According to ANSI/RIA R15.06, what is the minimum required stopping performance for a robot emergency stop system?

According to ANSI/RIA R15.06, the minimum required stopping performance for a robot emergency stop system is that the robot must come to a complete stop from its maximum speed and load conditions within the shortest distance or time reasonably achievable, minimizing the risk of injury. While ANSI/RIA R15.06 does not specify a precise numerical value for stopping time or distance, it emphasizes the need to minimize both. This means the emergency stop system must be designed and implemented to bring the robot to a safe and controlled stop as quickly and safely as possible. The actual stopping performance will depend on several factors, including the robot's size, weight, speed, load, and the characteristics of the braking system. The standard requires a risk assessment to determine the appropriate stopping performance for each specific application and robot installation. The assessment should consider potential hazards and the time required for a person to react and move out of the danger zone. Measurements, such as stopping time and distance, are essential for validation. These are generally verified during the robot's commissioning process to ensure they meet the requirements of the risk assessment. It must reliably bring the robot to a safe and controlled stop to prevent harm.