5-5
170904-1CD
HW1482870
5
Basic Specifications
5.6 Stopping Angle and Time at the Emergency Stop
MPL80
II
5.6
Stopping Angle and Time at the Emergency Stop
Following data on stopping angle and time at the emergency stop are
measured under the standard of ISO10218.
5.6.1 Stop Category 0: Emergency Stop
5.6.1.1 Position 100%
Fig. 5-5: Category 0, Position 100%: Stopping Angle and Time for each Axis at the Emergency Stop
(a)S-Axis
(b)L-Axis
(c)U-Axis
S top position of S -axis category0 100%
0
5
10
15
20
25
30
35
0
30
60
90
120
150
180
Speed[deg/s]
St
o
pp
ing
a
ng
le[
de
g]
Load100%
Load66%
Load33%
S top position of S -axis category0 100%
0.0
0.1
0.2
0.3
0.4
0.5
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
t
ime
[s
e
c]
Load100%
Load66%
Load33%
S top position of L-axis category0 100%
0
5
10
15
20
25
30
35
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
a
n
gl
e[
de
g]
Load100%
Load66%
Load33%
S top position of L-axis category0 100%
0.0
0.1
0.2
0.3
0.4
0.5
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
t
ime
[s
ec
]
Load100%
Load66%
Load33%
S top position of U -axis category0 100%
0
5
10
15
20
25
30
35
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
a
ng
le[
de
g]
Load100%
Load66%
Load33%
S top position of U -axis category0 100%
0.0
0.1
0.2
0.3
0.4
0.5
0
30
60
90
120
150
180
Speed[deg/s]
S
topp
ing
t
ime
[s
e
c]
Load100%
Load66%
Load33%
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