YASKAWA Motoman NX100 Manual page 26

3.1 Installation of the Safeguarding
3.1
Installation of the 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 your information and guid-
ance.
Responsibility for Safeguarding (ISO 10218)
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 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 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 referring to "Table.1 Maximum Repulsion Forces of the Manipulator
at Emergency Stop" and "Table.2 Endurance Torque in Operation".
During installation, if the flatness is not right, the manipulator shape may change and its func-
tional ability may be compromised. Baseplate flatness 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
(L-, U-axes moving direction)
Horizontal acceleration and decel-
eration maximum torque
Vertical acceleration and decelera-
tion maximum torque
32000N • m
(3265kgf • m)
78500N • m
(8000kgf • m)
Table. 2 Endurance Torque in Operation
9400N • m
(960kgf • m)
23900N • m
(2434kgf • m)
3-2
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