Omron iX4 User Manual page 45

a. Slip one ball joint socket over the corresponding ball stud.
b. Swing the bottom end of the outer arm pair sideways as you slip the other ball
2. Attach one pair of outer arms to each of the four pairs of ball studs on the platform.
a. Swing the bottom end of the outer arm pair to the right, as far as possible.
b. Slip the right ball joint socket over the right ball stud. Move the platform as
c. Move the platform and outer arm pair to the left as you slip the left ball joint
3. Ensure that all spring hooks are fully-seated in the grooves of the spring retainers, as
shown in the following figure.
After all outer arms are fastened to both the inner arms and platform, the platform
installation procedure is complete.
22793-000 Rev. A
Figure 3-6. Pivot to Install Outer Arms
joint socket over the corresponding ball stud.
CAUTION: PROPERTY DAMAGE RISK
!
Do not overstretch the outer arm springs. Separate the ball joint
sockets only enough to fit them over the ball studs.
NOTE: Ensure that the numbers on the platform match the numbers on
the underside of the robot base. This will place the platform tool flange
closest to the Status Display Panel. Refer to Align the Platform with the
Robot Base on page 42. The platform is installed flange-down.
needed to do this.
socket over the corresponding ball stud.
Figure 3-7. Springs Seated Properly
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Chapter 3: Robot Installation
45