M1509 Stop Category
M1509 Stop Category 0
Joint 1
Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad) | Stopping time (ms) | |
|---|---|---|
Joint 1 | 0.138 | 109 |
Joint 2
Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad) | Stopping time (ms) | |
|---|---|---|
Joint 2 (θj2) | 0.105 | 327 |
Joint 3 (θj3) | 0.492 | |
Distance (θd) | 0.338 |
Joint 3
Extension=100%, Speed=100%, Payload=100%
Stopping distance (rad) | Stopping time (ms) | |
|---|---|---|
Joint 2 (θj2) | 0.155 | 197 |
Joint 3 (θj3) | 0.134 | |
Distance (θd) | 0.258 |
The joint 2 and joint 3 angles are refer to θj2, θj3, θd in Measurement Poses and Conditions.
M1509 Stop Category 1
Stop Distance and Stop Time of Joint 1 (Base)
Stop Distance at 33% of Max. Load (rad) | Stop Distance at 66% of Max. Load (rad) |
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Stop Distance at Max. Load (rad) | Stop Time at 33% of Max. Load (ms) |
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Stop Time at 66% of Max. Load (ms) | Stop Time at Max. Load (ms) |
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Stop Distance and Stop Time of Joint 2 (Shoulder)
Stop Distance at 33% of Max. Load (rad) | Stop Distance at 66% of Max. Load (rad) |
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Stop Distance at Max. Load (rad) | Stop Time at 33% of Max. Load (ms) |
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Stop Time at 66% of Max. Load (ms) | Stop Time at Max. Load (ms) |
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Stop Distance and Stop Time of Joint 3 (Elbow)
Stop Distance at Max. Stretch Level (rad) | Stop Time at Max. Stretch Level (ms) |
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