Mitsubishi Electric CR800-R - Page 110

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
7-98 Maximum Stopping Time and Maximum Operating Angle
RV-4FRL
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%
0.49
0.57
0.65
35.50
81.98
141.34
M=66%
0.46
0.54
0.62
33.74
78.45
135.99
M=33%
0.44
0.52
0.60
31.91
74.80
130.47
M=0%
0.41
0.49
0.57
29.96
70.89
124.54
L=66%
M=100%
0.39
0.47
0.55
28.87
68.72
121.25
M=66%
0.38
0.45
0.54
27.67
66.32
117.61
M=33%
0.36
0.44
0.52
26.43
63.84
113.85
M=0%
0.34
0.42
0.50
25.11
61.19
109.85
L=33%
M=100%
0.36
0.44
0.52
26.79
64.55
114.93
M=66%
0.34
0.42
0.50
24.97
60.90
109.41
M=33%
0.31
0.39
0.47
23.00
56.97
103.45
M=0%
0.28
0.36
0.44
21.22
53.42
98.07
J2
L=100%
M=100%
0.47
0.55
0.63
27.28
63.30
109.56
M=66%
0.44
0.52
0.60
25.91
60.57
105.42
M=33%
0.42
0.50
0.58
24.50
57.74
101.14
M=0%
0.39
0.47
0.55
22.98
54.69
96.52
L=66%
M=100%
0.37
0.45
0.53
21.99
52.72
93.52
M=66%
0.36
0.44
0.52
21.07
50.88
90.74
M=33%
0.34
0.42
0.50
20.12
48.99
87.87
M=0%
0.32
0.40
0.48
19.10
46.95
84.79
L=33%
M=100%
0.34
0.42
0.50
20.35
49.46
88.62
M=66%
0.32
0.40
0.48
18.93
46.63
84.33
M=33%
0.29
0.37
0.45
17.40
43.57
79.69
M=0%
0.27
0.34
0.43
16.02
40.81
75.51
J3 -
M=100%
0.44
0.51
0.60
18.95
44.44
77.53
M=66%
0.41
0.49
0.57
17.95
42.44
74.51
M=33%
0.39
0.47
0.55
16.92
40.36
71.36
M=0%
0.34
0.42
0.50
14.95
36.44
65.41
J4 -
M=100%
0.40
0.48
0.56
37.77
89.65
157.87
M=66%
0.38
0.46
0.54
35.93
85.97
152.29
M=33%
0.36
0.44
0.52
34.14
82.39
146.87
M=0%
0.34
0.42
0.50
32.30
78.71
141.30
J5 -
M=100%
0.40
0.48
0.56
43.67
103.63
182.43
M=66%
0.38
0.46
0.54
41.49
99.27
175.83
M=33%
0.36
0.44
0.52
39.39
95.06
169.45
M=0%
0.34
0.42
0.50
37.26
90.81
163.01
J6
-
Load 1
0.40
0.48
0.56
50.02
118.86
209.47
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