Mitsubishi Electric CR800-R - Page 124

7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
7-112 Maximum Stopping Time and Maximum Operating Angle
RH-3FRHR
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%
0.42
0.46
0.51
36.55
80.50
133.54
M=66%
0.40
0.45
0.50
40.91
91.91
155.01
M=33%
0.38
0.44
0.50
44.64
102.46
175.81
M=0%
0.35
0.41
0.47
41.41
95.99
166.01
L=66%
M=100%
0.38
0.43
0.47
33.84
75.08
125.32
M=66%
0.37
0.42
0.47
38.10
86.29
146.49
M=33%
0.35
0.41
0.47
41.86
96.89
167.36
M=0%
0.33
0.39
0.45
39.10
91.38
159.01
L=33%
M=100%
0.36
0.41
0.45
32.07
71.56
119.98
M=66%
0.35
0.40
0.45
35.98
82.05
140.05
M=33%
0.34
0.39
0.46
39.81
92.79
161.15
M=0%
0.31
0.37
0.43
37.46
88.09
154.03
J2 -
M=100%
0.38
0.42
0.47
35.21
78.23
130.72
M=66%
0.36
0.41
0.47
39.41
89.45
152.12
M=33%
0.34
0.40
0.46
42.83
99.54
172.48
M=0%
0.31
0.37
0.43
39.13
92.14
161.27
J3 -
M=100%
0.30
0.34
0.39
61.49
140.53
240.32
M=66%
0.28
0.33
0.38
63.65
148.89
259.30
M=33%
0.25
0.30
0.35
59.33
141.80
250.98
M=0%
0.20
0.26
0.32
56.24
141.89
260.88
J4 -
Load 2
0.22
0.26
0.31
93.78
222.25
390.89
Load 1
0.22
0.28
0.34
124.52
310.71
567.03
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%
0.43
91.70
M=33%
0.61
119.14
J2 L=100%
M=100%
0.41
74.34
M=33%
0.41
104.30
J3 -
M=100%
0.21
78.40
M=33%
0.22
73.78
J4 -
Load 2
0.78
418.60
Load 1
0.92
915.32