Notes On Installation - IAI IX Series Operation Manual

9.1

Notes on Installation

9.2
In the case of the ceiling-mount specification, the robot will move to points above the base installation surface when
the vertical axis (Z-axis) is moved to the top position.
In the case of the inverse specification, the robot will move to points below the base installation surface when the
vertical axis (Z-axis) is moved to the bottom position.
Additionally, when performing an absolute reset, the vertical axis (Z-axis) must be moved to the top position in the
case of the ceiling-mount specification or to the bottom position in the case of the inverse specification (home-return
operation).
Therefore, install the robot in such a way that the vertical axis will not collide with the ceiling or platform during an
absolute reset.
It is recommended that the pedestal be constructed in such a way that contact with the robot will not occur within the
robot's range of movement (see the figure below). If the pedestal cannot be constructed as shown below, be sure to
reduce the robot's range of movement using soft-limits and prevent the robot from contacting the pedestal.
Center of recommended installation part
Center of recommended installation part
51