Stop Category 1: Emergency Stop - YASKAWA MOTOMAN-MPL80 II Instructions Manual

II
MPL80

5.6.2 Stop Category 1: Emergency Stop

Fig. 5-8: Category 1: Stopping Angle and Time for each Axis at the Emergency Stop
(a)S-Axis
60
50
40
30
20
10
0
0
(b)L-Axis
60
50
40
30
20
10
0
0
(c)U-Axis
60
50
40
30
20
10
0
0
5 Basic Specifications
5.6 Stopping Angle and Time at the 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.
S top posi ti on of S -axi s category1
30 60 90 120 150
Speed[deg/s]
S top posi ti on of L-axi s category1
30 60 90 120 150
Speed[deg/s]
S top posi ti on of U -axi s category1
30 60 90 120 150
Speed[deg/s]
5-8
S top posi ti on of S -axi s category1
0. 6
0. 5
0. 4
0. 3
0. 2
0. 1
0. 0
180
0 30 60
S top posi ti on of L-axi s category1
0. 6
0. 5
0. 4
0. 3
0. 2
0. 1
0. 0
0 30 60
180
S top posi ti on of U -axi s category1
0. 6
0. 5
0. 4
0. 3
0. 2
0. 1
0. 0
0 30 60
180
HW1482870
170904-1CD
90 120 150 180
Speed[deg/s]
90 120 150 180
Speed[deg/s]
90 120 150 180
Speed[deg/s]
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