정지 시간 및 정지 거리

RB Series 협동 로봇에서는 로봇 정지시간 및 정지 거리가 안전 모니터링 기능에 의해 생성됩니다.

아래 그래프는 Joint 0(Base 축), Joint 1(Shoulder 축), Joint 2(Elbow 축)에 대한 정지 카테고리 1의 정지 시간과 정지 거리를 나타냅니다.
측정은 각 Joint에 가반하중(Payload)을 장착하여 이루어졌습니다.

주의

상황에 따라 실제 정지 움직임은 아래의 결과와는 상이할 수 있습니다.
Joint 0의 경우 수평 움직임에 대해 측정된 결과이며, Joint 1과 2의 경우는 수직 하강 움직임 상황에서 측정된 결과입니다.
팔의 길이의 경우 최대 거리가 적용되었습니다.

1. RB5-850E Series

Base (Joint 0)
	Stop Distance (mm)	Stop Time (sec)
Test 1	150.91	0.3
Test 2	149.68	0.28
Test 3	148.5	0.3
Maximum	150.91	0.3
Average	149.7	0.29
Condition	Max. Reach / Max. Velocity / Horizontal Motion

Shoulder (Joint 1)
	Stop Distance (mm)	Stop Time (sec)
Test 1	193.77	0.28
Test 2	220.46	0.32
Test 3	198.28	0.29
Maximum	220.46	0.32
Average	204.17	0.3
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

Elbow (Joint 2)
	Stop Distance (mm)	Stop Time (sec)
Test 1	168.52	0.31
Test 2	165.34	0.3
Test 3	141.02	0.23
Maximum	168.52	0.31
Average	158.29	0.28
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

2. RB3-1200E Series

Base (Joint 0)
	Stop Distance (mm)	Stop Time (sec)
Test 1	253.3	0.33
Test 2	252.63	0.27
Test 3	249.27	0.24
Maximum	252.63	0.33
Average	251.73	0.28
Condition	Max. Reach / Max. Velocity / Horizontal Motion

Shoulder (Joint 1)
	Stop Distance (mm)	Stop Time (sec)
Test 1	283.08	0.3
Test 2	285.88	0.29
Test 3	303.28	0.34
Maximum	303.28	0.34
Average	290.75	0.31
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

Elbow (Joint 2)
	Stop Distance (mm)	Stop Time (sec)
Test 1	195.68	0.31
Test 2	200.94	0.31
Test 3	190.95	0.3
Maximum	200.94	0.31
Average	195.86	0.306
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

3. RB10-1300E Series

Base (Joint 0)
	Stop Distance (mm)	Stop Time (sec)
Test 1	132.97	0.3
Test 2	136.53	0.32
Test 3	142.1	0.34
Maximum	142.1	0.34
Average	137.2	0.32
Condition	Max. Reach / Max. Velocity / Horizontal Motion

Shoulder (Joint 1)
	Stop Distance (mm)	Stop Time (sec)
Test 1	260.51	0.36
Test 2	246.79	0.35
Test 3	252.54	0.35
Maximum	260.51	0.36
Average	253.28	0.353
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

Elbow (Joint 2)
	Stop Distance (mm)	Stop Time (sec)
Test 1	267.73	0.32
Test 2	269.61	0.32
Test 3	252.86	0.3
Maximum	269.61	0.32
Average	263.4	0.31
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

4. RB16-900E Series

Base (Joint 0)
	Stop Distance (mm)	Stop Time (sec)
Test 1	63.69	0.27
Test 2	67.113	0.29
Test 3	60.864	0.31
Maximum	67.113	0.31
Average	63.89	0.29
Condition	Max. Reach / Max. Velocity / Horizontal Motion

Shoulder (Joint 1)
	Stop Distance (mm)	Stop Time (sec)
Test 1	140.06	0.33
Test 2	135.55	0.31
Test 3	143.88	0.33
Maximum	143.88	0.33
Average	139.83	0.32
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

Elbow (Joint 2)
	Stop Distance (mm)	Stop Time (sec)
Test 1	270.96	0.32
Test 2	266.4	0.32
Test 3	252.93	0.31
Maximum	270.96	0.32
Average	263.43	0.316
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

5. RB3-730ES Series

Base (Joint 0)
	Stop Distance (mm)	Stop Time (sec)
Test 1	122.8	0.28
Test 2	118.11	0.27
Test 3	125.99	0.28
Maximum	125.99	0.28
Average	122.3	0.276
Condition	Max. Reach / Max. Velocity / Horizontal Motion

Shoulder (Joint 1)
	Stop Distance (mm)	Stop Time (sec)
Test 1	182.17	0.3
Test 2	190.41	0.35
Test 3	182.64	0.3
Maximum	190.41	0.35
Average	185.07	0.32
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

Elbow (Joint 2)
	Stop Distance (mm)	Stop Time (sec)
Test 1	151.06	0.24
Test 2	147.56	0.23
Test 3	156.75	0.28
Maximum	156.75	0.28
Average	151.79	0.25
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

6. RB6-920ES Series

Base (Joint 0)
	Stop Distance (mm)	Stop Time (sec)
Test 1	171.72	0.24
Test 2	160.14	0.18
Test 3	165.44	0.18
Maximum	171.72	0.24
Average	165.77	0.2
Condition	Max. Reach / Max. Velocity / Horizontal Motion

Shoulder (Joint 1)
	Stop Distance (mm)	Stop Time (sec)
Test 1	211.4	0.31
Test 2	211.6	0.3
Test 3	196.8	0.25
Maximum	211.6	0.31
Average	206.6	0.29
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

Elbow (Joint 2)
	Stop Distance (mm)	Stop Time (sec)
Test 1	217.3	0.21
Test 2	211.6	0.21
Test 3	215.6	0.21
Maximum	217.3	0.21
Average	214.83	0.21
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

7. RB20-1900ES Series

Base (Joint 0)
	Stop Distance (mm)	Stop Time (sec)
Test 1	219.67	0.21
Test 2	205.5	0.2
Test 3	217.72	0.2
Maximum	219.67	0.21
Average	214.3	0.2
Condition	Max. Reach / Max. Velocity / Horizontal Motion

Shoulder (Joint 1)
	Stop Distance (mm)	Stop Time (sec)
Test 1	359.34	0.28
Test 2	355.6	0.27
Test 3	363.33	0.29
Maximum	363.33	0.29
Average	359.42	0.28
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion

Elbow (Joint 2)
	Stop Distance (mm)	Stop Time (sec)
Test 1	205.35	0.24
Test 2	150.78	0.2
Test 3	210.02	0.26
Maximum	210.02	0.26
Average	188.72	0.23
Condition	Max. Reach / Max. Velocity / Vertical Downward Motion