3
Installation
3.1 Safeguarding Installation
3-2
167109-1CD
HW1482308
MS165
3.1
Safeguarding Installation
To insure safety, be sure to install safeguarding. It prevents unforeseen
accidents with personnel and damage to equipment. Refer to the quoted
clause for your information and guidance.
Responsibility for Safeguarding (ISO10218)
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 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 reaction forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum reaction forces of the manipulator referring to
“Manipulator Reaction Force and Torque”
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. Mount the manipulator base as instructed in
chapter 3.2.1 “Mounting Example”
Table 3-1: Manipulator Reaction Force and Torque
Horizontal rotation
Vertical rotation
Reaction force F
H
Torque M
H
Reaction force F
V
Torque M
V
Emergency stop
24000N
(2500kgf)
37630 N•m
(3840 kgf•m)
15680N
(1600kgf)
49000 N•m
(5000 kgf•m)
Acceleration/deceleration 6370N
(650kgf)
9400 N•m
(960 kgf•m)
4900N
(500kgf)
22050 N•m
(2250kgf•m)
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