A Stopping Time and Stopping Distance
The information about stopping times and distances is available for both Stop Catagory 0 and Stop
Category
1
1. This appendix includes the information regarding Stop Category 0. Information on
Stop Category 1 is available on http://universal-robots.com/support/.
A.1 Stop Category 0 stopping distances and times
The table below includes the stopping distances and times measured when a Stop Category 0 is
triggered. These measurements correspond to the following configuration of the robot:
• Extension: 100% (the robot arm is fully extended horizontally).
• Speed: 100% (the general speed of the robot is set to 100% and the movement is performed at
a joint speed of 183
◦
/s).
• Payload: maximum payload handled by the robot attached to the TCP (3 kg).
The test on the Joint 0 was carried out by performing a horizontal movement, i.e. the axis of rotation
was perpendicular to the ground. During the tests for Joint 1 and 2 the robot followed a vertical
trajectory, i.e. the axes of rotation were parallel to the ground, and the stop was performed while
the robot was moving downwards.
Stopping Distance (rad) Stopping time (ms)
Joint 0 (BASE) 0.18 159
Joint 1 (SHOULDER) 0.20 154
Joint 2 (ELBOW) 0.15 92
1
According to IEC 60204-1, see Glossary for more details.
Version 3.10
Copyright © 2009–2019 by Universal Robots A/S. All rights reserved.
I-57 UR3/CB3
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