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    AM120iB Robots Install

    Uploaded by

    armando martinez
    The document discusses the installation of an industrial robot. It provides dimensions for mounting the robot base to a sole plate fixed with chemical anchors. An example installation is shown using four M20 anchors and four M16 bolts to fasten the robot base. Load specifications are given for bending moments, vertical loads, torsion moments and horizontal loads on the robot base during operation, acceleration, deceleration and emergency stopping. Stopping times and distances are listed for different robot models under maximum payload and inertia conditions.

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    AM120iB Robots Install

    Uploaded by

    armando martinez
    32 views4 pages
    The document discusses the installation of an industrial robot. It provides dimensions for mounting the robot base to a sole plate fixed with chemical anchors. An example installation is shown using four M20 anchors and four M16 bolts to fasten the robot base. Load specifications are given for bending moments, vertical loads, torsion moments and horizontal loads on the robot base during operation, acceleration, deceleration and emergency stopping. Stopping times and distances are listed for different robot models under maximum payload and inertia conditions.

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    © © All Rights Reserved

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    The document discusses the installation of an industrial robot. It provides dimensions for mounting the robot base to a sole plate fixed with chemical anchors. An example installation is shown using four M20 anchors and four M16 bolts to fasten the robot base. Load specifications are given for bending moments, vertical loads, torsion moments and horizontal loads on the robot base during operation, acceleration, deceleration and emergency stopping. Stopping times and distances are listed for different robot models under maximum payload and inertia conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    32 views4 pages

    AM120iB Robots Install

    Uploaded by

    armando martinez
    The document discusses the installation of an industrial robot. It provides dimensions for mounting the robot base to a sole plate fixed with chemical anchors. An example installation is shown using four M20 anchors and four M16 bolts to fasten the robot base. Load specifications are given for bending moments, vertical loads, torsion moments and horizontal loads on the robot base during operation, acceleration, deceleration and emergency stopping. Stopping times and distances are listed for different robot models under maximum payload and inertia conditions.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 4

    3.

    TRANSPORTATION
    B-81765EN/05 CONNECTION AND INSTALLATION

    3.3 INSTALLATION

    Fig. 3.3 (a) shows the dimensions of the base of the robot main body.

    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.

    Mounting face
    4-f18 through
    f26 facing depth 5

    Front

    J1 rotation center
    Mounting face

    Fig 3.3 (a) Dimensions of the base of the robot main body

    - 185 -
    3.TRANSPORTATION
    AND INSTALLATION CONNECTION B-81765EN/05

    Fig. 3.3 (b) shows an example of installing the robot. In this


    example, the sole plate is fixed with four M20 chemical anchors (in
    strength category 4.8), and the robot base is fastened to the sole plate
    with four M16×40 bolts (in strength category 12.9). If compatibility
    must be maintained in teaching the robot after the robot mechanical
    unit is replaced, use the mounting surface.

    NOTE
    The customer shall arrange for the positioning pin,
    anchor bolts, and sole plate.

    4-f24 through Mounting face

    4-M16 through

    J1 rotation center

    Mounting face

    Chemical anchor Robot J1 base


    Robot fixing bolt
    M20 (4pcs)
    Strength class : 4.8 /˜
    REU 
    M16 35 (4pcs)
    Tightening torque : 186 Nm Strength class : 12.9
    Tightening torque : 314 Nm

    Fig 3.3 (b) Example of installing the robot

    - 186 -
    3.TRANSPORTATION
    B-81765EN/05 CONNECTION AND INSTALLATION

    Fig. 3.3 (c) and Table 3.3 (a) and (c) explain what load is put on the J1
    base when the robot is at a rest, accelerating or decelerating, and at an
    emergency stop. Table 3.3(b),(d) indicates the coasting time and
    distance consumed from the pressing of the emergency stop button
    until the robot stops.

    MV

    FH
    FV

    MH

    Fig 3.3 (c) Load and moment applied to the J1 base (ARC Mate 120iB, M-16iB/20)

    Table 3.3 (a) Load and moment applied to the J1 base (ARC Mate 120iB, M-16iB/20)
    State Bending moment Vertical load Torsion moment Horizontal load
    MV[kgfm](Nm) FV[kgf](N) MH[kgfm](Nm) FH[kgf](N)
    At rest [126](1231) [259](2541) [0](0) [0](0)
    Accelerating or [471](4616) [380](3723) [177](1737) [244](3396)
    decelerating
    At an emergency stop [1261](12359) [743](7282) [575](5633) [534](5231)

    Table 3.3 (b) Stopping time and distance when emergency stop (ARC Mate 120iB, M-16iB/20)

    Model J1-axis J2-axis J3-axis

    ARC Mate 120iB, Stopping time [msec] 205 148 102


    M-16iB/20
    Stopping distance [deg] (rad) 16.0 (0.28) 12.8 (0.22) 9.6 (0.17)

    ̪ Override 100%
    ̪ Max. payload, and max. inertia posture

    - 187 -
    3.TRANSPORTATION
    AND INSTALLATION CONNECTION B-81765EN/05

    MV

    FH

    FV

    MH

    Fig 3.3 (d) Load and moment applied to the J1 base (ARC Mate 120iB/10L, M-16iB/10L)

    Table 3.3 (c) Load and moment applied to the J1 base (ARC Mate 120iB/10L, M-16iB/10L)
    State Bending moment Vertical load Torsion moment Horizontal load
    MV[kgfm](Nm) FV[kgf](N) MH[kgfm](Nm) FH[kgf](N)
    At rest [126](1231) [259](2541) [0](0) [0](0)
    Accelerating or [471](4616) [380](3723) [177](1737) [244](3396)
    decelerating
    At an emergency stop [1261](12359) [743](7282) [575](5633) [534](5231)

    Table 3.3 (d) Stopping time and distance when emergency stop (ARC Mate 120iB/10L, M-16iB/10L)

    Model J1-axis J2-axis J3-axis


    ARC Mate Stopping time [msec] 190 162 101
    120iB/10L,
    M-16iB/10L Stopping distance [deg] (rad) 15.5 (0.27) 12.8 (0.22) 10.6 (0.18)

    ̪ Override 100%
    ̪ Max. payload, and max. inertia posture

    - 188 -

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