Omron R6YXG500, Installation Manual

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2
Installa
tion
2-82
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
below. 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 R6YXGL250, R6YXGL350, R6YXGL400, R6YXGL500, R6YXGL600,
R6YXGS300, R6YXGS400
XY-axis stopping time for R6YXGL250
Operation speed (%)
XY
-axis stopping time (sec.)
0
0.05
0.1
0.15
0.2
0.25
0.3
0.35
0.4
0 10 20 30 40 50 60 70 80 90 100
1.6kg XY-axis
3.3kg XY-axis
5kg XY-axis
XY-arm stopping rotation angle for R6YXGL250
Operation speed (%)
XY
-axis stopping rotation angle (°)
0
10
20
30
40
50
60
70
0 10 20 30 40 50 60 70 80 90 100
3.3kg X-axis
3.3kg Y-axis
5kg X-axis
5kg Y-axis
1.6kg X-axis
1.6kg Y-axis