5
Basic Specifications
5.6 Stopping Angle and Time at the Emergency Stop
5-8
170904-1CD
HW1482870
MPL80
II
5.6.2 Stop Category 1: Emergency Stop
The stopping angle and time at the emergency stop in category 1 are not
subjected to the manipulator position and the load.
Stop of category1 doesn't depend on the robot position and the load.
Fig. 5-8: Category 1: 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 category1
0
10
20
30
40
50
60
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
a
ng
le[
de
g]
S top position of S -axis category1
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
t
ime
[s
ec
]
S top position of L-axis category1
0
10
20
30
40
50
60
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
a
ng
le[
de
g]
S top position of L-axis category1
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
t
ime
[s
ec
]
S top position of U -axis category1
0
10
20
30
40
50
60
0
30
60
90
120
150
180
Speed[deg/s]
S
topp
ing
a
n
gl
e[
deg
]
S top position of U -axis category1
0.0
0.1
0.2
0.3
0.4
0.5
0.6
0
30
60
90
120
150
180
Speed[deg/s]
S
top
pi
ng
t
ime
[s
ec
]
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