Measurement Methods and Conditions
Stop distance is the angle traveled from the moment a stop signal is generated to the moment all manipulator stop operation.
Stop time is the time from the moment a stop signal is generated to the moment all manipulator stop operation.
Stop distance and stop time data are provided for Joint 1, Joint 2 and Joint 3, which have large travel distances.
The movement of an overlapping axis can cause a longer stop distance.
Stop distance and stop time data are defined according to KS B ISO 10218-1:2011 Declaration and Certification.
Stop Category
Stop Category | Description | |
|---|---|---|
| 1 | Stop Category 0 | The stop distance and stop time of Joint 1 (Base), Joint 2 (Shoulder) and Joint 3 (Elbow) are measured at maximum speed, stretch level and load. The axes of Joint 2 and Joint 3 are parallel to each other, so an impact caused by forced stop on one part may cause a slip on the other side. The angle deviation is also measured. |
| 2 | Stop Category 1 | The stop distance and stop time of Joint 1 (Base) and Joint 2 (Shoulder) are measured at 33%, 66% and 100% of the maximum speed, stretch level and load, respectively. The stop distance and stop time of Joint 3 (elbow) is measured at 33%, 66% and 100% of maximum speed and load. The stretch level during Joint 3 measurement is locked at maximum because of the lower arm length and completely flat wrist. |
Measurement Poses and Conditions
Joint 1 measurement is performed with the rotating axis perpendicular to the ground and during horizontal movement.
Joint 2 and Joint 3 measurements are performed with the rotating axis parallel to the ground and when the robot is stopped in a downward movement vertical to the ground.
Note
The measurements are the result of the worst case. Measurement may vary according to circumstances
The pose for 33%, 66%, and 100% of extension
| Joint 1 | Joint 2 | Joint 3 |
100% extension Stop category 0 |
 |
 |
 |
33% extension Stop category 1 |
 |
 |
- |
66% extension Stop category 1 |
 |
 |
- |
100% extension Stop category 1 |
 |
 |
 |
The pose when the stop is initiated and the measured angle (θd)
Pose when the stop is initiated | Measured Angle | |
Joint1 |
 | No slip,
|
Joint2 |
 |
 |
Joint3 |
 |
 |
