Strength Of The Ball Screw Spline; Operation Safety - Epson RS Series Manual

1.2.1 Strength of the Ball Screw Spline

If a load exceeding the allowable value is applied to the ball screw spline, it may not work
properly due to deformation or breakage of the shaft. If the ball screw spline is applied the
load exceeding the allowable value, it is necessary to replace the ball screw spline unit.
The allowable loads differ depending on distance where the load is applied to.
calculating the allowable load, see the calculation formula below.
[Allowable bending moment]
Example: If 130 N load is applied
[Moment]

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:
■ Please carefully read the Safety Requirements in the "Safety Manual" before
operating the robot system. Operating the robot system without understanding
the safety requirements is extremely hazardous and may result in serious bodily
injury and/or severe equipment damage to the robot system.
■ Do not enter the operating area of the Manipulator while the power to the robot
system is turned ON. Entering the operating area with the power ON is extremely
hazardous and may cause serious safety problems as the Manipulator may move
even if it seems to be stopped.
■ Before operating the robot system, make sure that no one is inside the
WARNING safeguarded area. The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area.
The motion of the Manipulator is always in restricted (low speeds and low power)
status to secure the safety of an operator. However, operating the robot system
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulator moves unexpectedly.
■ Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally while the robot system is operated.
RS series Rev.4
RS3/RS4: M=13,000 N
∙
at 100 mm from
the end of the spline nut
M=F L 100 130 13,000 N
∙ ＝ ∙ ＝
mm
End of the
spline nut
mm
∙
F
RS3 RS4 Manipulator 1. Safety
L
For
5