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CHAPTER 3 Installation
10
Stopping Time and Stopping Distance at
Emergency Stop
When the emergency stop button is pressed during robot operation or the power
supply to the controller is turned off, the stopping time and stopping distance or
angle of the main 3 axes change depending on the operation speed as shown be-
low. The following figures show typical time and distance or angle needed for
each axis to come to a stop after a stop signal is initiated when the robot arms
are fully extended while 3 types of tip mass (33%, 66% and 100% of maximum
payload) are loaded.
10-1
R6YXH250, R6YXH350, R6YXH400
XY
-axis stopping time (sec.)
0
0.05
0.1
0.15
0.2
0.25
0.3
0
10
20
30
40
50
60
70
80
90
100
Operation speed (%)
1kg XY-axis
2kg XY-axis
3kg XY-axis
Fig. 3-51 XY-axis plus direction stopping time for R6YXH250
0
10
20
30
40
50
60
70
80
90
100
Operation speed (%)
XY
-axis stopping rotation angle (
°
)
0
10
20
30
40
50
60
70
80
90
100
110
1kg X-axis
1kg Y-axis
2kg X-axis
3kg X-axis
3kg Y-axis
2kg Y-axis
Fig. 3-52 XY-arm plus direction stopping rotation angle for R6YXH250
Summary of Contents for R6Y Series
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Page 53: ...3 13 CHAPTER 3 Installation Fig 3 7 Ground terminal Ground symbol M4 Ground terminal...
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Page 150: ...4 42 CHAPTER 4 Adjustment End effector R Y X z Fig 4 13 Positions for affixing the stickers...
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Page 203: ...CHAPTER 6 Increasing the robot operating speed 1 Increasing the robot operating speed 6 1...
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Page 215: ...7 3 CHAPTER 7 Specifications 1 2 External view and dimensions Fig 7 1 R6YXH250...
Page 216: ...7 4 CHAPTER 7 Specifications User tubing 1 f4 black User tubing 2 f4 red User tubing 3 f4 blue...
Page 217: ...7 5 CHAPTER 7 Specifications Fig 7 2 R6YXH350...
Page 218: ...7 6 CHAPTER 7 Specifications...
Page 219: ...7 7 CHAPTER 7 Specifications Fig 7 3 R6YXH400...
Page 221: ...7 9 CHAPTER 7 Specifications Fig 7 4 R6YXX1200...
Page 222: ...7 10 CHAPTER 7 Specifications...
Page 224: ...7 12 CHAPTER 7 Specifications Fig 7 6 R6YXX1200...
Page 225: ...7 13 CHAPTER 7 Specifications 1 4 Wiring table Robot cable wiring table...
Page 226: ...7 14 CHAPTER 7 Specifications...
Page 229: ...7 17 CHAPTER 7 Specifications Motor wiring table Motor X Y Motor Z R...
Page 230: ...7 18 CHAPTER 7 Specifications Resolver wiring table Resolver X Y Resolver Z R...