Safety Guard Installation; Mounting Procedures For Manipulator Baseplate - YASKAWA Motoman UP6 Instructions Manual

3.1 Safety Guard Installation

3.1
Safety Guard Installation
To insure safety, be sure to install safety guards. They prevent unforeseen accidents with per-
sonnel and damage to equipment. The following is quoted for your information and guidance.
(ISO10218)
Responsibility for Safeguarding
The user of a manipulator or robot system shall ensure that safeguards are provided and used
in accordance with Sections 6, 7, and 8 of this standard. The means and degree of safeguard-
ing, including any redundancies, shall correspond directly to the type and level of hazard pre-
sented 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 Baseplate

The manipulator should be firmly mounted on a baseplate or foundation strong enough to sup-
port 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 1.
During installation, if out of the plane is not right, the manipulator shape may change and its
functional ability may be compromised. Out of the plane for installation must be kept at 0.5mm
or less. Mount the baseplate in either of the following ways: " 3.2.1 When the Manipulator and
Mounting Fixture are Installed on a Common Flat Steel Plate " or " 3.2.2 When the Manipula-
tor is Mounted Directly on the Floor ".
Horizontal rotating maximum torque
( S-axis moving direction)
Vertical rotating maximum torque
(LU-axis moving direction)
Table. 1 Maximum repulsion forces of the manipulator
2000N • m
3500N • m
3-2