SIASUN GCR20-1100, User Manual

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4.5 Stop time and distance
4.5.1 Introduction
General break information:

Stop distance refers to the angle rotated from receiving the stop signal
to fully stopped status.

Stop time refers to the duration from the robot receives stop signal to
fully stopped status.

The data illustrate is for axes A1,A2, A3 and A4. The base axis is where
maximum deflection appears.

Axis movements that overlap each other may cause the stop stroke to
become longer.

The time and distance delayed is based on DIN EN ISO 10218-1
。

Stop type
：
Stop category 0 » Stop0
Stop category 1 » Stop1
According to IEC 60204-1
：

The values specified for Stop 0 are guide values determined by means
of tests and simulation. They are average values which are conform to
the requirements of DIN EN ISO 10218-1. The actual stopping
distances and stopping times may be different due to internal and
external influences on the braking torque. It is, therefore, advisable to
determine the exact stopping distances and stopping times where
necessary under the real conditions of the actual robot application.

The wear on the brakes varies depending on the operating mode, robot
application and the number of STOP 0 stops triggered. It is therefore
advisable to check the stopping distance at least once a year.
4.5.2 Stop time and distance for Axis 1-4 in Stop 0
The following table shows the stop distance and stop time when stop type is set to
stop 0. The data applies for the following configurations:

Scope of action = 100 %

Percentage of velocity, POV = 100 %

Mass, m = Maximum load