Mitsubishi Electric CR800-R - Page 123

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
Maximum Stopping Time and Maximum Operating Angle 7-111
RH-20FRH
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%
0.63
0.65
0.68
15.08
31.26
49.08
M=66%
0.55
0.59
0.62
19.30
40.92
65.62
M=33%
0.45
0.50
0.54
20.84
45.62
75.26
M=0%
0.37
0.42
0.47
18.29
40.97
68.94
L=66%
M=100%
0.63
0.65
0.68
15.08
31.26
49.08
M=66%
0.55
0.59
0.62
19.30
40.92
65.62
M=33%
0.45
0.50
0.54
20.84
45.62
75.26
M=0%
0.34
0.38
0.43
16.67
37.73
64.02
L=33%
M=100%
0.63
0.65
0.68
15.08
31.26
49.08
M=66%
0.55
0.59
0.62
19.30
40.92
65.62
M=33%
0.45
0.50
0.54
20.84
45.62
75.26
M=0%
0.31
0.36
0.41
15.46
35.30
60.35
J2 -
M=100%
0.54
0.56
0.59
20.96
43.69
68.96
M=66%
0.47
0.50
0.54
26.53
56.78
91.85
M=33%
0.37
0.42
0.47
27.97
62.26
104.22
M=0%
0.30
0.34
0.39
23.83
54.71
93.92
J3 -
M=100%
0.58
0.62
0.66
202.66
432.13
696.62
M=66%
0.49
0.53
0.58
183.42
397.15
649.07
M=33%
0.38
0.42
0.47
149.09
331.43
554.08
M=0%
0.28
0.33
0.38
121.69
281.01
484.52
J4 -
Load 2
0.67
0.67
0.68
29.79
60.21
92.21
Load 1
0.62
0.66
0.69
128.44
270.25
430.32
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
36.82
M=25%
0.88
57.26
J2 L=100%
M=100%
1.00
86.52
M=25%
1.89
163.90
J3 -
M=100%
1.02
404.60
M=25%
0.21
182.00
J4 -
Load 2
2.74
422.80
Load 1
1.02
404.60