Joint 1 Adjustable Hardstops; Joint 2 Adjustable Hardstops; Joint 3 Adjustable Hardstop - Omron i4-350L User Manual

Joint Hardstop
Position
1
2
3
4
5
6
7
*1. The i4-350L model includes pre-installed hardstop screws in positions 5 and 6 to prevent base interference
with the quill. Do not remove these pre-installed hardstop screws.
3-5-1

Joint 1 Adjustable Hardstops

Use the following information when making joint 1 hardstop adjustments.
• Four M8 X 10 socket head cap screws, class 12.9 are supplied with the robot for use as Joint 1 and

Joint 2 adjustable hardstops.

• Apply Loctite thread lock type 243 or equivalent.
• Apply a torque of 17 N-m when tightening the hardstop screws.
3-5-2

Joint 2 Adjustable Hardstops

Use the following information when making joint 2 hardstop adjustments.
• Four M8 X 10 socket head cap screws, class 12.9 are supplied with the robot for use as Joint 1 and
Joint 2 adjustable hardstops.
• Apply Loctite thread lock type 243 or equivalent.
• Apply a torque of 17 N-m when tightening the hardstop screws.
3-5-3

Joint 3 Adjustable Hardstop

The joint 3 down stroke can be limited by sliding the clamp collar down the z-axis quill to a lower posi-
tion.
The following tools are required when adjusting the joint 3 hardstop.
• 4 mm hex bit
• Torque wrench
• Loctite thread lock type 243 or equivalent
•
Precautions for Correct Use
Never loosen or remove the quill clamp collar while the z-axis brake is released.
i4L Robots with EtherCAT User's Manual (I659)
Joint Limita-
tion
i4-350L
Joint 1 -109.5°
+109.5°
Joint 2 -124°
+124°
*1
See note
Joint 3 5 mm from end of travel.
Range of Motion Software Limit Setting
i4-450L i4-550L / i4-550L (350 mm Z)
-118°
+118°
-133°
+133°
3 Installation
3
3-21