Setup & Operation 3. Environment and Installation
36 S5 Rev.5
3.4.1 Base Table Mounting
A base table for anchoring the Manipulator is not supplied. Please make or obtain the
base table for your Manipulator. The shape and size of the base table will differ
depending on the use of the robot system. For your reference, we list some basic
Manipulator table requirements here.
The base table must not only be able to bear the weight of the Manipulator but also be able
to withstand the dynamic movement of the Manipulator when it operates at maximum
acceleration. Ensure that there is enough strength on the base table by attaching
reinforcing materials such as crossbeams.
The torque and reaction force produced by the movement of the Manipulator are as
follows:
S5-A701** S5-A901**
Max. Horizontal rotating torque
600 N·m 900 N·m
Max. Horizontal reaction force
1000 N 1400 N
Max. Vertical rotating torque
800 N·m 900 N·m
Max. Vertical reaction force
3000 N 3500 N
There are 4 threaded holes for the Manipulator base. Use M10 mounting bolts
conforming to the strength, ISO898-1 property class: 12.9. For the dimensions, refer to
the Setup & Operation 3.3 Mounting Dimensions.
The plate for the Manipulator mounting face should be 30 mm thick or more and made of
steel to reduce vibration. The surface roughness of the steel plate should be 25 μm or
less.
The base table must be secured on the floor to prevent it from moving.
The Manipulator must be installed horizontally.
When using a leveler to adjust the height of the base table, use a screw with M16 diameter
or more.
If you are making holes for the cables and passing the cables through the holes on the base
table, see photos below.
Do not remove the M/C cables from the Manipulator.
For environmental conditions regarding space when placing the Controller on the base
table, refer to the Controller manual.
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