Table of Contents
Advertisement
11. Stopping time and stopping distance at
emergency stop (YK1200X)
11.1 Stopping time and distance after turning stop signal ON
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.
XY-axis stopping time for YK1200X
■
2
16.5kg XY-axis
33kg XY-axis
1.8
50kg XY-axis
1.6
1.4
1.2
1
0.8
0.6
0.4
0.2
0
0
10
20
XY-arm plus direction stopping rotation angle for YK1200X
■
100
16.5kg X-axis
90
33kg X-axis
50kg X-axis
80
16.5kg Y-axis
33kg Y-axis
70
50kg Y-axis
60
50
40
30
20
10
0
0
10
20
30
40
50
60
Operation speed (%)
30
40
50
60
70
Operation speed (%)
70
80
90
100
80
90
100
2
63231-FR-00
63232-FR-00
2-65
Advertisement
Table of Contents
