Comau Robotics C5G Instruction Handbook

General Safety Precautions
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1.2.5 Performance
The performances below shall be considered before installing the robot system:
– Stop distances
– Mission time (typ. case).
Stop distances
– With Robot in programming modality (T1), if you press the sttop pushbutton (red
mushroom-shaped one on WiTP) in category 0 (secondo norma EN60204-1), you
will obtain:
– Considering the Robot in automatico modality, under full extension, full load and
maximmum speed conditions, if you press the stop pushbutton (red
mushroom-shaped one on WiTP) in category 1 (according to norm EN60204-1)
you will trigger the Robot complete stop with controlled deleration ramp.
Example: for Robot NJ 370-2.7 you will obtain the complete stop in about 85 °
motion, that correspond to about 3000 mm movement measured on TCP flange.
Under the said conditions, the stopping time for Robot NJ 370-2.7 is equal to 1,5
seconds.
Mission time (typ. case)
– We remind you that the safety system efficiency covering is equal to 20 years
(mission time of safety-related parts of control systems (SRP/CS), according to
EN ISO 13849-1).
Tab. 1.1 - Stop spaces in programming modality (T1)
Mode
Expected
speed
Case
Stopping
time
Stopping
space
T1 250 mm/s
Nominal 120 ms 30 mm
Limit 500 ms 125 mm
Tab. 1.2 - Safety electronics reaction time in programming
modality (T1)
Mode
Expected
speed
Case
Stopping
time
T1 250 mm/s
For the safety inputs of the SDM module (e.g.
stop pushbutton of TP in wired version)
150 ms
For the stop stop and enabling device inputs
from the TP in wireless version, when the
safety wire trasmission is active.
For the time-out of stop input and enabling
device from TP in wireless version, when the
safety wire transmission is lost or interrupted.
350 ms

Comau Robotics C5G Specifications

General

Brand	Comau Robotics
Model	C5G
Category	Control Unit
Language	English