Free Running Distance In Emergency - Epson RC620 Safety And Installation

1.5.1 Free running distance in emergency

The operating Manipulator cannot stop immediately after the Emergency Stop
switch is pressed.
The free running time/angle/distance of the Manipulator are shown below.
However, remember that the values vary depending on following conditions.
G1
Conditions for measurement
Accel setting
Speed setting
Load [kg]
Weight setting
Point where the
emergency stop
signal is input
Free Joint #1 + Joint #2
running
Joint #3
time
Joint #1
Free
running Joint #2
angle
Joint #1 + Joint #2
Free
running Joint #3
distance
Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12
Weight of the end effector Weight of work piece Operating pose
Weight Speed Accel etc.
100
100
1
1
Joint #1
Joint #2
Controller
Manipulator
[sec.]
[sec.]
[deg.]
[deg.]
[deg.]
[mm]
Stop point
RC180, RC620
G1-171*/ G1-171*Z G1-221*/ G1-221*Z
40
40
80
1. Safety
Start point of
operation
Target
0.4
0.3
50
45
95
50
37