Mounting Frame Specifications - Omron iX4 User Manual

7.8 Mounting Frame Specifications
Modulation
Baud rate
1
Topology
Transmission media
Maximum transmission distance
between nodes
Communications cycle
1
Wiring in a ring configuration is not possible.

7.8 Mounting Frame Specifications

The iX4 robot is designed to be mounted above the work area, suspended on a user-supplied
frame. The frame must be adequately stiff to hold the robot rigidly in place while the robot plat-
form moves around the workspace. You can either use the design provided or design a custom
support frame. The drawings for a sample frame are provided here.
NOTE: The design of the iX4-650HS/800HS robot mounting bolts and seals
requires tight tolerances for the robot mounting holes in the frame. These should
be 17.25 ±0.75 mm in diameter.
IMPORTANT: Shimming the frame for a iX4-650HS/800HS robot will result in
failure of the robot to comply with USDA requirements.
If you choose to design a custom frame, it must meet the following specifications:
Frequency > 25 Hz ( > 40 Hz for aggressive moves or heavy payloads)
l
Mounting surfaces for the robot pads must be within 0.75 mm of a flat plane.
l
NOTE: Failure to mount the robot within 0.75 mm of a flat plane will result in
inconsistent robot motions.
The iCS-ECAT must be removable from the top of the frame and the inner and outer arm
travel envelopes must be considered. Refer to Arm Travel Volumes on page 149 for more
information.
The following are drawings of a frame suitable for supporting the iX4. This frame allows the
robot to be either lowered from above or lifted up from underneath the frame for installation.
NOTE: The example frame provided here was not designed to meet USDA
standards. While most mechanical specifications are the same, you will have to
make adjustments to comply with USDA requirements.
This frame is designed to have the robot mounted to the underside of the frame
mounting tabs.
170
Item
Baseband
100 Mbits/s
Line, daisy chain, and branching
Twisted-pair cable of category 5 or higher
Recommended cable: straight, double-shielded cable with
aluminum tape and braiding
100 m
2 ms, 4 ms
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Specification
22793-000 Rev. A