Mitsubishi Electric CR800-R - Page 116

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
7-104 Maximum Stopping Time and Maximum Operating Angle
RV-20FR
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%
0.75
0.87
0.99
14.04
32.41
55.87
M=66%
0.70
0.82
0.94
13.20
30.72
53.31
M=33%
0.65
0.77
0.89
12.30
28.92
50.58
M=0%
0.60
0.71
0.84
11.30
26.92
47.54
L=66%
M=100%
0.66
0.78
0.90
12.52
29.36
51.24
M=66%
0.61
0.73
0.85
11.61
27.54
48.49
M=33%
0.56
0.68
0.80
10.62
25.56
45.48
M=0%
0.50
0.62
0.74
9.55
23.42
42.24
L=33%
M=100%
0.66
0.78
0.90
12.51
29.35
51.23
M=66%
0.61
0.73
0.85
11.61
27.54
48.48
M=33%
0.56
0.68
0.80
10.61
25.56
45.48
M=0%
0.49
0.61
0.74
9.45
23.23
41.96
J2
L=100%
M=100%
0.65
0.76
0.89
12.19
28.70
50.25
M=66%
0.60
0.72
0.84
11.41
27.15
47.90
M=33%
0.56
0.68
0.80
10.58
25.49
45.38
M=0%
0.51
0.62
0.75
9.66
23.64
42.57
L=66%
M=100%
0.56
0.68
0.80
10.66
25.65
45.62
M=66%
0.52
0.63
0.76
9.82
23.97
43.08
M=33%
0.46
0.58
0.71
8.90
22.13
40.29
M=0%
0.41
0.53
0.65
7.91
20.14
37.27
L=33%
M=100%
0.56
0.68
0.80
10.66
25.64
45.61
M=66%
0.52
0.63
0.76
9.82
23.97
43.07
M=33%
0.46
0.58
0.71
8.90
22.13
40.28
M=0%
0.40
0.52
0.65
7.81
19.95
36.99
J3 -
M=100%
0.69
0.81
0.94
13.09
30.52
53.00
M=66%
0.65
0.77
0.89
12.27
28.86
50.49
M=33%
0.60
0.72
0.84
11.38
27.08
47.79
M=0%
0.54
0.66
0.79
10.36
25.05
44.72
J4 -
M=100%
0.52
0.64
0.76
11.18
27.23
48.85
M=66%
0.49
0.61
0.73
10.55
25.97
46.93
M=33%
0.46
0.58
0.70
9.88
24.62
44.89
M=0%
0.42
0.54
0.66
9.13
23.12
42.61
J5 -
M=100%
0.52
0.64
0.76
11.27
27.45
49.24
M=66%
0.49
0.61
0.73
10.64
26.18
47.31
M=33%
0.46
0.58
0.70
9.96
24.82
45.25
M=0%
0.42
0.54
0.66
9.20
23.30
42.96
J6
-
Load 1
0.52
0.64
0.76
32.47
79.06
141.82
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