Mitsubishi Electric CR800-R - Page 109

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
Maximum Stopping Time and Maximum Operating Angle 7-97
RV-4FR
Stopping time and stopping distance (emergency stop)
Axis Arm extension Load rate
Stopping time [s]
Stopping distance [deg]
Ovrd 33%
Ovrd 66%
Ovrd 100%
Ovrd 33%
Ovrd 66%
Ovrd 100%
J1
L=100%
M=100%
0.48
0.56
0.64
37.27
86.30
149.12
M=66%
0.45
0.53
0.61
35.26
82.29
143.04
M=33%
0.42
0.50
0.58
33.17
78.11
136.70
M=0%
0.39
0.47
0.55
30.91
73.58
129.84
L=66%
M=100%
0.39
0.47
0.55
30.45
72.66
128.46
M=66%
0.37
0.45
0.53
29.12
69.99
124.41
M=33%
0.35
0.43
0.51
27.73
67.23
120.22
M=0%
0.33
0.41
0.49
26.24
64.25
115.71
L=33%
M=100%
0.36
0.44
0.52
28.64
69.04
122.97
M=66%
0.33
0.41
0.49
26.57
64.90
116.70
M=33%
0.30
0.38
0.46
24.30
60.37
109.83
M=0%
0.27
0.35
0.43
22.11
55.99
103.19
J2
L=100%
M=100%
0.46
0.54
0.62
35.57
82.72
143.41
M=66%
0.43
0.51
0.59
33.88
79.50
138.76
M=33%
0.41
0.48
0.57
31.85
75.42
132.58
M=0%
0.38
0.45
0.54
29.63
70.98
125.86
L=66%
M=100%
0.37
0.45
0.53
29.02
69.78
124.03
M=66%
0.35
0.43
0.51
27.74
67.22
120.16
M=33%
0.33
0.41
0.49
26.41
64.56
116.12
M=0%
0.31
0.39
0.47
24.97
61.67
111.75
L=33%
M=100%
0.34
0.42
0.50
27.21
66.16
118.55
M=66%
0.32
0.39
0.48
25.20
62.13
112.45
M=33%
0.29
0.37
0.45
22.99
57.71
105.74
M=0%
0.26
0.34
0.42
20.84
53.42
99.25
J3 -
M=100%
0.43
0.51
0.59
22.34
52.51
91.77
M=66%
0.40
0.48
0.56
21.07
49.97
87.93
M=33%
0.38
0.45
0.54
19.73
47.29
83.87
M=0%
0.35
0.42
0.51
18.26
44.34
79.39
J4 -
M=100%
0.38
0.46
0.54
36.26
86.64
153.30
M=66%
0.36
0.44
0.52
34.31
82.74
147.39
M=33%
0.34
0.42
0.50
32.45
79.02
141.76
M=0%
0.32
0.40
0.48
30.47
75.04
135.74
J5 -
M=100%
0.38
0.46
0.55
41.98
100.25
177.31
M=66%
0.36
0.44
0.52
39.69
95.65
170.35
M=33%
0.34
0.42
0.50
37.44
91.17
163.55
M=0%
0.32
0.40
0.48
35.15
86.58
156.60
J6
-
Load 1
0.38
0.46
0.54
48.07
114.95
203.55
Stopping time and stopping distance (power off)
Axis Arm extension Load rate
Stopping time [s]
Stopping distance [deg]
Ovrd 100%
Ovrd 100%
J1
L=100%
M=100%
0.33
68.60
J2
L=100%
M=100%
0.30
49.56
J3
L=100%
M=100%
0.27
33.60
J4
-
M=100%
0.24
58.10
J5
-
M=100%
0.26
71.82
J6
-
Load 1
0.17
77.56