Adjustable Working Area; Stopping Angle And Time At The Emergency Stop - YASKAWA MA2010 Operating And Maintenance Instructions Manual

Technical data
6.4
Depending on the type of use, the S-axis working area can be changed.
If any modification is necessary, please contact the local YASKAWA branch office.
Item
S-axis working range
6.5
NOTICE
 The overrun distance is the angle that the robot travels from the point of time when the
stop signal is triggered until the robot comes to a complete stop.
 The overrun time is the time that elapses from the point of time when the stop signal is
triggered until the robot comes to a complete stop.
 The axis movement with the longest stopping point is the decisive axis movement for
calculating the safety distance .
 The values are shown for S, L and U axes.
 The values shown for stop category 0 are reference values determined through testing
and simulation. They are average values and fulfil the requirements according to DIN
EN ISO 10218-1. The actual overrun distances and overrun times may differ due to
internal and external influence on the braking torque. Therefore, if necessary, it is
recommended to determine the overrun distances and overrun times under real, local
conditions when the robot is used.
 The brake wear may vary depending on the operating mode, robot use and number of
times stop category 0 is triggered. Check the overrun distance at least once a year.
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6 30

Adjustable working area

Stopping Angle and Time at the Emergency Stop

Specifications
± 180° (standard)
± 150°
± 120°
± 105°
± 90°
± 60°
± 30°