 552 12.34 587 18.20
100
568 18.39 591 17.61 544 28.87
Table 18: Stopping Time and Distance for TM14 Series