User Manual for the Meca500 Industrial Robot (for rmware 10.1) 11
SAFETY
Table 2: Stopping distances and times at 100% speed for worst case scenario (the robot will be damaged)
Joint Stopping distance Stop time
1 67° 0.450 s
2 67° 0.450 s
3 81° 0.450 s
In normal, fault-free operation, the stopping times and distances for an E-Stop (category 1) at 100%
speed and payload are presented in Table 3. All test results are for a single joint moving at a time, while
the other joints are positioned in a way that the arm is fully stretched (i.e. worst condition). The results
are valid only for an installation where the axis of joint 1 is parallel to the direction of gravity.
Table 3: Stopping distances and times for fault-free operation
Joint Stopping distance Stop time
1 6.2° 0.104 s
2 6.2° 0.125 s
3 8.1° 0.129 s
2.3.4 Joint limits
Because of the robot's compact dimensions, mechanical means to limit joint range have not been
incorporated. It is possible to design a fixture that can be attached to the robot's base and that limits
mechanically the range of joint 1. However, remember to not modify the robot itself (e.g., by removing
screws from the robot).
The robot's joint limits can be reduced by software means using the MecaPortal or the command
SetJointLImits. The new software limits remain active even after power shutdown. However, they will
be reset to the default values, if a factory reset is performed on the robot. These software limits are not
safety rated.
2.3.5 Joint torque limits
Once a robot is activated and homed, you can also reduce the joint torque limits using the command
SetTorqueLimits. However, the joint torque limits are reset to 100% every time, the robot is reactivated.
Furthermore, these joint torque limits are not safety rated.
2.3.6 Loss of Ethernet connection
When using the MecaPortal web interface or any other TCP/IP client, as soon as the robot detects a loss
in the connection while moving, it will stop within 0.1 s. To prevent delays due to the use of Ethernet
switches, at all times (not only while the robot is moving), use the ConnectionWatchdog command
(available since firmware 10.1).
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