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154771-1CD
4.4.1
Installation of Safeguarding
To insure safety, be sure to install the safeguarding. They prevent unforeseen accidents with
personnel and damage to equipment. The following is quoted for your information and
guidance.
Responsibility for Safeguarding (ISO 10218)
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.
4.4.2
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
force of the manipulator. (Refer to Table 4-1 "Maximum Repulsion Force of the Manipulator at
Emergency Stop".)
A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surface
may deform the manipulator shape and affect its functional abilities.
For installation, refer to section "4.4.3 Mounting the Manipulator on the Baseplate".
Table 4-1 Maximum Repulsion Force of the Manipulator at Emergency Stop
Maximum torque in horizontal rotation
(S-axis moving direction)
Maximum torque in vertical rotation
(L-, U-axes moving direction)
4 Transport and Installation
·
11000 N
m
·
(1100 kgf
m)
·
21400 N
m
·
(2140kgf
m)
4-7
HW1480052
4.4 Installation
26 of 66
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