3.7.0

3.6.0

3.5.0

3.4.0

3.3.0

3.2.2

3.2.1

3.2.0

1. M/H Series

2. A Series

3. E Series

4. P Series

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E0509 Stop Category

E0509 Stop Category 0

Joint 1

Extension=100%, Speed=100%, Payload=100%

	Stopping distance (rad)	Stopping time (ms)
Joint 1	0.49	300

Joint 2

Extension=100%, Speed=100%, Payload=100%

	Stopping distance (rad)	Stopping time (ms)
Joint 2 (θ_j2)	0.53	300
Joint 3 (θ_j3)	0.0037
Distance (θ_d)	0.532

Joint 3

Extension=100%, Speed=100%, Payload=100%

	Stopping distance (rad)	Stopping time (ms)
Joint 2 (θ_j2)	0.00035	40
Joint 3 (θ_j3)	0.00018
Distance (θ_d)	0.00070

The joint 2 and joint 3 angles are refer to θ_j2,θ_j3,θ_d in Measurement Poses and Conditions.

E0509 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)

Stop Distance at Max. Load (rad)	Stop Time at 33% of Max. Load (ms)

Stop Time at 66% of Max. Load (ms)	Stop Time at Max. Load (ms)

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)

Stop Distance at Max. Load (rad)	Stop Time at 33% of Max. Load (ms)

Stop Time at 66% of Max. Load (ms)	Stop Time at Max. Load (ms)

Stop Distance and Stop Time of Joint 3 (Elbow)

Stop Distance at Max. Stretch Level (rad)	Stop Time at Max. Stretch Level (ms)