AX10 Palletizing Solution
WARNING
After a collision or an emergency stop, an inspection of the Solution must be performed before
resuming the use of the machine. Special attention must be given to the carriage assembly, the
linear axis, the cable management system, and the gripper components. Please contact
support@robotiq.com if any sign of damage is detected.
Stopping Times of the Safety System
As depicted in the table below, when an safeguard or emergency stop is detected, the linear axis initiates a Category 1 Stop.
Trigger Reaction
Emergency Stop Category 1 Stop
Safeguard Stop Category 1 Stop
According to IEC60204-1, a Category 1 Stop is when the device stops in an orderly, controlled manner, and the power is removed
once the device is completely stopped.
The stopping time of the linear axis is depicted in the diagram below, where:
l
t
0
corresponds to the moment at which the linear axis receives the stop signal
l
t
1
corresponds to the complete stop of the linear axis
l
Δt corresponds to the overall stopping time (linear axis only) for a Category 1 Stop.
l
V
1
is the maximum linear axis speed of 500mm/s.
And so, the worst case stopping time for a Category 1 Stop of the linear axis is 560 ms (safe stop 1 + safe torque off), which
corresponds to the maximum travel distance of 45mm.
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