Function description
System Description Service Robotics Modules
1004870-EN-05
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4.12
Stopping time in the event of a complete stop
A complete stop includes the time t
stopping_STOP1_100
plus the brake engagement time t
Brake
. The
brake engagement time t
Brake
is the time from the moment the STO signal on the robot arm
is reset until the moment at which all brakes are engaged.
t
complete_stopping
=
t
stopping_STOP1_100
+
t
Brake
The following values are used to calculate t
complete_stopping
:
}
Stopping time at maximum speed: t
stopping_STOP1_100
= 235.02 ms
(see
Stopping time and stopping distance in the event of STOP 1 [
)
}
Brake engagement time: t
Brake
= 80 ms
(see technical details in the operating manual for the robot arm)
t
complete_stopping
= 315 ms
