YASKAWA MOTOMAN-MPL80 II - Stop Category 1: Emergency Stop

5 Basic Specifications
5.6 Stopping Angle and Time at the Emergency Stop
5-8
170904-1CD
HW1482870
MPL80 II
5.6.2 Stop Category 1: Emergency Stop
The stopping angle and time at the emergency stop in category 1 are not
subjected to the manipulator position and the load.
Stop of category1 doesn't depend on the robot position and the load.
Fig. 5-8: Category 1: Stopping Angle and Time for each Axis at the Emergency Stop
(a)S-Axis
(b)L-Axis
(c)U-Axis
Stop position of S -axis category1
0
10
20
30
40
50
60
0 30 60 90 120 150 180
Speed[deg/s]
Stopping angle[deg]
Stop position of S -axis category1
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0 30 60 90 120 150 180
Speed[deg/s]
Stopping time[sec]
Stop position of L-axis c ate go ry1
0
10
20
30
40
50
60
0 30 60 90 120 150 180
Speed[deg/s]
Stopping angle[deg]
Stop position of L-axis category1
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0 30 60 90 120 150 180
Speed[deg/s]
Stopping time[sec]
Stop position of U -axis ca te go ry1
0
10
20
30
40
50
60
0 30 60 90 120 150 180
Speed[deg/s]
Stopping angle[deg]
Stop position of U -axis c ate g o ry 1
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0 30 60 90 120 150 180
Speed[deg/s]
Stopping time[sec]
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