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HW1483028
3.1
3.2
Table 3-1: Manipulator Repulsion Force and Torque
Emergency stop
Acceleration/deceleration 6860 N
3
Installation
3.1
Installation of the Safeguarding
Installation of the Safeguarding
To insure safety, be sure to install safeguarding. They prevent unforeseen
accidents with personnel and damage to equipment. The following is
quoted for your information and guidance.
Responsibility for Safeguarding (ISO10218)
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.
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 referring to table 3-1
"Manipulator Repulsion Force and Torque" .
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. Mount the manipulator base as instructed in
chapter 3.2.1 "Mounting Example" ..
Horizontal rotation
Torque M
Repulsion force F
H
21560 N
31360 N•m
(2200kgf)
(3200 kgf•m)
9408 N•m
(700 kgf)
(960 kgf•m)
Fig. 3-1: Manipulator Repulsion Force and Torque
Vertical rotation
Repulsion force F
H
19600 N
(2000 kgf)
5880 N
(600 kgf)
M
V
F
V
M
H
F
H
HW1483028
3-2
Torque M
V
V
31360 N•m
(3200 kgf•m)
11760 N•m
(1200 kgf•m)
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