Omron i4-350L, User Manual

Page: 136 / 174

4-8 Robot Positioning
The information in this section describes important robot positions for typical operation.
4-8-1
Joint Zero Position
The robot is at the zero position under the following conditions. When the robot is properly calibrated
and positioned at a precision point that consists of all zeros, the robot will have the following orienta-
tion.
• The inner link and outer link are fully extended.
• The quill is retracted in the up position.
• The 6 mm through hole on the tool flange is at the position shown below.
6 THRU
4-8-2
Ready Position
Use the READY keyword to place the robot in the ready position. Refer to the V+ Keyword Reference
Manual (Cat. No. I672) for more information.
Ready positions provide below may vary slightly due to nulling tolerances.
Model Joint 1 Position Joint 2 Position Joint 3 Position Joint 4 Position
i4-350L -44.42° 88.83° 10.00 mm 44.42°
i4-450L -35.10° 99.72° 10.00 64.50°
i4-550Li4-550L (350
mm Z) -50.48° 100.96° 10.00 mm 50.48°
4 Operation
4-14
i4L Robots with EtherCAT User's Manual (I659)