Mounting Procedures For Manipulator Base - YASKAWA Motoman-MPL300 II Instructions Manual

MPL300 II
3.2
Table 3-1: Manipulator Repulsion Force and Torque
Emergency stop
Acceleration/deceleration 6370 N
3 Installation

3.2 Mounting Procedures for Manipulator Base

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
"Manipulator Repulsion Force and Torque".
During installation, if the flatness is not right, the manipulator shape may
be deformed and its functional ability may be compromised. The flatness
for baseplate must be kept at 0.5 mm or less. Fix the manipulator base as
described in section 3.2.1 "Mounting the Manipulator and Fixture on the
Baseplate".
Horizontal rotation
Torque M
Repulsion force F
H
20580 N 39200 N•m
(2100 kgf) (4000 kgf•m)
11760 N•m
(650 kgf) (1200 kgf•m)
Fig. 3-1: Manipulator Repulsion Force and Torque
Vertical rotation
Repulsion force F
H
49980 N
(5100 kgf)
21560 N
(2200 kgf)
M
V
F
V
M
H
F
H
3-2
173124-1CD
Torque M
V V
62720 N•m
(6400 kgf•m)
15680 N•m
(1600 kgf•m)
HW1482991
22 of 100