Omron Techman Robot, Safety Manual

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Safety Manual TECHMAN ROBOT Safety System 3.3 53
TM12 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
33 365 6.02 634 6.27 674 9.35
66 364 12.00 557 12.18 588 18.12
100 473 18.20 559 18.48 615 27.26
66
33 368 6.01 563 6.27 584 9.19
66 634 12.01 531 12.24 653 18.30
100 621 18.17 541 18.45 552 27.73
100
33 541 5.98 597 5.22 544 8.94
66 564 12.01 587 12.21 532 18.14
100 591 18.17 592 17.80 569 28.90
66
33
33 662 6.02 644 6.16 632 9.20
66 657 12.01 645 12.26 657 18.10
100 659 18.16 666 18.67 695 27.08
66
33 501 6.03 664 6.12 680 9.36
66 661 12.00 601 12.33 676 18.30
100 661 18.16 588 18.91 570 27.50
100
33 539 6.02 545 6.38 513 9.10
66 543 12.01 545 12.36 520 18.15
100 530 18.40 565 17.88 591 28.82
100
33
33 584 5.99 540 6.19 606 9.17
66 596 11.99 560 12.52 592 18.01
100 603 18.14 535 18.88 572 27.07
66
33 579 6.06 549 6.26 613 9.33
66 581 12.09 564 12.52 606 18.12
100 585 18.27 556 19.24 582 27.75
100
33 580 6.06 558 5.36 608 9.34
66 548 12.12 537 12.39 547 18.15
100 564 18.41 518 18.14 611 27.50
Table 19: Stopping Time and Distance for TM12 Series