Doosan M0609 Installation Manual page 103

(a) Stop Distance at Max. Stretch Level (rad)
Figure C.3: Stop Distance and Stop Time of Joint 3 (Elbow)
C.2.2 Stop Category 0
Stopping distance (rad)
Axis 1
Stopping distance (rad)
Axis 2
Axis 3
Stopping distance (rad)
Axis 2
Axis 3
C.3 M0609
C.3.1 Stop Category 1
Extension=100%, Speed=100%, Payload=100%
0.1305
Extension=100%, Speed=100%, Payload=100%
0.1355
0.3138
Extension=100%, Speed=100%, Payload=100%
0.1459
0.1389
(b) Stop Time at Max. stretch Level (ms)
Joint 1
Stopping time (ms)
123.589
Joint 2
Stopping time (ms)
285.774
Joint 3
Stopping time (ms)
203.747
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