C.1.2 Stop Category:
⚫ 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.
⚫ 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.
Note
The measurements are the result of the worst case. Measurement may vary according to
circumstances
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.
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