YASKAWA MOTOMAN-MPL100 Instructions Manual

Contents

YASKAWA MOTOMAN-MPL100 Instructions Manual Manual pdf 21 page image

3-2157569-1CDHW0485652MPL100 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"Maximum Repulsion 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 Repulsion Forces of the Manipulator at Emergency StopMaximum torque in horizontal rotation(S-axis moving direction)39200 N•m(4000 kgf•m)Maximum torque in vertical rotation(L-, U-axes moving direction)62800 N•m(6400 kgf•m)Table 3-2: Endurance Torque in OperationEndurance torque in horizontal operation(S-axis moving direction)11800 N•m(1200 kgf•m)Endurance torque in vertical operation(L-, U-axes moving direction)18800 N•m(1920 kgf•m)21 of 106