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HW1483270
3.1
3.2
Table 3-1: Manipulator Repulsion Force and Torque
Emergency stop
Acceleration/deceleration 4410 N•m
3
Installation
3.1
Installation of Safeguarding
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 the information and guidance.
Responsibility for Safeguarding (ISO 10218)
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 Chapter 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
"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 chapter 3.2.1 "Mounting the Manipulator and Fixture on the
Baseplate" .
Horizontal rotation
Torque M
Repulsion force F
H
16660 N•m
49000 N•m
(1700 kgf•m
(5000 kgf•m)
14700 N•m
(450 kgf•m)
(1500 kgf•m)
Vertical rotation
Repulsion force F
H
60760 N•m
(6200 kgf•m)
36260 N•m
(3700 kgf•m)
HW1483270
3-2
Torque M
V
V
44150 N•m
(4500 kgf•m)
16660 N•m
(1700 kgf•m)
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