3 Installation
3.1 Installation of the Safeguarding
3-2
155492-1CD
HW0484820
SDA20
3.1
Installation of the 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 shall be firmly mounted on a baseplate or a foundation which is strong
enough to support the manipulator and withstands repulsion forces during acceleration and
deceleration.
Refer to
Table 3-1 "Maximum Repulsion Forces of the Manipulator in an Emergency Stop"
and
Table 3-2 "Endurance Torque in Operation"
to construct a solid foundation with the
appropriate thickness to withstand maximum repulsion forces of the manipulator.
The 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 described in
section 3.2.1 “Mounting Example”
Table 3-2: Endurance Torque in Operation
Table 3-1: Maximum Repulsion Forces of the Manipulator in an Emergency Stop
Maximum torque in horizontal rotation
(Rotation-axis moving direction)
9800 N
·
m
(1000 kgf
·
m)
Maximum torque in vertical rotation
9800 N
·
m
(1000 kgf
·
m)
Endurance torque in horizontal operation
(Rotation-axis moving direction)
4900 N
·
m
(500 kgf
·
m)
Endurance torque in vertical operation
4900 N
·
m
(500 kgf
·
m)
18 of 66
