Omron i4H User Manual page 75

Precautions for Correct Use
Do not remove factory-installed Joint 1 hardstops.
When adjusting Joint 1 hardstops, do not let screws or other objects drop into the robot body.
1
Remove the 5 M4 screws that hold the Joint 1 hardstop cover in place. Then, remove the Joint
1 hardstop cover to expose the adjustment slots.
Joint 1 Hardstop
Cover
2
Move the inner arm to the desired position to expose the appropriate slot.
Use the following figure to determine the Joint 1 position required to expose a specific hard
stop slot. Positions in parenthesis represent the hardstop limit value.
Position 1+
Position 1-
3
Apply Loctite thread lock type 243 to the M10 X 1.5 - 14 mm socket head screws and insert
them into the appropriate slot(s). Apply a torque of 34 N-m.
4
Repeat steps 2 and 3 if a second hardstop is required.
5
Replace the Joint 1 hardstop cover. Apply Loctite 222 or equivalent to the fasteners, insert
them, and tighten to a torque of 1.1 N-m to complete this procedure.
i4H Robots with EtherCAT User's Manual (I661)
Cover
Screws (x5)
Position 1+
135°
(+107°)
Position 2+
Position 3+
Position 4
Position 3-
Position 2-
Position 1-
-135°
(-107°)
Hardstop
Slots
Position 2+
90°
Position 3+
(+62°)
45°
(+17°)
Position 3-
-45°
Position 2-
(-17°)
-90°
(-62°)
3 Installation
3
Position 4
0°
(-28° or +28°)
3-9