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179394-1CD
MFL15D-875/-1600
3.1
3.2
3
Installation
3.1 Installation of Safeguarding
Installation of Safeguarding
To insure safety, be sure to install the safeguarding. It prevents
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 the
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 base or foundation strong
enough to support the manipulator and withstand reaction forces during
acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum reaction forces of the manipulator as shown in Table 3-1
"Maximum Reaction Forces of the Manipulator".
The flatness for installation must be kept at 0.5 mm or less: insufficient
flatness of installation surface may deform the manipulator shape and
affect its functional abilities. Mount the manipulator base as shown in
section 3.2.1 "When the Manipulator and Mounting Fixture Are Installed
on a Common Base" or section 3.2.2 "When the Manipulator Is Mounted
Directly on the Floor".
Table 3-1: Maximum Reaction Forces of the Manipulator
Maximum torque in horizontal
rotation
(S-axis moving direction)
Maximum torque in vertical
rotation
(U-axis moving direction)
3-2
500 N•m
(51 kgf•m)
MFL15D-875:
MFL15D-1600:
2000 N•m (204 kgf•m)
5100 N•m (520 kgf•m)
HW1483905
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