5-7
170904-1CD
HW1482870
5
Basic Specifications
5.6 Stopping Angle and Time at the Emergency Stop
MPL80
II
5.6.1.3 Position 33%
Fig. 5-7: Category 0, Position 33%: Stopping Angle and Time for each Axis at the Emergency Stop
(a)S-Axis
(b)L-Axis
note: U axis is only one pose for its structure.
S top position of S -axis category0 33%
0
5
10
15
20
25
30
35
0
30
60
90
120
150
180
Speed[deg/s]
S
topp
ing
a
ng
le[
de
g]
Load100%
Load66%
Load33%
S top position of S -axis category0 33%
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 L-axis category0 33%
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 33%
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%
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