How deep does my equipment foundation need to be?

The depth of the foundation should be beep enough to properly embed the anchor bolts.  This would vary based on the size of the equipment.  First, consider the mass required for the foundation.  Next, consider the 30 degree rule for a stable footprint.

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What keeps anchor bolts from pulling out?

Anchor bolts are required to have an anti-pull out device generally this is a washer with a nut that is tack welded on the end so it cannot be unthreaded.

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What should I use as a non-bonding filler at the top of an anchor bolt pocket?

The non-bonding fill at the top of an anchor bolt can be an elastic material or an expanding foam, Great Stuff for instance.

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