Omron iX4 User Manual page 36

3.2 Mounting Frame
The frame design is the responsibility of the user. We make no representation or warranty with
respect to these guidelines, or the rigidity and longevity of the structure designed and built by
the user or for the user by a third party using these guidelines. In addition, when the robot is
mounted on the structure based on these guidelines, we do not guarantee that the robot will
perform to the specifications given in this product documentation, due to user's frame or
user's production environmental factors.
As an example, a sample frame design is provided in this document. For generalized applic-
ation performance, frames built to the specifications of this sample should experience no
degradation in robot performance due to frame motions. Applications requiring higher than
6 kg * 10 g forces across the belt and/or 6 kg * 3 g along the belt may require a stiffer frame
design.
Additional Information:
Refer to Robot Physical Dimension Drawings on page 145 for more information
about mounting hole patterns.
Refer to Mounting Frame Specifications on page 170 for more information about
mounting frame dimensions and design.
The following general considerations should be made when designing a mounting frame.
The flatness of the frame mounting tabs is critical for accurate positioning. Deviation
l
from this flatness specification can cause loss of robot calibration. Refer to Mounting
Surfaces on page 38 for more information.
The iCS-ECAT unit must be removable from the robot without removing the robot from
l
the frame. This is needed for maintenance and inspection of the robot.
The frame must be designed to prevent inner arm travel from interfering with the
l
mounting frame. Refer to Arm Travel Volumes on page 149 for more information.
Frame stiffness and vibration characteristics affect motion settling times. Frames with
l
lower natural frequencies will lead to longer motion settling times because the tool
flange of a robot will continue moving by any amount that the suspended robot base is
moving, even after servo control considers robot motion to be fully settled. A modal ana-
lysis should be performed on the frame design with each robot approximated as a 120
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Figure 3-1. Sample iX4 Mounting Frame
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
22793-000 Rev. A