Doosan M0609 Installation Manual page 112

(a) Stop Distance at Max. Stretch Level (rad)
Figure C.12: Stop Distance and Stop Time of Joint 3 (Elbow)
C.5.2 Stop Category 0
Stopping distance (rad)
Axis 1 0.12483
Stopping distance (rad)
Axis 2
Axis 3
Stopping distance (rad)
Axis 2
Axis 3
Doosan Robotics Installation Manual v1.3
Extension=100%, Speed=100%, Payload=100%
Extension=100%, Speed=100%, Payload=100%
0.09471
0.44703
Extension=100%, Speed=100%, Payload=100%
0.14045
0.12168
(b) Stop Time at Max. stretch Level (ms)
Joint 1
Stopping time (ms)
98.867
Joint 2
Stopping time (ms)
296.568
Joint 3
Stopping time (ms)
178.785
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