Motoman PX2750, Manual

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4.3 Installation of MOTOMAN
4-3
HW0480633
4.3.1
Safeguard Installation
To ensure safe, be sure to install safeguards. They prevent unforeseen accidents with per-
sonnel and damage to equipment. The following is quoted for your information and guidance
(ISO 10218).
Responsibility for Safeguarding
The user of a manipulator or robot system shall ensure that safeguards are provided and used
in accordance with Section 6, 7, and 8 of this standard. The means and degree of safeguard-
ing, including any redundancies, shall correspond directly to the type and level of hazard pre-
sented 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.
4.3.2
Installation of Manipulator
The manipulator should be firmly mounted on a base or foundation strong enough to support
the manipulator and jigs, and withstand repulsion forces during acceleration and deceleration.
During installation, if the flatness is not right, the manipulator shape may change and its func-
tional ability may be compromised. The flatness for installation must be kept at 0.5 mm or
less. Mount the manipulator base in either of the following ways: " 4.3.3 When the Manipula-
tor and Mounting Fixture are Installed on a Common Base " and " 4.3.4 When the Manipulator
is Mounted Directly on the Floor ".
• Do not install or operate a manipulator that is damaged or lacking parts.
Failure to observe this caution may result in injury or damage.
• Do not install the painting gun and the gun brackets until the manipula-
tor is firmly anchored. Any contact to the unstable manipulator may
cause injury or damage.
• Be sure to remove the shipping jigs before turning ON the power supply.
Failure to observe this caution may result in damage to the driving parts.
Table. 3 Maximum Repulsion Forces of the the PX2850/PX2750
Horizontal rotating maximum torque
(S-axis moving direction) 16000N • m
(1600kgf• m)
Vertical rotating maximum torque
(L- and U-axis moving direction) 41700N • m
(4170kgf• m)
CAUTION