Omron eCobra 600, Руководство пользователя

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144 eCobra 600 and 800 Robots with EtherCAT 24402-000 Rev B
0
0.1
0.2
0.3
0 20 40 60 80 100 120
St
opp
in
g
Ti
m
e
(s
)
Speed (%)
J3 Stopping Time (Cobra800)
Payload 33%
Payload 66%
Payload 100%
Figure 8-19. Stopping Time in Seconds versus Speed (%) for eCobra 800, Joint 3
Stopping distances and times will not significantly degrade as a result of normal use within
the life of the robot. Stopping distance will vary only if there is an actuating mechanism fail-
ure, which may require replacement of the failed component.
If you want to measure stopping distances and time in a real cell with a real robot and with
real tools and loads, contact your local OMRON support.
Hardstop and Softstop Limits
Use the table below to understand the robot hardstop and softstop limits.
NOTE: The following Joint 1 and Joint 2 hardstop values are only valid without
the optional hardstops installed..
Table 8-3. Softstop and Hardstop Specifications
Joint eCobra 600 eCobra 800
Softstop Hardstop –
Approximate Softstop Hardstop –
Approximate
Joint 1 ±105 ±108 ±105 ±108
Joint 2 ±150 ±151 ±157.5 ±160
Joint 3 0 to 210 mm -5 to 215 mm 0 to 210 mm -5 to 215 mm
Joint 4 ±360 not applicable ±360 not applicable