Mitsubishi Electric CR800-R Instruction Manual page 123

RH-20FRH
Stopping time and stopping distance (emergency stop)
Axis Arm extension
L=100%
J1 L=66%
L=33%
J2 -
J3 -
J4 -
Stopping time and stopping distance (power off)
Axis Arm extension
J1 L=100%
J2 L=100%
J3 -
J4 -
Load rate
Ovrd 33%
M=100% 0.63
M=66% 0.55
M=33% 0.45
M=0% 0.37
M=100% 0.63
M=66% 0.55
M=33% 0.45
M=0% 0.34
M=100% 0.63
M=66% 0.55
M=33% 0.45
M=0% 0.31
M=100% 0.54
M=66% 0.47
M=33% 0.37
M=0% 0.30
M=100% 0.58
M=66% 0.49
M=33% 0.38
M=0% 0.28
Load 2 0.67
Load 1 0.62
Stopping time [s]
Load rate
Ovrd 100%
M=100%
M=25%
M=100%
M=25%
M=100%
M=25%
Load 2
Load 1
7 SAFETY RESPONSE TIME AND SAFE STOPPING DISTANCE
Stopping time [s]
Ovrd 66% Ovrd 100%
0.65 0.68
0.59 0.62
0.50 0.54
0.42 0.47
0.65 0.68
0.59 0.62
0.50 0.54
0.38 0.43
0.65 0.68
0.59 0.62
0.50 0.54
0.36 0.41
0.56 0.59
0.50 0.54
0.42 0.47
0.34 0.39
0.62 0.66
0.53 0.58
0.42 0.47
0.33 0.38
0.67 0.68
0.66 0.69
Stopping distance [deg]
Ovrd 100%
0.92
0.88
1.00
1.89
1.02
0.21
2.74
1.02
Maximum Stopping Time and Maximum Operating Angle 7-111
Stopping distance
J1/J2/J4 axis [deg]
J3 axis [mm]
Ovrd 33% Ovrd 66%
15.08 31.26
19.30 40.92
20.84 45.62
18.29 40.97
15.08 31.26
19.30 40.92
20.84 45.62
16.67 37.73
15.08 31.26
19.30 40.92
20.84 45.62
15.46 35.30
20.96 43.69
26.53 56.78
27.97 62.26
23.83 54.71
202.66 432.13
183.42 397.15
149.09 331.43
121.69 281.01
29.79 60.21
128.44 270.25
36.82
57.26
86.52
163.90
404.60
182.00
422.80
404.60
Ovrd 100%
49.08
65.62
75.26
68.94
49.08
65.62
75.26
64.02
49.08
65.62
75.26
60.35
68.96
91.85
104.22
93.92
696.62
649.07
554.08
484.52
92.21
430.32