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kg rigid plate. The first mode frequency should be at least 25 Hz. Greater than 40 Hz is
recommended when using heavy payloads, high accelerations, or multiple robots.
If an optional cable inlet box is used, account for the increased height needed for this
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item. Refer to Installing a Cable Inlet Box for iX4-650H/800H Robots on page 88 for
more information.
Applications requiring higher than 6 kg * 10 g forces across the belt and/or 6 kg * 3 g
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along the belt may require a stiffer frame design.
Frame Orientation
The sample robot frame design is stiffer in one direction than the other. This is to accom-
modate conveyor belt applications where the robot is moving with much more acceleration
across a conveyor belt than along it. The conveyor should generally be aligned so that the belt
travel is along the robot World Y-axis, and the mid-height frame members cross the belt at a
90° angle. The across-the-belt dimension of the frame should be minimized to get the best per-
formance of the robot in that direction. While this frame design assumes a 1.8 m across-the-
belt frame dimension, a 1.5 m dimension would offer increased stiffness and possibly
increased robot performance at high accelerations and payloads. The mid-height horizontal
members are important to the frame stiffness, and should be located as close to the belt as pos-
sible.
For applications requiring high accelerations along the direction of belt travel, consideration
should be given to strengthening the frame in that direction.
Frame Construction
Typically, the frame is constructed of welded steel members. Hygiene-sensitive applications
may call for stainless steel fabrication, with care taken to seal up all possible voids and grind
smooth all weld joints. For other applications, it may be suitable to manufacture the frame of
carbon steel and paint the resulting assembly. The frame design presented here is based on a
stainless steel construction using 10 mm thick members. It may be reasonable to use a reduced
thickness for carbon steel assemblies. Some customers may choose to use tubular members, or
turn horizontal members at 45° angles to facilitate water runoff from the flat frame surfaces.
The sample shown in Mounting Frame on page 35 is for an iX4-650H/800H robot.
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While stiff enough for use with the iX4-650HS/800HS robots, it was not designed for
USDA applications. Detailed drawings are given in Mounting Frame Specifications on
page 170
The thickness of the frame mounting tabs is critical, as is the flatness of those tabs. See
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Frame Mounting Tabs (following) and Mounting Surfaces on page 38.
The frame must be stiff enough to prevent excessive vibration.
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You may want to design the frame so that the robot can be installed by lowering it from
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the top.
Frame Mounting Tabs
For the iX4-650HS/800HS robots, to achieve the correct compression of the sealing gaskets, the
mounting tabs on the frame must be 12.7 mm, +1.3, -0.7 mm thick. Because the junction of the
robot base mounting pad and the frame mounting pad is sealed with a gasket, the frame
mounting pads must be at least as big as the robot base mounting pads. If the frame pad does
not cover the entire robot pad, the gasket will not seal properly. The design of the iX4-
22793-000 Rev. A
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Chapter 3: Robot Installation
37
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