Installation Of Safeguarding; Mounting Procedures For Manipulator Base - YASKAWA MOTOMAN-HP20 Instructions Manual

3.1

Installation of Safeguarding

To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with per-
sonnel 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 the safeguarding is provided and
used in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safe-
guarding, 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.
3.2

Mounting Procedures for Manipulator Base

The manipulator should be firmly mounted on a base or foundation strong enough to support
the manipulator and withstand repulsion forces during acceleration and deceleration.
Refer to "Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop" and
" Table. 2 Endurance Torque in Operation " to construct a solid foundation with the appropri-
ate thickness to withstand maximum repulsion forces of the manipulator.
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 described in " 3.2.1 Installation Example ".
Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop
Horizontal rotating maximum torque
(S-axis moving direction)
Vertical rotating maximum torque
(LU-axes moving direction)
Endurance torque in horizontal operation
(S-axis moving direction)
Endurance torque in vertical operation
(LU-axes moving direction)
Table. 2 Endurance Torque in Operation
3-2
3.1 Installation of Safeguarding
8000 Nm
(815 kgfm)
5000 Nm
(510 kgfm)
1700 Nm
(171 kgfm)
3775 Nm
(385 kgfm)