5 Basic Specifications
5.6 Stopping Distance and Time for S-, L-, and U-Axes
5-6
180788-1CD
HW1484370
MPX2600
5.6 Stopping Distance and Time for S-, L-, and U-Axes
5.6.1 General Information
• The stopping distance is an angle traveled by the manipulator from
the moment when the stop signal is activated until the manipulator
comes to a complete standstill.
• The stopping time is a time elapsed from the moment that the stop
signal is activated until the manipulator comes to a complete
standstill.
• The data that are given for the main axes S, L and U are the
maximum displacement.
• Superposed axes motions may result in longer stopping distance.
• Stopping distance and stopping time are measured in accordance
with ISO 10218-1, Annex B
• Stop categories: According to IEC60204-1
• Stop category 0
• Stop category 1
• The values specified for Stop category 0 are the reference values
that are determined by tests and simulations. The actual stopping
distance and stopping time may differ.
5.6.2 Definition of Use
Load: Rated load weight and load on an arm
Speed: Operating speed of the manipulator
Extension: Distance between the rotation center and the P-point of
each axis
5.6.3 Stopping Distance and Time for Stop Category 0: S-, L- and U-Axes
Measurement Conditions
• Load: Maximum load
• Speed: Maximum speed
• Posture: Maximum inertia generation posture
Axis Stopping distance (deg) Stopping Time (sec)
S-axis 17.1 0.230
L-axis 22.6 0.317
U-axis 14.7 0.189
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