Installation Of The Safeguarding; Mounting Procedures For Manipulator Base - YASKAWA MOTOMAN-MH5 Instructions Manual

171469-1CD
MH5
3.1
3.2
3 Installation

3.1 Installation of the Safeguarding

Installation of the Safeguarding
To insure safety, be sure to install safeguarding. They prevent unforeseen
accidents with personnel and damage to equipment. The following is
quoted for your information and guidance.
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that safeguarding
is provided and used in accordance with Sections 6, 7, and 8 of this
standard. The means and degree of safeguarding, including any
redundancies, shall correspond directly to the type and level of hazard
presented by the robot system consistent with the robot application.
Safeguarding may include but not be limited to safeguarding devices,
barriers, interlock barriers, perimeter guarding, awareness barriers, and
awareness signals.

Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a baseplate or foundation
strong enough to support the manipulator and withstand repulsion forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum repulsion forces of the manipulator as shown in Table 3-1
"Maximum Repulsion Forces of the Manipulator at Emergency Stop" and
Table 3-2 "Endurance Torque in Operation".
The flatness for installation must be kept at 0.5 mm or less: if the flatness
of the mounting face is insufficient, the manipulator shape may change
and its functional ability may be compromised. Mount the manipulator
base as shown in section 3.2.1 "Mounting Example" in principle.
Table 3-1: Maximum Repulsion Forces of the Manipulator at Emergency
Stop
Horizontal rotating maximum torque
(S-axis moving direction)
Vertical rotating maximum torque
(LU-axis moving direction)
Table 3-2: Endurance Torque in Operation
Endurance torque in horizontal operation
(S-axis moving direction)
Endurance torque in vertical operation
(LU-axes moving direction)
3-2
700 N • m
(71.4 kgf• m)
700 N • m
(71.4 kgf• m)
220 N • m
(22.4 kgf • m)
270 N • m
(27.6 kgf • m)
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