Robot-To-Frame Considerations; Mounting Surfaces - Omron iX4 User Manual

3.2 Mounting Frame
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.

Robot-to-Frame Considerations

The iX4 robots have a moderately-complex mounting requirement due to the nature of the par-
allel arm kinematics and the need to minimize the robot size and mass. Arm Travel Volumes
on page 149 shows the inner arm travel and how it may encroach on the robot mounting
points. As a starting point, for a frame that is 2 meters in each direction, (allowing use of the
full range of the iX4 robots), you should attempt to attain a frame frequency of 25 Hz.
For specialized applications, such as heavy payloads and/or aggressive moves, you may want
to attain a frame frequency of 40 Hz.
In general, a smaller frame will yield a higher frequency. If you aren't going to use the entire
work envelope, you can increase the frequency simply by using a smaller frame.
A lower frequency frame, more aggressive robot moves, and heavier payloads will all con-
tribute to longer settling times.

Mounting Surfaces

The mounting frame should have four mounting tabs that provide a mounting surface for the
robot. These mounting tabs will be mated to the robots mounting pads. Use the following con-
siderations when designing the mounting tabs.
The four mounting tabs should be aligned to a flat, horizontal plane with a maximum
l
of 0.75 mm parallelism deviation. Exceeding this allowance will cause inconsistent
robot move positioning.
If welding mounting tabs to the frame, this should be done as a last step in the con-
l
struction process to ensure parallelism to a flat, horizontal plane.
Consider using a flat surface as a datum during the construction of mounting tabs.
l
Refer to Mounting Hole Dimensions, iX4-650H/800H Robots on page 146 for more inform-
ation.
NOTE: The robot base-mounting pads have spring-lock Heli-Coils in the M16
holes, so lock washers are not needed on the M16 mounting bolts.
The robot mounts in four locations, as detailed in the drawings.
For an iX4-650H/800H robot, the holes are tapped for an M16 x 2.0 bolt. The robot may be
mounted from the top or bottom of the frame. A crane or forklift should be used to position the
robot. If lifted from above, the robot must be lifted by user-supplied eyebolts and slings. Mount-
ing Hole Dimensions, iX4-650H/800H Robots on page 146 shows the mounting hole pattern
for the iX4 robot. Note the hole location and mounting pad tolerances for position and flatness.
If the frame does not meet this flatness specification, use shims to achieve it.
For an iX4-650HS/800HS robot, Mounting Hole Dimensions, iX4-650HS/800HS Robots on page
147 shows the mounting hole pattern. Note the hole location and mounting pad tolerances for
position and flatness.
Deviation from these flatness specifications will, over time, cause a possible loss of robot cal-
ibration.
38 iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
22793-000 Rev. A