Robot Positioning; Joint Zero Position; Ready Position - Omron i4-350L User Manual

4 Operation
4-8

Robot Positioning

The information in this section describes important robot positions for typical operation.
4-8-1

Joint Zero Position

The robot is at the zero position under the following conditions. When the robot is properly calibrated
and positioned at a precision point that consists of all zeros, the robot will have the following orienta-
tion.
• The inner link and outer link are fully extended.
• The quill is retracted in the up position.
• The 6 mm through hole on the tool flange is at the position shown below.
4-8-2

Ready Position

Use the READY keyword to place the robot in the ready position. Refer to the V+ Keyword Reference
Manual (Cat. No. I672) for more information.
Ready positions provide below may vary slightly due to nulling tolerances.
Model
i4-350L
i4-450L
i4-550Li4-550L (350
mm Z)
4-14
6 THRU
Joint 1 Position Joint 2 Position
-44.42° 88.83°
-35.10° 99.72°
-50.48° 100.96°
Joint 3 Position Joint 4 Position
10.00 mm 44.42°
10.00 64.50°
10.00 mm 50.48°
i4L Robots with EtherCAT User's Manual (I659)