3-2
Mounting the Robot
Use the information in the following sections to mount the robot.
Before beginning the mounting procedure, have the following tools and resources available.
• A torque wrench for proper tightening of the mounting screws.
• Assistance to maneuver the robot into the mounting position.
• Four socket-head cap screws with flat washers and hex nuts (through hole mounting only). Refer to
2-5-3 Mounting Screws and Torques
on page 2-19 for more information.
• A lifting strap.
3-2-1
Robot Mounting Surface
The robot must be mounted on a smooth, level, and flat surface that is rigid enough to prevent vibra-
tion and flexing during operation. The mounting surface must be designed to support the weight of the
robot with payload and also the reactionary forces that are caused by fast robot motion.
Mounting holes can be drilled and tapped or through type.
WARNING
If a robot is mounted to a surface with inadequate stiffness, damage to the z-axis quill
or other mechanical components can result from excessive oscillation during opera-
tion.
Precautions for Correct Use
• It is recommended to use an 18 mm (minimum) thick steel plate with a maximum surface
roughness of 25 μm that is properly secured to the floor or wall as a robot mounting surface.
Mounting surface flatness must not exceed 5 mm.
• Keep a minimum of 300 mm clearance behind the robot to avoid unmounting of the robot in
case of iCS amplifier chassis replacement and to allow for easy switch setting access.
Robot Mounting Structure
Use the following guidelines when designing a structure to support the robot.
• Structures designed for inverted robots require a typical stiffness of 40 Hz minimum. Applications
with high payloads or aggressive moves at full link extensions may require higher stiffness.
• Structures designed for standard robots require a typical stiffness of 100 Hz minimum.
Precautions for Correct Use
If the robot mounting structure is not designed with adequate stiffness, robot performance will
not meet the specified values.
3-2-2
Mounting Procedure
Use the following procedure to mount the robot to a horizontal surface.
If mounting the robot to a vertical surface using a wall mount bracket, fasten the wall mount bracket to
the surface before attaching the robot. Refer to the following sections for more information.
3 Installation
3-4
i4H Robots User's Manual (I660)
Содержание i4-650H
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Страница 6: ...Manual Information 4 i4H Robots User s Manual I660...
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Страница 176: ...Appendix A 16 i4H Robots User s Manual I660...
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