Manipulator Mounting Dimensions
The maximum space (R) includes the radius of the end effector. If the radius of the hand exceeds 60 mm, define the radius as the distance to the outer edge of the maximum envelope. In addition to the hand, if a camera, solenoid valve, or other component attached to the arm is large, set the maximum envelope to include the range that the component may reach.
Also, besides the area required for installation of the Manipulator, Controller, peripheral equipment, and other devices, the following space should be provided at a minimum.
- Space for teaching
- Space for maintenance and inspection (Ensure some space to open the covers and plates for maintenance.)
- Space for cables
WARNING
Install the Manipulator in a location with enough space so that a tool or a workpiece tip does not reach a wall or safety barriers when the Manipulator extends its arm while holding a workpiece.
If the tool or the workpiece tip reaches a wall or safety barriers, it is extremely hazardous and may result in serious bodily injury to operators and/or severe equipment damage.
The distance between the safety barriers and the tool or workpiece should be set according to ISO 10218-2.
For the stopping time and stopping distance, refer to the following sections.
Appendix B: Stopping Time and Stopping Distance at Emergency Stop
Appendix C: Stopping Time and Stopping Distance When Safeguard is Open
KEY POINTS
When installing the cable, be sure to maintain sufficient distance from obstacles.
For the minimum bend radius of the MC cable, refer to the following.
Ensure distance to the safeguard from the maximum motion range is more than 100 mm.
