Mitsubishi Electric CR800-R - Page 120

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
7-108 Maximum Stopping Time and Maximum Operating Angle
RH-3FRH
Stopping time and stopping distance (emergency stop)
Axis Arm extension Load rate
Stopping time [s]
Stopping distance
J1/J2/J4 axis [deg]
J3 axis [mm]
Ovrd 33%
Ovrd 66%
Ovrd 100%
Ovrd 33%
Ovrd 66%
Ovrd 100%
J1
L=100%
M=100%
0.26
0.28
0.31
13.86
30.52
50.61
M=66%
0.24
0.28
0.31
15.82
35.68
60.36
M=33%
0.24
0.28
0.32
18.04
41.58
71.56
M=0%
0.22
0.26
0.30
17.18
39.84
68.93
L=66%
M=100%
0.26
0.28
0.31
13.86
30.52
50.61
M=66%
0.24
0.27
0.31
15.54
35.11
59.50
M=33%
0.22
0.26
0.30
16.90
39.29
68.10
M=0%
0.21
0.25
0.29
16.23
37.94
66.06
L=33%
M=100%
0.26
0.28
0.31
13.86
30.52
50.61
M=66%
0.24
0.27
0.31
15.54
35.11
59.50
M=33%
0.21
0.25
0.29
16.51
38.50
66.90
M=0%
0.21
0.24
0.29
15.88
37.25
65.01
J2 -
M=100%
0.23
0.29
0.35
21.71
53.02
95.32
M=66%
0.23
0.29
0.36
25.36
64.55
119.39
M=33%
0.23
0.30
0.39
29.65
78.12
147.75
M=0%
0.21
0.29
0.37
28.24
75.30
143.47
J3 -
M=100%
0.26
0.34
0.42
51.61
131.39
243.05
M=66%
0.24
0.32
0.40
47.68
124.10
232.91
M=33%
0.22
0.30
0.38
43.89
116.53
221.44
M=0%
0.22
0.30
0.38
44.86
118.48
224.39
J4 -
Load 2
0.33
0.35
0.38
52.24
111.53
180.00
Load 1
0.31
0.36
0.42
110.40
255.63
441.69
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%
0.92
196.55
M=33%
1.28
275.17
J2 L=100%
M=100%
1.00
126.12
M=33%
1.40
176.60
J3 -
M=100%
0.41
71.82
M=33%
0.34
61.32
J4 -
Load 2
2.74
601.95
Load 1
1.45
667.04