YASKAWA MOTOMAN-MH5 Instructions Manual

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YASKAWA MOTOMAN-MH5 Instructions Manual Manual pdf 23 page image

3-2171469-1CDHW0485750MH5 3 Installation3.1 Installation of the Safeguarding3.1 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 as shown in Table 3-1"Maximum Repulsion Forces of the Manipulator at Emergency Stop" andTable 3-2 "Endurance Torque in Operation".The flatness for installation must be kept at 0.5 mm or less: if the flatnessof the mounting face is insufficient, the manipulator shape may changeand its functional ability may be compromised. Mount the manipulatorbase as shown in section 3.2.1 “Mounting Example” in principle.Table 3-1: Maximum Repulsion Forces of the Manipulator at EmergencyStopHorizontal rotating maximum torque(S-axis moving direction)700 N • m(71.4 kgf• m)Vertical rotating maximum torque(LU-axis moving direction)700 N • m(71.4 kgf• m)Table 3-2: Endurance Torque in OperationEndurance torque in horizontal operation(S-axis moving direction)220 N • m(22.4 kgf • m)Endurance torque in vertical operation(LU-axes moving direction)270 N • m(27.6 kgf • m)23 of 74