Mitsubishi Electric CR800-R - Page 114

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
7-102 Maximum Stopping Time and Maximum Operating Angle
RV-13FR
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%
0.59
0.69
0.80
29.57
68.62
118.76
M=66%
0.56
0.66
0.76
28.07
65.61
114.19
M=33%
0.53
0.63
0.73
26.51
62.49
109.47
M=0%
0.50
0.59
0.70
24.84
59.15
104.42
L=66%
M=100%
0.48
0.58
0.68
24.02
57.52
101.94
M=66%
0.46
0.55
0.66
22.92
55.32
98.61
M=33%
0.43
0.53
0.63
21.79
53.06
95.18
M=0%
0.41
0.51
0.61
20.58
50.64
91.51
L=33%
M=100%
0.42
0.52
0.62
21.16
51.79
93.26
M=66%
0.39
0.49
0.59
19.93
49.33
89.53
M=33%
0.38
0.48
0.58
19.26
47.99
87.50
M=0%
0.37
0.47
0.57
18.71
46.89
85.84
J2
L=100%
M=100%
0.54
0.64
0.74
21.81
51.27
89.62
M=66%
0.51
0.61
0.71
20.70
49.04
86.24
M=33%
0.48
0.58
0.68
19.54
46.73
82.73
M=0%
0.45
0.55
0.65
18.30
44.24
78.96
L=66%
M=100%
0.42
0.52
0.63
17.33
42.31
76.04
M=66%
0.40
0.50
0.61
16.55
40.74
73.67
M=33%
0.38
0.48
0.58
15.74
39.12
71.20
M=0%
0.36
0.46
0.56
14.86
37.37
68.55
L=33%
M=100%
0.37
0.46
0.57
15.02
37.69
69.04
M=66%
0.34
0.44
0.54
14.13
35.91
66.34
M=33%
0.33
0.43
0.53
13.69
35.03
65.01
M=0%
0.32
0.42
0.52
13.35
34.35
63.98
J3 -
M=100%
0.48
0.58
0.68
26.05
62.28
110.28
M=66%
0.46
0.55
0.66
24.71
59.61
106.23
M=33%
0.43
0.53
0.63
23.52
57.24
102.64
M=0%
0.41
0.51
0.61
22.48
55.15
99.47
J4 -
M=100%
0.45
0.55
0.65
29.47
71.20
127.00
M=66%
0.43
0.53
0.63
28.34
68.92
123.55
M=33%
0.41
0.51
0.62
27.16
66.57
119.99
M=0%
0.39
0.49
0.60
25.90
64.05
116.18
J5 -
M=100%
0.45
0.55
0.65
29.47
71.20
127.00
M=66%
0.43
0.53
0.63
28.34
68.92
123.55
M=33%
0.41
0.51
0.62
27.16
66.57
119.99
M=0%
0.39
0.49
0.60
25.90
64.05
116.18
J6
-
Load 1
0.45
0.55
0.65
56.59
136.70
243.84
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%
0.69
59.69
J2
L=100%
M=100%
0.81
38.66
J3
L=100%
M=100%
0.82
72.50
J4
-
M=100%
0.77
116.94
J5
-
M=100%
0.89
131.61
J6
-
Load 1
0.29
106.75