Installation: Caution
Installation: Caution
Installation: Caution
1.2 INSTALLATION
(1) Installing the robot using the standard pedestal
Described below is how to install the robot using the standard pedestal, which is factory-assembled
with the robot.
Fig. 1.2 (a) shows the robot base dimensions. Fig. 1.2 (b) shows an actual example of robot
installation. Secure the floor plate (iron plate) to the floor using 16 M20 chemical anchors
(strength class 4.8). Then, secure the robot to the floor plate with eight M20#40 bolts (strength
class 12.9), which are M20 size and at least 40 mm in length.
・Those bolts for which no tightening torque is specified must be tightened according to the
APPENDIX B BOLT TIGHTENING TORQUE TABLE.
The strength of the chemical anchor depends on the concrete strength. See the design guideline of
the manufacturer for the execution of the chemical anchor and consider the safety ratio sufficiently
before use.
CAUTION
1 If the robot base is secured directly to the floor with chemical anchors, the
anchors may fail due to fluctuating load during robot operation.
2 Do not provide leveling (with a wedge, for example) between the robot base and
floor plate. Otherwise, any robot vibration may be accentuated due to the robot
not being in close contact with the floor plate.
1030
25
490 490 25
515
8-O24
Through hole
1080
Center of rotation
515
of J1-axis
1500
50
50 350 350 350 350
235
16-Φ24 Through hole
350
350
350
350
Center of rotation of
J1-axis
1500
1030
Front
350
350
8-M20
350
350
350 350 350 350
260 980
Board
32
Floor face
200
Φ24
NOTE
1 The customer should prepare the following parts:
• Eight robot securing bolts: M20#40 (strength class 12.9)
• Sixteen chemical anchors: M20 (strength class 4.8)
• One floor plate: 32t in thickness
2 The customer is responsible for preparation prior to installation (mounting of
anchors, for example)
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B-82334EN/04 1.TRANSPORTATION AND INSTALLATION
Fig. 1.2 (b), Table 1.2 (a) to Table 1.2 (c) indicate the force and moment applied to the base plate at the
time of emergency stop of the robot and indicate the stopping distance and time of the J1 through J3 axes
until the robot stopping by Power-Off stop or by Controlled stop after input of the stop signal.
Refer to the data when considering the strength of the installation face.
Table 1.2 (b) Stopping time and distance until the robot stopping by Power-off stop after input of stop signal
Model J1-axis J2-axis J3-axis
Stopping time [msec] 576 224 170
M-410iB/700
Stopping distance [deg] (rad) 17.3 (0.30) 6.7 (0.12) 5.1 (0.09)
∗Override: 100%
∗Max. payload, and max. inertia posture
Table 1.2 (c) Stopping time and distance until the robot stopping by controlled stop after input of stop signal
Model J1-axis J2-axis J3-axis
Stopping time [msec] 940 940 932
M-410iB/700
Stopping distance [deg] (rad) 29.9 (0.52) 29.6 (0.52) 29.9 (0.52)
∗Override: 100%
∗Max. payload, and max. inertia posture
FV MV
MH
FH
Fig. 1.2 (c) Force and moment that acts on base
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1.TRANSPORTATION AND INSTALLATION B-82334EN/04
Robot posture
Axis name Posture
J1 0°
Note) Machine weight : 2.4 ton J2 -45°
Crane capacity : 3.0 ton or more J3 -25°
Sling capacity :1.0 ton
Sling 4pcs J4 0°
Forklift bracket
J1 base mounting bolt
M16X65(16 pcs)
J1 base Washer
Frame
Fig. 1.2 (d) How to remove the pedestal (Remote controller type)
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B-82334EN/04 1.TRANSPORTATION AND INSTALLATION
66
142
242
Mastering fixture
354
(500)
200 250
Robot
Connecting cable
16-O18 Through
65 290 290 65 spot here O26 depth 20 (Back side)
Tap for earth 65 160 160 65 J1-axis base mounting through hole
65
65
340
Mastering fixture
210
880
210
340
65
65
880
Greasing point
Fig. 1.2 (e) Installation interface for the robot without a standard pedestal (Remote controller type)
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