YASKAWA MOTOMAN-MPL80 II Instructions Manual

Contents

YASKAWA MOTOMAN-MPL80 II Instructions Manual Manual pdf 22 page image

3 Installation3.1 Installation of the Safeguarding3-2170904-1CDHW1482870MPL80 II3.1 Installation of the SafeguardingTo 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 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 in section3.2.1 “Mounting Example” or section 3.2.2 “When the Manipulator isMounted Directly on the Floor”.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 23544 N(2400kgf)24525 N•m(2500 kgf•m)27468 N(2800 kgf)45126 N•m(4600 kgf•m)Acceleration/deceleration 5886 N(600 kgf)6131 N•m(625 kgf•m)5396 N(550 kgf)11282 N•m(1150 kgf•m)M VM HFHF V22 of 81