YASKAWA MOTOMAN-EPX1750 Instructions Manual

YASKAWA MOTOMAN-EPX1750 Instructions Manual Manual pdf 26 page image

4 Transport and Installation4.4 Installation4-7154771-1CDHW14800524.4.1 Installation of SafeguardingTo insure safety, be sure to install the safeguarding. They prevent unforeseen accidents withpersonnel and damage to equipment. The following is quoted for your information andguidance.Responsibility for Safeguarding (ISO 10218)The user of a manipulator or robot system shall ensure that safeguarding is provided andused in accordance with Sections 6, 7, and 8 of this standard. The means and degree ofsafeguarding, including any redundancies, shall correspond directly to the type and level ofhazard presented by the robot system consistent with the robot application. Safeguardingmay include but not be limited to safeguarding devices, barriers, interlock barriers, perimeterguarding, awareness barriers, and awareness signals.4.4.2 Mounting Procedures for Manipulator BaseThe manipulator should be firmly mounted on a baseplate or foundation strong enough tosupport the manipulator and withstand repulsion forces during acceleration and deceleration.Construct a solid foundation with the appropriate thickness to withstand maximum repulsionforce of the manipulator. (Refer to Table 4-1 "Maximum Repulsion Force of the Manipulator atEmergency Stop".)A baseplate flatness must be kept at 0.5 mm or less: insufficient flatness of installation surfacemay deform the manipulator shape and affect its functional abilities.For installation, refer to section "4.4.3 Mounting the Manipulator on the Baseplate".Table 4-1 Maximum Repulsion Force of the Manipulator at Emergency StopMaximum torque in horizontal rotation(S-axis moving direction)11000 N · m(1100 kgf· m)Maximum torque in vertical rotation(L-, U-axes moving direction)21400 N· m(2140kgf· m)26 of 66