Mitsubishi Electric CR800-R - Page 122

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
7-110 Maximum Stopping Time and Maximum Operating Angle
RH-12FRH
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%
0.48
0.50
0.51
18.28
37.61
58.60
M=66%
0.42
0.44
0.46
22.86
47.82
75.71
M=33%
0.35
0.38
0.40
24.63
52.72
85.28
M=0%
0.32
0.35
0.38
23.82
51.49
84.01
L=66%
M=100%
0.48
0.50
0.51
18.28
37.61
58.60
M=66%
0.42
0.44
0.46
22.86
47.82
75.71
M=33%
0.35
0.37
0.40
24.46
52.37
84.75
M=0%
0.29
0.31
0.34
21.51
46.85
76.99
L=33%
M=100%
0.48
0.50
0.51
18.28
37.61
58.60
M=66%
0.42
0.44
0.46
22.86
47.82
75.71
M=33%
0.35
0.37
0.40
24.46
52.37
84.75
M=0%
0.26
0.29
0.32
19.79
43.42
71.79
J2 -
M=100%
0.47
0.50
0.54
18.94
40.59
65.72
M=66%
0.42
0.47
0.52
24.31
54.06
90.40
M=33%
0.36
0.42
0.49
27.07
63.14
109.73
M=0%
0.34
0.40
0.47
26.72
63.44
111.73
J3 -
M=100%
0.51
0.55
0.59
216.09
466.05
759.02
M=66%
0.43
0.47
0.52
191.96
421.11
696.11
M=33%
0.33
0.37
0.42
156.10
352.91
598.29
M=0%
0.29
0.33
0.38
142.90
329.70
568.10
J4 -
Load 2
0.48
0.50
0.51
95.32
195.56
303.97
Load 1
0.38
0.41
0.43
155.60
332.07
535.73
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%
0.62
24.55
M=25%
0.59
38.17
J2 L=100%
M=100%
0.66
57.68
M=25%
1.26
109.27
J3 -
M=100%
0.68
269.73
M=25%
0.19
150.08
J4 -
Load 2
1.95
281.87
Load 1
0.68
269.73