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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 be-
low. 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
R6YXH250, R6YXH350, R6YXH400
Fig. 3-52 XY-arm plus direction stopping rotation angle for R6YXH250
0.3
1kg XY-axis
2kg XY-axis
3kg XY-axis
0.25
0.2
0.15
0.1
0.05
0
0
10
20
Fig. 3-51 XY-axis plus direction stopping time for R6YXH250
110
100
1kg X-axis
90
1kg Y-axis
2kg X-axis
80
2kg Y-axis
3kg X-axis
70
3kg Y-axis
60
50
40
30
20
10
0
0
10
20
3-57
30
40
50
60
Operation speed (%)
30
40
50
60
Operation speed (%)
CHAPTER 3 Installation
70
80
90
100
70
80
90
100
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