3-2
170625-1CD
HW1482737
ES200RD II
3 Installation
3.1 Safeguarding Installation
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 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 3-1
"Manipulator Repulsion 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
section 3.2.1 “Mounting Example” on page 3-3.
Fig. 3-1: Manipulator Repulsion Force and Torque
Table 3-1: Manipulator Repulsion Force and Torque
Horizontal rotation Vertical rotation
Repulsion force F
H
Torque M
H
Repulsion force F
V
Torque M
V
Emergency stop 18620 N
(1900 kgf)
31997 N•m
(3265 kgf•m)
43120 N
(4400 kgf)
78400 N•m
(8000 kgf•m)
Acceleration/deceleration 5880 N
(600 kgf)
9006 N•m
(918 kgf•m)
16920 N
(2000 kgf)
26134 N•m
(2664 kgf•m)
To Next Page
Loading...
