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Safety Manual TECHMAN ROBOT Safety System 3.3 50
Appendix C. TM Robot Stopping Time and Distance for all Series Product
Models
The stopping time and stopping distance of the Cat.1 stop functions of this product at different speeds and with different
payloads are shown below.
WARNING:
Any moving robot requires some distance to stop. When stopping a robot, make sure that
there is no interference with other equipment. This requires more distance at high operating
speeds or with heavier payloads.
TM5-700 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
364
9.00
600
9.29
442
8.97
66
377
17.96
516
18.15
466
17.91
100
381
26.55
657
27.13
486
26.92
66
33
455
8.99
567
9.17
422
8.96
66
531
17.95
594
18.08
457
17.94
100
610
26.34
528
27.72
457
23.41
100
33
367
8.98
534
9.30
432
9.00
66
396
17.94
501
18.19
530
18.02
100
427
26.76
526
27.80
541
28.81
66
33
33
378
9.01
531
9.23
475
8.99
66
401
17.95
547
18.12
478
17.97
100
575
26.75
551
26.99
570
26.91
66
33
496
8.96
529
9.29
433
8.97
66
545
17.96
506
18.14
526
17.98
100
563
26.46
526
28.36
583
27.73
100
33
517
8.94
568
9.38
636
9.08
66
598
17.90
524
18.10
545
18.16
100
614
26.58
575
28.53
527
28.75
100
33
33
565
8.96
585
9.26
567
9.12
66
570
17.92
585
18.16
675
18.28
100
579
26.33
356
30.98
666
27.40
66
33
566
8.95
588
9.34
625
9.28
66
576
17.92
578
18.26
656
18.26
100
570
26.88
343
31.10
550
27.56
100
33
597
8.94
576
9.34
681
9.34
66
593
17.86
516
18.14
555
18.09
100
596
26.00
544
26.45
528
28.80
Table 16: Stopping Time and Distance for TM5-700 Series