KR QUANTEC ultra - KUKA Robotics

KR QUANTEC ultra
4.7 Stopping distances and times
4.7.1 General information
Information concerning the data:
• The stopping distance is the angle traveled by the robot from the moment
the stop signal is triggered until the robot comes to a complete standstill.
• The stopping time is the time that elapses from the moment the stop signal
is triggered until the robot comes to a complete standstill.
• The data are given for the main axes A1, A2 and A3. The main axes are
the axes with the greatest deflection.
• Superposed axis motions can result in longer stopping distances.
• Stopping distances and stopping times in accordance with DIN EN ISO
10218-1, Annex B.
• Stop categories:
• Stop category 0 » STOP 0
• Stop category 1 » STOP 1
according to IEC 60204-1
• The values specified for Stop 0 are guide values determined by means of
tests and simulation. They are average values which conform to the requirements
of DIN EN ISO 10218-1. The actual stopping distances and
stopping times may differ due to internal and external influences on the
braking torque. It is therefore advisable to determine the exact stopping
distances and stopping times where necessary under the real conditions
of the actual robot application.
• Measuring technique
The stopping distances were measured using the robot-internal measuring
technique.
• The wear on the brakes varies depending on the operating mode, robot
application and the number of STOP 0 triggered. It is therefore advisable
to check the stopping distance at least once a year.
4.7.2 Terms used
Term
m
Phi
POV
Extension
KCP
Description
Mass of the rated load and the supplementary load on
the arm.
Angle of rotation (°) about the corresponding axis. This
value can be entered in the controller via the KCP and
is displayed on the KCP.
Program override (%) = velocity of the robot motion.
This value can be entered in the controller via the KCP
and is displayed on the KCP.
Distance (l in %) (>>> Fig. 4-18 ) between axis 1 and
the intersection of axes 4 and 5. With parallelogram
robots, the distance between axis 1 and the intersection
of axis 6 and the mounting flange.
The KCP teach pendant has all the operator control
and display functions required for operating and programming
the robot system.
36 / 115 Issued: 23.07.2013 Version: Spez KR QUANTEC ultra V8 en (PDF)