Yamaha YK-XR Series, Installation Manual

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2
Installation
2-27
9. 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 30 50 70 90
XY-axis stopping time
(Emergency stop is activated while the XY-axis operates in the plus direction.)
1kg XY-axis
2kg XY-axis
3kg XY-axis
0 20 40 60 80 100
0.00
0.05
0.10
0.15
0.20
0.25
0.30
0.35
0.40
0.45
XY
-axis stopping time (sec.)
Operation speed (%)
23220-FK-00
10 30 50 70 90
XY-axis stopping angle
(Emergency stop is activated while the XY-axis operates in the plus direction.)
0
20
40
60
80
100
120
0 20 40 60 80 100
1kg X-axis
2kg X-axis
2kg Y-axis
3kg Y-axis
1kg Y-axis
3kg X-axis
XY
-axis stopping rotation angle (°)
Operation speed (%)
23221-FK-00