YASKAWA MOTOMAN-ES165D Instructions Manual

Contents

YASKAWA MOTOMAN-ES165D Instructions Manual Manual pdf 22 page image

3 Installation3.1 Safeguarding Installation3-2155976-1CDHW0485249ES165D3.1 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 reaction forcesduring acceleration and deceleration.Construct a solid foundation with the appropriate thickness to withstandmaximum reaction forces of the manipulator referring to Table 3-1"Maximum Reaction Forces of the Manipulator at Emergency Stop" andTable 3-2 "Endurance Torque in Operation".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 in section3.2.1 “Mounting Example”.Table 3-1: Maximum Reaction Forces of the Manipulator at EmergencyStopMaximum torque in horizontal rotation(S-axis moving direction)32000 N•m(3265 kgf•m)Maximum torque in vertical rotation(L-, U-axes moving direction)78500 N•m(8000 kgf•m)Table 3-2: Endurance Torque in OperationEndurance torque in horizontal operation(S-axis moving direction)9400 N•m(960 kgf•m)Endurance torque in vertical operation(L-, U-axes moving direction)23900 N•m(2434 kgf•m)22 of 92