Rainbow Robotics RB Series, User Manual

Page: 423 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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APPENDIX G. STOPPING TIME/DISTANCE
In the RB Series of collaborative robots, the time and distance between the robots stop and
the distance are generated by the safety monitoring function.
The graph below shows the stop time and stop distance for stop category 1 for Joint 0
(Base axis), Joint 1 (Shoulder axis), and Joint 2 (Elbow axis).
Depending on the situation, the actual stop motion may differ from the results below. Joint 0
is the result of horizontal movement, and Joint 1 and 2 are the result of vertical downward
movement. For the length of the arm, the maximum length is applied.
RB5-850E Series Base (Joint 0)
Stop Distance (mm) Stop Time (sec)
Test 1
183.38 0.19
Test 2
160.1 0.24
Test 3
191.03 0.24
Maximum
191.03 0.24
Average
178.17 0.22
Condition
Max. Reach / Max. Velocity / Horizontal Motion
RB5-850E Series Shoulder (Joint 1)
Stop Distance (mm) Stop Time (sec)
Test 1
183.71 0.13
Test 2
177.53 0.13
Test 3
183.39 0.21
Maximum
183.71 0.21
Average
181.54 0.16
Condition
Max. Reach / Max. Velocity / Vertical Downward Motion
RB5-850E Series Elbow (Joint 2)
Stop Distance (mm) Stop Time (sec)
Test 1
90.935 0.14
Test 2
94.809 0.14
Test 3
81.987 0.14
Maximum
94.809 0.14
Average
89.24 0.14
Condition
Max. Reach / Max. Velocity / Vertical Downward Motion