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3.1 Installation of the Safeguarding
3.1
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.
3.2
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. 1 Maximum Repulsion Forces of the Manipulator
at Emergency Stop" and "Table. 2 Maximum Torque of Acceleration and Deceleration". If the
mounting face is out of plane, 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 manipulator base as in the following way: " 3.2.1 Mounting 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-axis moving direction)
Table. 2 Maximum Torque of Acceleration and Deceleration
Horizontal maximum torque of
acceleration and deceleration
( S-axis moving direction)
Vertical maximum torque of acceler-
ation and deceleration
(LU-axis moving direction)
2000N • m
(204kgf• m)
3500N • m
(357kgf• m)
450N • m
(46kgf • m)
1300N • m
(132kgf • m)
3-2
HW0481893
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