YASKAWA DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

Contents

YASKAWA DX200 Instructions Manual Manual pdf 19 page image

3-2170625-1CDHW1482737ES200RD II 3 Installation3.1 Safeguarding Installation3.1 Safeguarding InstallationTo insure safety, be sure to install safeguarding. It prevents unforeseenaccidents with personnel and damage to equipment. Refer to the quotedclause for your information and guidance:Responsibility for Safeguarding (ISO10218)The user of a manipulator or robot system shall ensure that safeguardsare provided and used in accordance with Sections 6, 7, and 8 of thisstandard. The means and degree of safeguarding, including anyredundancies, shall correspond directly to the type and level of hazardpresented 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, andawareness signals.3.2 Mounting Procedures for Manipulator BaseThe manipulator should be firmly mounted on a baseplate or foundationstrong enough to support the manipulator and withstand repulsion forcesduring acceleration and deceleration.Construct a solid foundation with the appropriate thickness to withstandmaximum repulsion forces of the manipulator referring to Table 3-1"Manipulator Repulsion Force and Torque".A baseplate flatness must be kept at 0.5 mm or less: insufficient flatnessof installation surface may deform the manipulator shape and affect itsfunctional abilities. Mount the manipulator base as instructed insection 3.2.1 “Mounting Example” on page 3-3.Fig. 3-1: Manipulator Repulsion Force and TorqueTable 3-1: Manipulator Repulsion Force and TorqueHorizontal rotation Vertical rotationRepulsion force FH Torque MH Repulsion force FV Torque MVEmergency stop 18620 N(1900 kgf)31997 N•m(3265 kgf•m)43120 N(4400 kgf)78400 N•m(8000 kgf•m)Acceleration/deceleration 5880 N(600 kgf)9006 N•m(918 kgf•m)16920 N(2000 kgf)26134 N•m(2664 kgf•m)M VM HFVHF19 of 100