Chapter 3 – On-site preparation
D28065504A - 02/2007 65
3.1. WORKING SPACE
The user is responsible for performing all preparatory work required to complete the on-site installation of
the robot. Working space must be sufficient, installation surface appropriate; the power supplies must be
available (for the electric power supplies, see the characteristics of the controller).
3.2. ATTACHMENT
See figure 3.1: Rear cable outlet
See figure 3.2: Vertical cable outlet with minimum opening size to be made or left in the attachment surface
to put the cable through and access the connections
The arm can be installed in any position without mechanical modifications. In all cases, it must be securely
attached by 3 class 12.9 M10 hex. socket head screws.
Attachment surface shall be flat and metallic. A deformable support will greatly reduce robot’s performance
in speed and accuracy.
When calculating the size of the support, it is necessary to take into account the maximum forces
transmitted by the arm in movement at point 0, which are as follows for the standard arm:
Floor or ceiling mounted arm
•F
V
= 696 N
•F
G
= 700 N
•C
B
= 470 Nm
•C
P
= 115 Nm
CAUTION:
To enable all maintenance operations to be carried out, it is essential to provide easy
access to the robot (e.g. removable safety barriers, etc.) and anchoring points for easy
handling of the arms, especially those whose weight exceeds 70 kg / 154 lb.
DANGER:
The arm's working area must be surrounded by a closed safety enclosure in
compliance with the country's safety legislation preventing personnel
accessing the dangerous area.
International standard: ISO 10218 (1992).
French standard: NF EN 775 (1993).
European Directive: machine directive CEE 89-392.
CAUTION:
There must be no obstacles within the robot work envelope.
CAUTION:
It is necessary to configure the controller to suit the robot installation. To do so, see the
"Software configuration" chapter in the controller manual.
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