Design Considerations for RM2 Positioner Tooling

Review product manual. All product manuals can be found at: https://www.motoman.com/en-us/service-training/product-documentation
Consult Yaskawa Engineering or Motosize (Authorized Integrator Access only) for positioner loading calculations.
If your positioner has modification--such as a custom MotoMount--refer to the technical details of those modifications to make necessary adjustments to tooling design.
Maintain the net weight of the tooling, parts, and utilities on the tooling orbital axis under the maximum weight capacity of the positioner.
If tooling mass is different on from Side A to Side B, maintain the greater mass on side B which sweeps over the center axis (Side A sweeps under).
Make sure to comply with maximum unbalanced load specifications as found in the manual.
For fixture length, build fixtures to +/- 1mm of the pin-to-pin distance. The actual total tool length can be up to 63.6mm longer than the pin-to-pin distance to account for the MotoMount block thickness.
Fixture width needs to be such that the fixture is contained in the turning envelope – usually 1300mm (short arm),1600mm (long arm), or other custom length.
Make sure to consider the “D” shape profile of the Side A that sweeps under so that the tooling will safely clear the floor.
Maintain the Center of Gravity (CG) of the loaded tooling within the equipment specifications. The CG can be moved in tooling by adding a ballast at the correct location if the positioner weight limit is not exceeded.
Tooling should align on the MotoMount block location pin and bolt on to all 4 bolt holes. Do not use spacers between the tooling flange and the MotoMount, as it could result in having unsupported lengths of screws which can behave as thin columns and flex.
When designing tooling ensure that there is enough stiffness and rigidity to resist torsion and bending. If the tool is not stiff enough for bending it can sag causing the MotoMount to tilt. If the MotoMount tilts beyond its intended limit it can lock up, causing inconsistent positioning and damage. If the tool does not have enough torsional stiffness, then the slave side of the fixture will lag the driven side of the fixture creating additional stresses and potentially damaging the tooling.
When mounting tooling of dissimilar metals, ensure proper material compatibility and preparation. This includes selecting appropriate fastening methods, adhesives, or welding techniques to mitigate risks such as galvanic corrosion, differential thermal expansion, and mechanical stress.
WARNING: Failure to comply with any of these items may result in equipment damage, facility damage, potential safety issues, increased positioner stopping times, and voiding of positioner warranty.

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