YASKAWA MA1440 - Stop category 1; Stop position S-axis

Technical data
6 - 40
6.5.2 Stop category 1
The stopping angle and time at the emergency stop in category 1 are not subjected to the
robot position and the load.
Stop of category1 doesn't depend on the robot position and the load.
6.5.2.1 Stop position S-axis
Fig. 6-16: Stop position 100%
Fig. 6-17: Stop position 66%
Fig. 6-18: Stop position 33%
[deg]
[deg/s] [deg/s]
[sec]
100%
0 50 100 150 200 250
0 50 100 150 200 250
0,1
0,2
0,3
0,4
0,5
0,0
0
10
50
20
40
30
60
[deg]
[deg/s] [deg/s]
[sec]
66%
0 50 100 150 200 250 0 50 100 150 200 250
0,1
0,2
0,3
0,4
0,5
0,0
0
10
50
20
40
30
60
[deg]
[deg/s] [deg/s]
[sec]
33%
0 50 100 150 200 250 0 50 100 150 200 250
0,1
0,2
0,3
0,4
0,5
0,0
0
10
50
20
40
30
60