Emergency stop motion parameters
WARNING
Uncontrolled movements of the robot due to jerk setting on the inverter
Damage to property and death
- Deactivate the jerk for emergency stop of the inverters (set to 0)
INFORMATION
These parameters are also the upper limits for the deceleration and jerk of the robot movement in jog and program mode.
Make sure the motion parameters are defined for an emergency stop on the path. A distinction is not made between Cartesian degrees of freedom, but between translation and rotation. See also Sets of motion parameters and Calculating the motion parameters.
Parameter name | Description |
|---|---|
Emergency stop motion parameter | |
Emergency stop deceleration translatory | Rate of deceleration with which the translation brakes on the path during an emergency stop. |
Emergency stop jerk translatory | Jerk with which the translational deceleration is generated during an emergency stop. |
Emergency stop deceleration rotary | Rate of deceleration with which the rotation brakes on the path during an emergency stop. |
Emergency stop jerk rotary | Jerk with which the rotary deceleration is generated during an emergency stop. |
The emergency stop ramps must be set in such a way that they…
- Can be performed at any time by the robot's inverters without them reporting an error (lag error, speed monitoring, etc.).
- Do not damage the mechanical components.
- Do not cause unwanted vibrations and noise during braking.
- Adhere to the maximum permitted braking distance.
