Collaborative Robot User Manual
Technical data
Copyright © SIASUN Co., Ltd. 2019
Document Version 3.0 (2019.01)
SIASUN Proprietary and Confidential Information
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4.5Stop time and distance
4.5.1 Introduction
General information for stop parameters:
Stop distance refers to the robot rotation angle from the stop signal to
fully stopped status.
Stop time refers to the time from the stop signal to fully stopped status.
The data shown is for the axis A1, A2, A3 and A4. The base axis is the
axis of maximum deflection.
Axis movements that overlap each other may cause the stop stroke to
become longer.
Time-lapse travel and time according to DIN EN ISO 10218-1.
Stop types:
Stop category 0 >> STOP 0
Stop category 1 >> STOP 1
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 conform to the
requirements of DIN EN ISO 10218-1. The actual stopping distances
and stopping times may differ 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.