Maximum Stopping Time And Maximum Operating Angle - Mitsubishi Electric RV-FR Series Instruction Manual

<Maximum stopping time>
The maximum stopping time
differs from robot to robot.
(see chapter 7.3 )
(Example) In case of the table
on the right, the maximum
stopping time is the stopping
time of J1 or 0.29 seconds,
which results in the maximum
stopping time of the robot
being 0.29 seconds.

7.3 Maximum Stopping Time and Maximum Operating Angle

The maximum stopping time and maximum operating angle indicate the time elapsed from when the SS1 function
starts to when the robot stops. With low movement speed, which makes deceleration time short, operation will
require a shorter elapsed time and smaller operating angle than those shown here. Improper use of the robot can
result in a longer maximum elapsed time and a higher maximum movement speed than the values shown here.
(1) What symbols mean
The following shows meanings of symbols used in this chapter.
String Unit
L mm
M %
OVRD %
t s
(second)
deg °(degree)
d mm
Axis Arm extension
J1 L=100%
J2 L=100%
J3 L=100%
J4 -
J5 -
J6 -
Description
Degree of arm This is the degree of extension of the arm in relation to each
extension rotation axis. For details, see page 7-88.
Load ratio This is the ratio of a load on the robot to the maximum load. Take
for an example a robot with a maximum load of 4 kg. If M = 66%,
the load on the robot is 2.64 kg.
Robot override This is an override for the robot speed.
Stopping time This is the maximum duration that elapses from when the SS1
function starts to when the motor power supply is shut off.
Stopping angle This is the maximum angle that the robot moves from when the
SS1 function starts to when the robot stops.
Stopping This is the maximum distance that the robot moves from when
distance the SS1 function starts to when the robot stops.
This is applicable to the J3 axes of RH-FRH series robots.
7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
Stopping time [s]
Load rate
Ovrd 100%
M=100%
M=100%
M=100%
M=100%
M=100%
Load 1
Description
Maximum Stopping Time and Maximum Operating Angle 7-87
Stopping distance [deg]
Ovrd 100%
0.29
0.26
0.24
0.20
0.23
0.14
58.80
42.48
28.80
49.80
61.56
66.48