3-2
159328-1CD
HW1480497
MS80W Manipulator
3 Installation
3.1 Installation of Safeguarding
3.1 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.
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
Maximum Repulsion Force of the Manipulator at Emergency Stop and
Table 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. Mount the manipulator bases as instructed in Section
3.2.1 “Mounting the Manipulator on the Baseplate” on page 3-3.
Table 3-2: Endurance Torque in Operation
Table 3-1: Maximum Repulsion Force of the Manipulator at Emergency
Stop
Maximum torque in horizontal rotation
(S-axis moving direction)
24500 N•m
(2500 kgf•m)
Maximum torque in vertical rotation
(L-,U-axes moving direction)
45080 N•m
(4600 kgf•m)
Endurance torque in horizontal operation
(S-axis moving direction)
6125N•m
(625 kgf•m)
Endurance torque in vertical operation
(L-,U-axes moving direction)
11270 N•m
(1150 kgf•m)
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