Safety Stop#

Safety Stop Implement logic#

Depending on the situation, the robot can initiate three types of downtime defined in accordance with IEC60204-1. These categories are defined in the following Table 3‑4

Table 3‑4 Safety Stop Implement logic

image1

Warning

To ensure that SS2 function remain effective, the user should move the robot one time, if the robot stays at SS2 state more than 24h.

Table 3‑5 Reset condition summery table of SS2 function#

Cause

Safety Input Configuration condition

Reset condition

The reserved protective stop input activated

No reset input

The protective stop input is inactivated.

With protective stop reset input

Both of the following conditions shall be met:

  1. The protective stop input is inactivated.

  2. Keep protective stop reset input active for 0.5s~10s.

AUTO-mode protective stop input activated

No reset input

The AUTO-mode protective stop input is inactivated.

With protective stop reset input

Both of the following conditions shall be met:

  1. The AUTO-mode protective stop input is inactivated.

  2. Keep protective stop reset input active for 0.5s~10s.

With AUTO-mode protective stop reset input

The following three conditions shall be met:

  1. The AUTO-mode protective stop input is inactivated.

  2. Keep protective stop reset input active for 0.5s~10s.

  3. Robot in AUTO-mode.

Diagnostic function activated

or other safety function activated

No reset input

The cause of fault is removed.

With protective stop reset input

Both of the following conditions shall be met:

  1. The cause of fault is removed.

  2. Keep protective stop reset input active for 0.5s~10s.

If the reaction of safety function collision detection is configured as SS2, and collision is detected.

No relationship

If following conditions are both met, the cause of fault is considered removed and the SS2 is reset.

  1. The collision-torque is below 0.5N. AND

  2. The robot is at standstill.

The three-position enable not at right position during manual mode

No reset input

The three-position enable is at the right position.

With protective stop reset input

  1. The three-position enable is at the right position.

  2. Keep protective stop reset input active for 0.5s~10s.

Stop time and distance#

The stopping distance is the angle elapsed from the moment when the stop signal is generated to the moment when all joints stop operating.

The stop time is the time from the moment of generating the stop signal to the moment when all joints stop operating.

Provides stopping distance and stopping time data for joint 1, joint 2, and joint 3, which travels a large distance.

Movement of the overlapping axes may result in a longer stopping distances.

Stopping distance and stopping time data are defined according to ISO 10218-1:2011 Annex B.

GCR5-910 and GCR7-910#

J1 Joint Stop Category 0:

../../_images/image117.png

J1 STO, payload 100%，Stopping distance#

../../_images/image217.png

J1 STO，payload 100%，Stopping time#

../../_images/image317.png

J1 STO, payload 66%，Stopping distance#

../../_images/image417.png

J1 STO，payload 66%，Stopping time#

../../_images/image58.png

J1 STO, payload 33%，Stopping distance#

../../_images/image65.png

J1 STO，payload 33%，Stopping time#

J1 Joint Stop Category 1:

../../_images/image75.png

J1 STOP1, payload 100%，Stopping distance#

../../_images/image85.png

J1 STOP1，payload 100%，Stopping time#

../../_images/image95.png

J1 STOP1, payload 66%，Stopping distance#

../../_images/image105.png

J1 STOP1，payload 66%，Stopping time#

../../_images/image118.png

J1 STOP1, payload 33%，Stopping distance#

../../_images/image125.png

J1 STOP1，payload 33%，Stopping time#

J1 Joint Stop Category 2:

../../_images/image135.png

J1 STOP2, payload 100%，Stopping distance#

../../_images/image145.png

J1 STOP2，payload 100%，Stopping time#

../../_images/image155.png

J1 STOP2, payload 66%，Stopping distance#

../../_images/image164.png

J1 STOP2，payload 66%，Stopping time#

../../_images/image174.png

J1 STOP2, payload 33%，Stopping distance#

../../_images/image184.png

J1 STOP2，payload 33%，Stopping time#

J2 Joint Stop Category 0:

../../_images/image194.png

J2 STO, payload 100%，Stopping distance#

../../_images/image204.png

J2 STO，payload 100%，Stopping time#

../../_images/image218.png

J2 STO, payload 66%，Stopping distance#

../../_images/image224.png

J2 STO，payload 66%，Stopping time#

../../_images/image234.png

J2 STO, payload 33%，Stopping distance#

../../_images/image244.png

J2 STO，payload 33%，Stopping time#

J2 Joint Stop Category 1:

../../_images/image254.png

J2 STOP1, payload 100%，Stopping distance#

../../_images/image264.png

J2 STOP1，payload 100%，Stopping time#

../../_images/image274.png

J2 STOP1, payload 66%，Stopping distance#

../../_images/image284.png

J2 STOP1，payload 66%，Stopping time#

../../_images/image294.png

J2 STOP1, payload 33%，Stopping distance#

../../_images/image304.png

J2 STOP1，payload 33%，Stopping time#

J2 Joint Stop Category 2:

../../_images/image318.png

J2 STOP2, payload 100%，Stopping distance#

../../_images/image325.png

J2 STOP2，payload 100%，Stopping time#

../../_images/image334.png

J2 STOP2, payload 66%，Stopping distance#

../../_images/image344.png

J2 STOP2，payload 66%，Stopping time#

../../_images/image354.png

J2 STOP2, payload 33%，Stopping distance#

../../_images/image364.png

J2 STOP2，payload 33%，Stopping time#

J3 Joint Stop Category 0:

../../_images/image374.png

J3 STO, payload 100%，Stopping distance#

../../_images/image384.png

J3 STO，payload 100%，Stopping time#

../../_images/image394.png

J3 STO, payload 66%，Stopping distance#

../../_images/image404.png

J3 STO，payload 66%，Stopping time#

../../_images/image418.png

J3 STO, payload 33%，Stopping distance#

../../_images/image424.png

J3 STO，payload 33%，Stopping time#

J3 Joint Stop Category 1:

../../_images/image434.png

J3 STOP1, payload 100%，Stopping distance#

../../_images/image444.png

J3 STOP1，payload 100%，Stopping time#

../../_images/image454.png

J3 STOP1, payload 66%，Stopping distance#

../../_images/image464.png

J3 STOP1，payload 66%，Stopping time#

../../_images/image474.png

J3 STOP1, payload 33%，Stopping distance#

../../_images/image484.png

J3 STOP1，payload 33%，Stopping time#

J3 Joint Stop Category 2:

../../_images/image494.png

J3 STOP2, payload 100%，Stopping distance#

../../_images/image504.png

J3 STOP2，payload 100%，Stopping time#

../../_images/image515.png

J3 STOP2, payload 66%，Stopping distance#

../../_images/image524.png

J3 STOP2，payload 66%，Stopping time#

../../_images/image534.png

J3 STOP2, payload 33%，Stopping distance#

../../_images/image544.png

J3 STOP2，payload 33%，Stopping time#

Table 3‑6 Worst Case Test Results of GCR5-910 and GCR7-910#

Joint

Stop Category

Payload

Extension

Speed

Braking Time

(sec)

Braking Distance

(rad)

J1

STOP2

100%

100%

100%

0.584

0.727

J2

STOP2

100%

100%

100%

0.556

0.931

J3

STOP2

100%

100%

100%

0.404

0.656

J1

STOP1

100%

100%

100%

0.408

0.363

J2

STOP1

100%

100%

100%

0.452

0.337

J3

STOP1

100%

100%

100%

0.292

0.348

J1

STO

100%

100%

100%

0.337

0.239

J2

STO

100%

100%

100%

0.413

0.207

J3

STO

100%

100%

100%

0.313

0.174

GCR10-1300 and GCR12-1300#

J1 Joint Stop Category 0

../../_images/image15.png

J1 STO, payload 100%，Stopping distance#

../../_images/image21.png

J1 STO，payload 100%，Stopping time#

../../_images/image32.png

J1 STO, payload 66%，Stopping distance#

../../_images/image41.png

J1 STO，payload 66%，Stopping time#

../../_images/image51.png

J1 STO, payload 33%，Stopping distance#

../../_images/image61.png

J1 STO，payload 33%，Stopping time#

J1 Joint Stop Category 1

../../_images/image71.png

J1 STOP1, payload 100%，Stopping distance#

../../_images/image81.png

J1 STOP1，payload 100%，Stopping time#

../../_images/image91.png

J1 STOP1, payload 66%，Stopping distance#

../../_images/image101.png

J1 STOP1，payload 66%，Stopping time#

../../_images/image111.png

J1 STOP1, payload 33%，Stopping distance#

../../_images/image121.png

J1 STOP1，payload 33%，Stopping time#

J1 Joint Stop Category 2

../../_images/image131.png

J1 STOP2, payload 100%，Stopping distance#

../../_images/image141.png

J1 STOP2，payload 100%，Stopping time#

../../_images/image151.png

J1 STOP2, payload 66%，Stopping distance#

../../_images/image16.png

J1 STOP2，payload 66%，Stopping time#

../../_images/image17.png

J1 STOP2, payload 33%，Stopping distance#

../../_images/image18.png

J1 STOP2，payload 33%，Stopping time#

J2 Joint Stop Category 0

../../_images/image19.png

J2 STO, payload 100%，Stopping distance#

../../_images/image20.png

J2 STO，payload 100%，Stopping time#

../../_images/image211.png

J2 STO, payload 66%，Stopping distance#

../../_images/image22.png

J2 STO，payload 66%，Stopping time#

../../_images/image23.png

J2 STO, payload 33%，Stopping distance#

../../_images/image24.png

J2 STO，payload 33%，Stopping time#

J2 Joint Stop Category 1

../../_images/image25.png

J2 STOP1, payload 100%，Stopping distance#

../../_images/image26.png

J2 STOP1，payload 100%，Stopping time#

../../_images/image27.png

J2 STOP1, payload 66%，Stopping distance#

../../_images/image28.png

J2 STOP1，payload 66%，Stopping time#

../../_images/image29.png

J2 STOP1, payload 33%，Stopping distance#

../../_images/image30.png

J2 STOP1，payload 33%，Stopping time#

J2 Joint Stop Category 2:

../../_images/image311.png

J2 STOP2, payload 100%，Stopping distance#

../../_images/image321.png

J2 STOP2，payload 100%，Stopping time#

../../_images/image33.png

J2 STOP2, payload 66%，Stopping distance#

../../_images/image34.png

J2 STOP2，payload 66%，Stopping time#

../../_images/image35.png

J2 STOP2, payload 33%，Stopping distance#

../../_images/image36.png

J2 STOP2，payload 33%，Stopping time#

J3 Joint Stop Category 0

../../_images/image37.png

J3 STO, payload 100%，Stopping distance#

../../_images/image38.png

J3 STO，payload 100%，Stopping time

../../_images/image39.png

J3 STO, payload 66%，Stopping distance#

../../_images/image40.png

J3 STO，payload 66%，Stopping time#

../../_images/image411.png

J3 STO, payload 33%，Stopping distance#

../../_images/image42.png

J3 STO，payload 33%，Stopping time#

J3 Joint Stop Category 1

../../_images/image43.png

J3 STOP1, payload 100%，Stopping distance#

../../_images/image44.png

J3 STOP1，payload 100%，Stopping time

../../_images/image45.png

J3 STOP1, payload 66%，Stopping distance#

../../_images/image46.png

J3 STOP1，payload 66%，Stopping time#

../../_images/image47.png

J3 STOP1, payload 33%，Stopping distance#

../../_images/image48.png

J3 STOP1，payload 33%，Stopping time#

J3 Joint Stop Category 2

../../_images/image49.png

J3 STOP2, payload 100%，Stopping distance#

../../_images/image50.png

J3 STOP2，payload 100%，Stopping time#

../../_images/image511.png

J3 STOP2, payload 66%，Stopping distance#

../../_images/image52.png

J3 STOP2，payload 66%，Stopping time#

../../_images/image53.png

J3 STOP2, payload 33%，Stopping distance#

../../_images/image54.png

J3 STOP2，payload 33%，Stopping time#

Table 3‑7 Worst Case Test Results of GCR10-1300/GCR12-1300#

Joint

Stop Category

Payload

Extension

Speed

Braking Time

(sec)

Braking Distance

(rad)

J1

STOP2

100%

100%

100%

0 .398

0.348

J2

STOP2

100%

100%

100%

0.431

0.341

J3

STOP2

100%

100%

100%

0.388

0.275

J1

STOP1

100%

100%

100%

0.354

0.176

J2

STOP1

100%

100%

100%

0.364

0.205

J3

STOP1

100%

100%

100%

0.384

0.174

J1

STO

100%

100%

100%

0.313

0.152

J2

STO

100%

100%

100%

0.303

0.163

J3

STO

100%

100%

100%

0.281

0.163

GCR20-1400#

J1 Joint Stop Category 0

../../_images/image113.png

J1 STO, payload 100%，Stopping distance#

../../_images/image213.png

J1 STO，payload 100%，Stopping time#

../../_images/image313.png

J1 STO, payload 66%，Stopping distance#

../../_images/image413.png

J1 STO，payload 66%，Stopping time#

../../_images/image56.png

J1 STO, payload 33%，Stopping distance#

../../_images/image63.png

J1 STO，payload 33%，Stopping time#

J1 Joint Stop Category 1

../../_images/image73.png

J1 STOP1, payload 100%，Stopping distance#

../../_images/image83.png

J1 STOP1，payload 100%，Stopping time#

../../_images/image93.png

J1 STOP1, payload 66%，Stopping distance#

../../_images/image103.png

J1 STOP1，payload 66%，Stopping time#

../../_images/image114.png

J1 STOP1, payload 33%，Stopping distance#

../../_images/image123.png

J1 STOP1，payload 33%，Stopping time#

J1 Joint Stop Category 2

../../_images/image133.png

J1 STOP2, payload 100%，Stopping distance#

../../_images/image143.png

J1 STOP2，payload 100%，Stopping time#

../../_images/image153.png

J1 STOP2, payload 66%，Stopping distance#

../../_images/image162.png

J1 STOP2，payload 66%，Stopping time#

../../_images/image172.png

J1 STOP2, payload 33%，Stopping distance#

../../_images/image182.png

J1 STOP2，payload 33%，Stopping time#

J2 Joint Stop Category 0

../../_images/image192.png

J2 STO, payload 100%，Stopping distance#

../../_images/image202.png

J2 STO，payload 100%，Stopping time#

../../_images/image214.png

J2 STO, payload 66%，Stopping distance#

../../_images/image222.png

J2 STO，payload 66%，Stopping time#

../../_images/image232.png

J2 STO, payload 33%，Stopping distance#

../../_images/image242.png

J2 STO，payload 33%，Stopping time#

J2 Joint Stop Category 1

../../_images/image252.png

J2 STOP1, payload 100%，Stopping distance#

../../_images/image262.png

J2 STOP1，payload 100%，Stopping time#

../../_images/image272.png

J2 STOP1, payload 66%，Stopping distance#

../../_images/image282.png

J2 STOP1，payload 66%，Stopping time#

../../_images/image292.png

J2 STOP1, payload 33%，Stopping distance#

../../_images/image302.png

J2 STOP1，payload 33%，Stopping time#

J2 Joint Stop Category 2

../../_images/image314.png

J2 STOP2, payload 100%，Stopping distance#

../../_images/image323.png

J2 STOP2，payload 100%，Stopping time#

../../_images/image332.png

J2 STOP2, payload 66%，Stopping distance#

../../_images/image342.png

J2 STOP2，payload 66%，Stopping time#

../../_images/image352.png

J2 STOP2, payload 33%，Stopping distance#

../../_images/image362.png

J2 STOP2，payload 33%，Stopping time#

J3 Joint Stop Category 0

../../_images/image372.png

J3 STO, payload 100%，Stopping distance#

../../_images/image382.png

J3 STO，payload 100%，Stopping time#

../../_images/image392.png

J3 STO, payload 66%，Stopping distance#

../../_images/image402.png

J3 STO，payload 66%，Stopping time#

../../_images/image414.png

J3 STO, payload 33%，Stopping distance#

../../_images/image422.png

J3 STO，payload 33%，Stopping time#

J3 Joint Stop Category 1

../../_images/image432.png

J3 STOP1, payload 100%，Stopping distance#

../../_images/image442.png

J3 STOP1，payload 100%，Stopping time#

../../_images/image452.png

J3 STOP1, payload 66%，Stopping distance#

../../_images/image462.png

J3 STOP1，payload 66%，Stopping time#

../../_images/image472.png

J3 STOP1, payload 33%，Stopping distance#

../../_images/image482.png

J3 STOP1，payload 33%，Stopping time#

J3 Joint Stop Category 2

../../_images/image492.png

J3 STOP2, payload 100%，Stopping distance#

../../_images/image502.png

J3 STOP2，payload 100%，Stopping time#

../../_images/image513.png

J3 STOP2, payload 66%，Stopping distance#

../../_images/image522.png

J3 STOP2，payload 66%，Stopping time#

../../_images/image532.png

J3 STOP2, payload 33%，Stopping distance#

../../_images/image542.png

J3 STOP2，payload 33%，Stopping time#

Table 3‑8 Worst Case Test Results of GCR20-1400#

Joint

Stop Category

Payload

Extension

Speed

Braking Time

(sec)

Braking Distance

(rad)

J1

STOP2

100%

100%

100%

0.864

0.547

J2

STOP2

100%

100%

100%

0.872

0.580

J3

STOP2

100%

100%

100%

1.121

0.786

J1

STOP1

100%

100%

100%

0.412

0.256

J2

STOP1

100%

100%

100%

0.408

0.410

J3

STOP1

100%

100%

100%

0.454

0.312

J1

STO

100%

100%

100%

0.314

0.148

J2

STO

100%

100%

100%

0.336

0.163

J3

STO

100%

100%

100%

0.294

0.135

GCR16-960#

J1 Joint Stop Category 0

../../_images/image110.png

J1 STO, payload 100%，Stopping distance#

../../_images/image210.png

J1 STO，payload 100%，Stopping time#

../../_images/image310.png

J1 STO, payload 66%，Stopping distance#

../../_images/image410.png

J1 STO，payload 66%，Stopping time#

../../_images/image55.png

J1 STO, payload 33%，Stopping distance#

../../_images/image62.png

J1 STO，payload 33%，Stopping time#

J1 Joint Stop Category 1

../../_images/image72.png

J1 STOP1, payload 100%，Stopping distance#

../../_images/image82.png

J1 STOP1，payload 100%，Stopping time#

../../_images/image92.png

J1 STOP1, payload 66%，Stopping distance#

../../_images/image102.png

J1 STOP1，payload 66%，Stopping time#

../../_images/image112.png

J1 STOP1, payload 33%，Stopping distance#

../../_images/image122.png

J1 STOP1，payload 33%，Stopping time#

J1 Joint Stop Category 2

../../_images/image132.png

J1 STOP2, payload 100%，Stopping distance#

../../_images/image142.png

J1 STOP2，payload 100%，Stopping time#

../../_images/image152.png

J1 STOP2, payload 66%，Stopping distance#

../../_images/image161.png

J1 STOP2，payload 66%，Stopping time#

../../_images/image171.png

J1 STOP2, payload 33%，Stopping distance#

../../_images/image181.png

J1 STOP2，payload 33%，Stopping time#

J2 Joint Stop Category 0

../../_images/image191.png

J2 STO, payload 100%，Stopping distance#

../../_images/image201.png

J2 STO，payload 100%，Stopping time#

../../_images/image212.png

J2 STO, payload 66%，Stopping distance#

../../_images/image221.png

J2 STO，payload 66%，Stopping time#

../../_images/image231.png

J2 STO, payload 33%，Stopping distance#

../../_images/image241.png

J2 STO，payload 33%，Stopping time#

J2 Joint Stop Category 1

../../_images/image251.png

J2 STOP1, payload 100%，Stopping distance#

../../_images/image261.png

J2 STOP1，payload 100%，Stopping time#

../../_images/image271.png

J2 STOP1, payload 66%，Stopping distance#

../../_images/image281.png

J2 STOP1，payload 66%，Stopping time#

../../_images/image291.png

J2 STOP1, payload 33%，Stopping distance#

../../_images/image301.png

J2 STOP1，payload 33%，Stopping time#

J2 Joint Stop Category 2

../../_images/image312.png

J2 STOP2, payload 100%，Stopping distance#

../../_images/image322.png

J2 STOP2，payload 100%，Stopping time#

../../_images/image331.png

J2 STOP2, payload 66%，Stopping distance#

../../_images/image341.png

J2 STOP2，payload 66%，Stopping time#

../../_images/image351.png

J2 STOP2, payload 33%，Stopping distance#

../../_images/image361.png

J2 STOP2，payload 33%，Stopping time#

J3 Joint Stop Category 0

../../_images/image371.png

J3 STO, payload 100%，Stopping distance#

../../_images/image381.png

J3 STO，payload 100%，Stopping time#

../../_images/image391.png

J3 STO, payload 66%，Stopping distance#

../../_images/image401.png

J3 STO，payload 66%，Stopping time#

../../_images/image412.png

J3 STO, payload 33%，Stopping distance#

../../_images/image421.png

J3 STO，payload 33%，Stopping time#

J3 Joint Stop Category 1

../../_images/image431.png

J3 STOP1, payload 100%，Stopping distance#

../../_images/image441.png

J3 STOP1，payload 100%，Stopping time#

../../_images/image451.png

J3 STOP1, payload 66%，Stopping distance#

../../_images/image461.png

J3 STOP1，payload 66%，Stopping time#

../../_images/image471.png

J3 STOP1, payload 33%，Stopping distance#

../../_images/image481.png

J3 STOP1，payload 33%，Stopping time#

J3 Joint Stop Category 2

../../_images/image491.png

J3 STOP2, payload 100%，Stopping distance#

../../_images/image501.png

J3 STOP2，payload 100%，Stopping time#

../../_images/image512.png

J3 STOP2, payload 66%，Stopping distance#

../../_images/image521.png

J3 STOP2，payload 66%，Stopping time#

../../_images/image531.png

J3 STOP2, payload 33%，Stopping distance#

../../_images/image541.png

J3 STOP2，payload 33%，Stopping time#

Table 3‑9 Worst Case Test Results of GCR16-960#

Joint

Stop Category

Payload

Extension

Speed

Braking Time

(sec)

Braking Distance

(rad)

J1

STOP2

100%

100%

100%

1.136

0.590

J2

STOP2

100%

100%

100%

1.384

0.508

J3

STOP2

100%

100%

100%

0.87

0.615

J1

STOP1

100%

100%

100%

0.692

0.328

J2

STOP1

100%

100%

100%

0.681

0.413

J3

STOP1

100%

100%

100%

0.512

0.348

J1

STO

100%

100%

100%

0.456

0.205

J2

STO

100%

100%

100%

0.447

0.197

J3

STO

100%

100%

100%

0.345

0.163

GCR30-1100#

J1 Joint Stop Category 0

../../_images/image115.png

J1 STO, payload 100%，Stopping distance#

../../_images/image215.png

J1 STO，payload 100%，Stopping time#

../../_images/image315.png

J1 STO, payload 66%，Stopping distance#

../../_images/image415.png

J1 STO，payload 66%，Stopping time#

../../_images/image57.png

J1 STO, payload 33%，Stopping distance#

../../_images/image64.png

J1 STO，payload 33%，Stopping time#

J1 Joint Stop Category 1

../../_images/image74.png

J1 STOP1, payload 100%，Stopping distance#

../../_images/image84.png

J1 STOP1，payload 100%，Stopping time#

../../_images/image94.png

J1 STOP1, payload 66%，Stopping distance#

../../_images/image104.png

J1 STOP1，payload 66%，Stopping time#

../../_images/image116.png

J1 STOP1, payload 33%，Stopping distance#

../../_images/image124.png

J1 STOP1，payload 33%，Stopping time#

J1 Joint Stop Category 2

../../_images/image134.png

Figure 2‑227 J1 STOP2, payload 100%，Stopping distance#

../../_images/image144.png

J1 STOP2，payload 100%，Stopping time#

../../_images/image154.png

J1 STOP2, payload 66%，Stopping distance#

../../_images/image163.png

J1 STOP2，payload 66%，Stopping time#

../../_images/image173.png

J1 STOP2, payload 33%，Stopping distance#

../../_images/image183.png

J1 STOP2，payload 33%，Stopping time#

J2 Joint Stop Category 0

../../_images/image193.png

J2 STO, payload 100%，Stopping distance#

../../_images/image203.png

J2 STO，payload 100%，Stopping time#

../../_images/image216.png

J2 STO, payload 66%，Stopping distance#

../../_images/image223.png

J2 STO，payload 66%，Stopping time#

../../_images/image233.png

J1 STO, payload 33%，Stopping distance#

../../_images/image243.png

J2 STO，payload 33%，Stopping time#

J2 Joint Stop Category 1

../../_images/image253.png

J2 STOP1, payload 100%，Stopping distance#

../../_images/image263.png

J2 STOP1，payload 100%，Stopping time#

../../_images/image273.png

J2 STOP1, payload 66%，Stopping distance#

../../_images/image283.png

J2 STOP1，payload 66%，Stopping time#

../../_images/image293.png

J2 STOP1, payload 33%，Stopping distance#

../../_images/image303.png

J2 STOP1，payload 33%，Stopping time#

J2 Joint Stop Category 2

../../_images/image316.png

J2 STOP2, payload 100%，Stopping distance#

../../_images/image324.png

J2 STOP2，payload 100%，Stopping time#

../../_images/image333.png

J2 STOP2, payload 66%，Stopping distance#

../../_images/image343.png

J2 STOP2，payload 66%，Stopping time#

../../_images/image353.png

J2 STOP2, payload 33%，Stopping distance#

../../_images/image363.png

J2 STOP2，payload 33%，Stopping time#

J3 Joint Stop Category 0

../../_images/image373.png

J3 STO, payload 100%，Stopping distance#

../../_images/image383.png

J3 STO，payload 100%，Stopping time#

../../_images/image393.png

J3 STO, payload 66%，Stopping distance#

../../_images/image403.png

J3 STO，payload 66%，Stopping time#

../../_images/image416.png

J3 STO, payload 33%，Stopping distance#

../../_images/image423.png

J3 STO，payload 33%，Stopping time#

J3 Joint Stop Category 1

../../_images/image433.png

J3 STOP1, payload 100%，Stopping distance#

../../_images/image443.png

J3 STOP1，payload 100%，Stopping time#

../../_images/image453.png

J3 STOP1, payload 66%，Stopping distance#

../../_images/image463.png

J3 STOP1，payload 66%，Stopping time#

../../_images/image473.png

J3 STOP1, payload 33%，Stopping distance#

../../_images/image483.png

J3 STOP1，payload 33%，Stopping time#

J3 Joint Stop Category 2

../../_images/image493.png

J3 STOP2, payload 100%，Stopping distance#

../../_images/image503.png

J3 STOP2，payload 100%，Stopping time#

../../_images/image514.png

J3 STOP2, payload 66%，Stopping distance#

../../_images/image523.png

J3 STOP2，payload 66%，Stopping time#

../../_images/image533.png

J3 STOP2, payload 33%，Stopping distance#

../../_images/image543.png

J3 STOP2，payload 33%，Stopping time#

Table 3‑10 Worst Case Test Results#

Joint

Stop Category

Payload

Extension

Speed

Braking Time

(sec)

Braking Distance

(rad)

J1

STOP2

100%

100%

100%

0.947

0.588

J2

STOP2

100%

100%

100%

0.668

0.704

J3

STOP2

100%

100%

100%

1.064

0.640

J1

STOP1

100%

100%

100%

0.513

0.275

J2

STOP1

100%

100%

100%

0.352

0.237

J3

STOP1

100%

100%

100%

0.391

0.287

J1

STO

100%

100%

100%

0.423

0.170

J2

STO

100%

100%

100%

0.286

0.158

J3

STO

100%

100%

100%

0.354

0.221