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ID : 4007
Stopping Performance of Safety-related Control System
This section describes the stop distance (angle) and stopping time values when the safety-related control system stops COBOTTA in the following subsections.
- Description of stopping methods
- Stopping methods of respective safety-related control systems
- Stop angle, stopping time
Description of Stopping Methods
Two types of stopping methods are available for the safety-related control system: stop category 0 and stop category 1.
Each method corresponds to the methods defined in IEC 60204-1.
Stop Category 0
The robot stops by turning off the power supply to the robot unit (motor-off).
Stop Category 1
Turns OFF the motor power of the robot unit after slowing down the robot operation and bringing it to a complete halt.
Stopping Methods of Respective Safety-related Control Systems
| Emergency stop function | Stop category 1 |
|---|---|
| Protective stop function | |
| Speed limit function | Stop category 0 |
| Torque limit function | |
| Axis limit function |
Stop angle, stopping time
Stop angle and stopping time varies depending on the robot motion being executed and the mass of workpiece.
The following link shows the stop angle and stopping time for respective setting value of the speed limit function.
|
Information item (Reference) |
Outline |
|---|---|
| Stop angle and stopping time (speed limit value is the default value) |
This linked page describes the stop angle and stopping time when all setting values of the speed limit function are set to the default values. |
| Stop angle and stopping time (speed limit value is the maximum value) |
This linked page describes the stop angle and stopping time when all setting values of the speed limit function are set to the maximum. |
ID : 4007