Doosan M0609 Installation Manual page 106

(a) Stop Distance at Max. Stretch Level (rad)
Figure C.6: Stop Distance and Stop Time of Joint 3 (Elbow)
C.3.2 Stop Category 0
Stopping distance (rad)
Axis 1
Stopping distance (rad)
Axis 2
Axis 3
Stopping distance (rad)
Axis 2
Axis 3
C.4 M0617
Doosan Robotics Installation Manual v1.3
Extension=100%, Speed=100%, Payload=100%
0.4819
Extension=100%, Speed=100%, Payload=100%
0.6209
0.1809
Extension=100%, Speed=100%, Payload=100%
0.1212
0.4423
106
(b) Stop Time at Max. stretch Level (ms)
Joint 1
Stopping time (ms)
83.613
Joint 2
Stopping time (ms)
277.195
Joint 3
Stopping time (ms)
102.650