Gussets; Mounting The Robot Base; Robot Orientation; Mounting Procedure - Omron iX4 User Manual

NOTE: We suggest welding the robot mounting tabs as a last step in the frame
fabrication, using a flat surface as a datum surface during the tack welding oper-
ation.

Gussets

The triangular gussets are an integral part of the frame stiffness. The vibrational strength of a
structural assembly is strongly governed by controlling the shear forces between members. The
250 mm gussets, shown in Mounting Frame Specifications on page 170, are nominally suf-
ficient for transferring the load from the vertical members into the horizontal cross pieces.
Preferably, gussets should be placed at the edges of the frame members to transfer the loading
into the walls of the members, instead of the faces, and enable easier cleaning. Some frame
designs may benefit from extending these gussets to 500 mm in the vertical direction, as the
design intent of the gussets is mainly to secure the long vertical members from rotating out of
position. For this reason, the gussets to the across-the-belt horizontal member should be at the
bottom of the member, as shown in Mounting Frame Specifications on page 170, and as close
to the vertical midplane of the frame as feasible (15 mm thickness is adequate for most situ-
ations).

3.3 Mounting the Robot Base

This section describes mounting details for the iX4 robot base.
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Robot Orientation

We recommend mounting the robot so that the Status Display Panel faces away from a con-
veyor belt (when present). Although the work envelope of the robot is symmetrical, this ori-
entation gives better access to the status display. It also orients the arm loading for aggressive
moves across the belt. This orientation places the robot World Y-axis along the conveyor belt,
and the X-axis across the belt.

Mounting Procedure

Make the following considerations before attempting to mount the robot:
The base casting of the robot is aluminum and can be dented if bumped against a
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harder surface.
Verify that the robot is aligned with all mounting holes before inserting or tightening
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the mounting bolts.
Use the following procedures to mount the robot to the mounting frame.
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22793-000 Rev. A
WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK
Only allow qualified service personnel to install or service the robot.
WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK
Do not attempt to lift the robot from any points other than with slings as
described in the mounting procedure.
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Chapter 3: Robot Installation
39