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iX3 565 Robot with EtherCAT User’s Manual
22792-000 Rev. A
3.2 Mounting an iX3 Robot
3.2 Mounting an iX3 Robot
This section describes mounting details for the iX3 robot.
!
WARNING: PERSONAL INJURY OR PROPERTY DAMAGE RISK
Only allow qualified service personnel to install or service the robot.
Mounting Frame Overview
The robot is designed to be mounted above the work area suspended on a user-supplied frame.
Refer to Robot Physical Dimension Drawings on page 119 for more information about mount-
ing hole patterns.
The design of the robot mounting frame is the user’s responsibility. The following general con-
siderations should be made when designing a mounting frame.
l
The flatness of the frame mounting tabs is critical for accurate positioning. Deviation
from this flatness specification can cause loss of robot calibration. Refer to Mounting
Surfaces on page 35 for more information.
l
The iCS-ECAT unit must be removable from the robot without removing the robot from
the frame. This is needed for maintenance and inspection of the robot.
l
The frame must be designed to prevent inner arm travel from interfering with the
mounting frame. Refer to Arm Travel Volumes on page 120 for more information.
l
Frame stiffness and vibration characteristics affect motion settling times. Frames with
lower natural frequencies will lead to longer motion settling times because the tool
flange of a robot will continue moving by any amount that the suspended robot base is
moving, even after servo control considers robot motion to be fully settled. A modal ana-
lysis should be performed on the frame design with each robot approximated as a 120
kg rigid plate. The first mode frequency should be at least 25 Hz, and greater than 40
Hz is recommended when using heavy payloads, high accelerations, or multiple robots.
l
If an optional cable inlet box is used, account for the increased height needed for this
item. Refer to Installing a Cable Inlet Box on page 55 for more information.
Reactive Forces
All robot motions cause reactive forces. These forces are transmitted directly to the robot frame.
As the robot system works to position the tool flange relative to the base of the robot, any
frame or base motion will be unknown to the robot system and will be transmitted to the tool
flange. This transmitted base motion will result in inertial movement of the tool flange mass
and will cause disturbance forces to be introduced into the robot control system. These dis-
turbance forces cause additional work to be done by the robot servo control system which may
result in longer settling times for robot operations. This can be reduced with high frame stiff-
ness.
Additional Information
: After the system reports the robot to be fully settled, the
tool flange may still be moving by any amount of motion that the suspended
base of the robot may be experiencing.
