YASKAWA MOTOMAN-MH215 II, Инструкция по эксплуатации

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3-2
177010-1CD
HW1483759
3 Installation
3.2 Mounting Procedures for Manipulator Base
MH215
II
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 reaction forces
during acceleration and deceleration.
Construct a solid foundation with the appropriate thickness to withstand
maximum reaction forces of the manipulator referring to
Table 3-1
“Manipulator Reaction 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”
.
Fig. 3-1: Manipulator Reaction Force and Torque
Table 3-1: Manipulator Reaction Force and Torque
Horizontal rotation Vertical rotation
Reaction force F
H
Torque M
H
Reaction force F
V
Torque M
V
Emergency stop 20580 N
(2100 kgf)
39200 N•m
(4000 kgf•m)
23520 N
(2400 kgf)
44100 N•m
(4500 kgf•m)
Acceleration/deceleration 6370 N
(650 kgf)
11760 N•m
(1200 kgf•m)
12740 N
(1300 kgf)
16562 N•m
(1690 kgf•m)
V
M
H
F
H
M
V
F
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