Mounting The Robot; Robot Mounting Surface; Mounting Procedure - Omron i4H User Manual

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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
2-5-2 Mounting Screws and Torques on page 2-17 for more information.
• A lifting strap.
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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.
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 rough-
ness of 25 μm that is properly secured to the floor or wall as a robot mounting surface. Mount-
ing surface flatness must not exceed 5 mm.
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.
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Mounting Procedure

Use the following procedure to mount the robot.
i4H Robots with EtherCAT User's Manual (I661)
WARNING
3 Installation
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