3.1 Installation of Safeguarding
3-2
HW0482170
HW0482170
3.1
Installation of Safeguarding
To insure safety, be sure to install the safeguarding. It prevents unforeseen accidents with
personnel and damage to equipment. The following is quoted for your information and
guidance.
Responsibility for Safeguarding (ISO10218)
The user of a manipulator or robot system shall ensure that the 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 base or foundation strong enough to support
the manipulator and withstand repulsion forces during acceleration and deceleration.
Refer to "Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop" and "
Table. 2 Endurance Torque in Operation " to construct a solid foundation with the appropriate
thickness to withstand maximum repulsion forces of the manipulator.
During installation, if the flatness is not right, the manipulator shape may change and its
functional ability may be compromised. The flatness for installation must be kept at 0.5 mm or
less. Mount the manipulator base as described in the following " Fig. 5 Manipulator
Installation Example. "
Table. 1 Maximum Repulsion Forces of the Manipulator at Emergency Stop
Horizontal rotating maximum torque
( S-axis moving direction)
8000N m
(815kgf m)
Vertical rotating maximum torque
(LU-axes moving direction)
5000N m
(510kgf m)
Table. 2 Endurance Torque in Operation
Maximum horizontal torque
(S-axis moving direction)
1700N m
(171kgf m)
Maximum vertical torque
(LU-axes moving direction)
3775N m
(385kgf m)
