YASKAWA MOTOMAN-MC2000 II Instructions Manual

Contents

YASKAWA MOTOMAN-MC2000 II Instructions Manual Manual pdf 17 page image

3 Installation3.1 Installation of the Safeguarding3-2HW1483028HW14830283.1 Installation of the SafeguardingTo insure safety, be sure to install safeguarding. They prevent unforeseenaccidents with personnel and damage to equipment. The following isquoted for your information and guidance.Responsibility for Safeguarding (ISO10218)The user of a manipulator or robot system shall ensure that safeguardingis 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 inchapter 3.2.1 “Mounting Example” ..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 21560 N(2200kgf)31360 N•m(3200 kgf•m)19600 N(2000 kgf)31360 N•m(3200 kgf•m)Acceleration/deceleration 6860 N(700 kgf)9408 N•m(960 kgf•m)5880 N(600 kgf)11760 N•m(1200 kgf•m)M VMHFHFV17/69