Installation Of Safeguarding; Mounting Procedures For Manipulator Base - YASKAWA MOTOMAN-MH80 Instructions Manual

MH80 Manipulator
3.1
3.2
3 Installation

3.1 Installation of Safeguarding

Installation of 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 guidance.
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 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.

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 force of the
manipulator. (Refer toTable 3-1 "Maximum Repulsion Force of the
Manipulator at Emergency Stop" andTable 3-2 "Endurance Torque in
Operation".)
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.
For installation, refer to Fig. 3-1 "Mounting the Manipulator on the
Baseplate" or Fig. 3-2 "Mounting the Manipulator on the Floor".
Table 3-1: Maximum Repulsion Force of the Manipulator at Emergency Stop
Maximum torque in horizontal rotation
(S-axis moving direction)
Maximum torque in vertical rotation
(LU-axis moving direction)
Table 3-2: Endurance Torque in Operation
Endurance torque in horizontal operation
Endurance torque in vertical operation
3-2
158813-1CD
24500 N·m
(2500 kgf·m)
45080 N·m
(4600 kgf·m)
6125N·m
(625 kgf·m)
11270 N·m
(1150 kgf·m)
HW1480080
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