Stop angle and stopping time (speed limit value is the maximum value)

This page describes the stop angle and stopping time when all setting values of the speed limit function are set to the maximum in the following subsections.

• Estimation conditions
• Stop angle and stopping time in the stop category 0
• Stop angle and stopping time in the stop category 1

Estimation Conditions

The following shows the conditions for the stop angle and stopping time used in this evaluation.

• Mass of payload

  0.7 kg

• Speed limit function setting

  Each axis is set to the maximum configurable value. Refer to the table below for setting values.

  	1st axis	2nd axis	3rd axis
  Speed (°/s)	140.0	105.0	220.0
  	4th axis	5th axis	6th axis
  Speed (°/s)	220.0	230.0	330.0

• Optimal speed control function setting

  Control set 3

Stop angle and stopping time in the stop category 0

The following table shows the maximum stop angle and the maximum stopping time in each speed when the robot moves with three speed patterns (100%, 66%, and 33%).

• Speed 100%

  	1st axis	2nd axis	3rd axis
  Maximum stop angle (°)	37.9	22.8	45.8
  Maximum stopping time (second)	0.4	0.3	0.4

• Speed 66%

  	1st axis	2nd axis	3rd axis
  Maximum stop angle (°)	13.2	10.3	21.1
  Maximum stopping time (second)	0.3	0.3	0.3

• Speed 33%

  	1st axis	2nd axis	3rd axis
  Maximum stop angle (°)	3.2	2.5	5.0
  Maximum stopping time (second)	0.3	0.3	0.3

Stop angle and stopping time in the axis limit function

The axis limit function is designed to stop COBOTTA when the robot exceeds the specified limit angle. In that case, the function stops the robot using the stop method of stop category 0 after the robot operates in certain range of angle exceeding the limit angle.

The following table shows maximum angles and their operating time values in which the robot operates exceeding the limit angle until it begins to stop in stop category 0.

To acquire the angle and time COBOTTA takes to stop after exceeding the limit angle, add the values above to the value of stop category 0.

Stop angle and stopping time in the stop category 1

The following table shows the maximum stop angle and the maximum stopping time in each speed when the robot moves with three speed patterns (100%, 66%, and 33%).

• Speed 100%

  	1st axis	2nd axis	3rd axis
  Maximum stop angle (°)	47.4	120.6	122.0
  Maximum stopping time (second)	0.6	2.3	3.0

• Speed 66%

  	1st axis	2nd axis	3rd axis
  Maximum stop angle (°)	23.4	54.6	122.0
  Maximum stopping time (second)	0.5	1.5	2.0

• Speed 33%

  	1st axis	2nd axis	3rd axis
  Maximum stop angle (°)	7.9	15.2	41.2
  Maximum stopping time (second)	0.3	0.8	1.1