Mitsubishi Electric CR800-R - Page 119

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
Maximum Stopping Time and Maximum Operating Angle 7-107
RV-80FR
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%
1.07
1.38
1.71
32.43
83.68
156.17
M=66%
1.00
1.32
1.65
30.49
79.80
150.29
M=33%
0.93
1.25
1.57
28.38
75.58
143.89
M=0%
0.85
1.17
1.49
25.96
70.73
136.55
L=66%
M=100%
1.05
1.37
1.69
31.90
82.62
154.56
M=66%
0.96
1.28
1.61
29.37
77.56
146.90
M=33%
0.87
1.19
1.51
26.53
71.87
138.27
M=0%
0.79
1.10
1.43
24.06
66.93
130.79
L=33%
M=100%
1.07
1.38
1.71
32.36
83.54
155.95
M=66%
0.98
1.30
1.62
29.82
78.46
148.25
M=33%
0.88
1.20
1.53
26.95
72.72
139.55
M=0%
0.76
1.08
1.41
23.35
65.53
128.66
J2
L=100%
M=100%
0.97
1.25
1.54
29.61
75.68
140.37
M=66%
0.91
1.18
1.47
27.66
71.79
134.47
M=33%
0.84
1.11
1.40
25.54
67.55
128.05
M=0%
0.75
1.03
1.32
23.10
62.66
120.64
L=66%
M=100%
0.86
1.14
1.43
26.40
69.27
130.66
M=66%
0.78
1.06
1.34
23.87
64.20
122.98
M=33%
0.68
0.96
1.25
21.01
58.49
114.33
M=0%
0.60
0.88
1.16
18.52
53.51
106.78
L=33%
M=100%
0.99
1.27
1.55
30.07
76.61
141.78
M=66%
0.90
1.18
1.47
27.52
71.51
134.05
M=33%
0.81
1.08
1.37
24.64
65.75
125.33
M=0%
0.68
0.96
1.25
21.03
58.52
114.37
J3 -
M=100%
0.83
1.03
1.23
22.57
55.60
100.56
M=66%
0.76
0.96
1.16
20.77
51.99
95.09
M=33%
0.69
0.89
1.09
18.78
48.02
89.08
M=0%
0.60
0.80
1.00
16.45
43.36
82.01
J4 -
M=100%
0.82
1.01
1.22
25.61
63.3
114.80
M=66%
0.76
0.96
1.16
23.93
60.0
109.70
M=33%
0.70
0.90
1.10
22.18
56.5
104.41
M=0%
0.64
0.83
1.04
20.17
52.4
98.30
J5 -
M=100%
0.81
1.01
1.21
22.78
56.3
102.19
M=66%
0.76
0.96
1.16
21.34
53.5
97.84
M=33%
0.70
0.90
1.10
19.79
50.4
93.12
M=0%
0.64
0.83
1.04
17.99
46.8
87.68
J6
-
Load 1
0.81
1.01
1.22
38.70
95.7
173.56
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%
0.75
67.05
J2
L=100%
M=100%
0.75
55.60
J3
L=100%
M=100%
0.50
42.52
J4
-
M=100%
0.23
24.89
J5
-
M=100%
0.27
23.99
J6
-
Load 1
0.38
58.90