Stopping Time/Distance

In the RB Series of collaborative robots, the time and distance between the robots stop and the distance are generated by the safety monitoring function.

The graph below shows the stop time and stop distance for stop category 1 for Joint 0 (Base axis), Joint 1 (Shoulder axis), and Joint 2 (Elbow axis).
The measurements were conducted by attaching the payload to each joint.

WARNING

• Depending on the situation, the actual stop motion may differ from the results below.
• Joint 0 is the result of horizontal movement, and Joint 1 and 2 are the result of vertical downward movement.
• For the length of the arm, the maximum length is applied.

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