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.
The motion parameters must be defined for the 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 designation | Description |
|---|---|
Emergency stop motion parameters | |
Emergency stop deceleration translatory | 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 | 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 a fault (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.
