Stop Category 1 - YASKAWA MA1440 Operating And Maintenance Manual

Technical data
6.5.2
The stopping angle and time at the emergency stop in category 1 are not subjected to the
robot position and the load.
Stop of category1 doesn't depend on the robot position and the load.
6.5.2.1
100%
-
6 40

Stop category 1

Stop position S-axis
60
50
40
30
20
10
0
0 50 100 150
[deg/s]
66%
60
50
40
30
20
10
0
0 50 100 150
[deg/s]
33%
60
50
40
30
20
10
0
0 50 100 150
[deg/s]
200 250
Fig. 6-16: Stop position 100%
200 250
Fig. 6-17: Stop position 66%
200 250
Fig. 6-18: Stop position 33%
0,5
0,4
0,3
0,2
0,1
0,0
0 50 100 150
[deg/s]
0,5
0,4
0,3
0,2
0,1
0,0
0 50 100 150
[deg/s]
0,5
0,4
0,3
0,2
0,1
0,0
0 50 100 150
[deg/s]
200 250
200 250
200 250