Mounting Procedures For Manipulator Base - YASKAWA MOTOMAN-MPX2600 Instructions Manual

180788-1CD
MPX2600
3.2
Table 3-1: Manipulator Repulsion Force
Horizontal rotation
Repulsion force F
Emergency stop 20580 N
(2100 kgf)
Acceleration/ 6370 N
deceleration (650 kgf)
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 force of the manipulator. (Refer to Table 3-1
"Manipulator Repulsion Force".)
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 3.2.1 "Mounting the Manipulator on the
Baseplate".
Torque M
H
H
25480 N•m
(2600 kgf•m)
7670 N•m
(780 kgf•m)
Fig. 3-1: Manipulator Repulsion Force
Fh
3-2
Vertical rotation
Repulsion force F
17640 N
(1800 kgf)
6860 N
(700 kgf)
Mv
Fv
Mh
HW1484370
Torque M
v V
25480 N•m
(2600 kgf•m)
9560 N•m
(975 kgf•m)
35 of 116