Stopping Angle And Time At The Emergency Stop; Stop Category 0: Emergency Stop; Position 100 - YASKAWA MOTOMAN-MPL80 II Instructions Manual

170904-1CD
II
MPL80
5.6

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
35
30
25
20
15
10
5
0
0
Load100%
(b)L-Axis
35
30
25
20
15
10
5
0
0
Load100%
(c)U-Axis
35
30
25
20
15
10
5
0
0
Load100%
5 Basic Specifications

5.6 Stopping Angle and Time at the Emergency Stop

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.
S top posi ti on of S -axi s category0 100%
30 60 90 120 150
Speed[deg/s]
Load66% Load33%
S top posi ti on of L-axi s category0 100%
30 60 90 120 150
Speed[deg/s]
Load66% Load33%
S top posi ti on of U -axi s category0 100%
30 60 90 120 150
Speed[deg/s]
Load66% Load33%
5-5
S top posi ti on of S -axi s category0 100%
0. 5
0. 4
0. 3
0. 2
0. 1
0. 0
180 0 30 60
Speed[deg/s]
Load100% Load66%
S top posi ti on of L-axi s category0 100%
0. 5
0. 4
0. 3
0. 2
0. 1
0. 0
180
0 30 60
Speed[deg/s]
Load100%
S top posi ti on of U -axi s category0 100%
0. 5
0. 4
0. 3
0. 2
0. 1
0. 0
0 30 60
180
Speed[deg/s]
Load100% Load66%
HW1482870
90 120 150 180
Load33%
90 120 150 180
Load66% Load33%
90 120 150 180
Load33%
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