Doosan M0609 Installation Manual page 109

(a) Stop Distance at Max. Stretch Level (rad)
Figure C.9: Stop Distance and Stop Time of Joint 3 (Elbow)
C.4.2 Stop Category 0
Stopping distance (rad)
Axis 1
Stopping distance (rad)
Axis 2
Axis 3
Stopping distance (rad)
Axis 2
Axis 3
C.5 M1509
Extension=100%, Speed=100%, Payload=100%
0.0867
Extension=100%, Speed=100%, Payload=100%
0.0941
0.3047
Extension=100%, Speed=100%, Payload=100%
0.0713
0.1078
(b) Stop Time at Max. stretch Level (ms)
Joint 1
Stopping time (ms)
80.898
Joint 2
Stopping time (ms)
295.742
Joint 3
Stopping time (ms)
157.277
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