Chapter 4: Installation 31
99-04-23
Before you begin:
• Clear any debris from the surface where you will place the base.
1. Using a
5
/
16
hex key, unscrew the socket head cap screws fastening the base to
the wooden shipping platform.
2. Remove the shipping platform. The encoder is now exposed on the open
underside of the base.
3. Leave the white packing foam between the wrist and the base until the arm is
completely installed.
Storing the Packaging Materials
Keep all packaging materials in case you need to ship the arm in the future. After
installation, remove the white packing foam between the wrist and the base, and
store it with the other packaging materials.
Preparing the Mounting Platform
The arm should be firmly mounted on a supporting platform rigid enough to
support the arm and withstand repulsion forces during acceleration and
deceleration.
There are two methods of preparing a mounting platform:
• By fastening a metal plate to your supporting structure (bench, bracket, etc.)
and mounting the arm on that plate.
• By fastening the arm directly on a supporting structure.
Tip: Use dowel pins to align the robot in cases where the arm is regularly
mounted and dismounted and precise relocation is necessary. Dowel pins are
also useful during installation after repair.
You need:
• Machine tools to drill, tap, and ream.
Before you begin:
• Ensure that the supporting structure (bench, bracket, etc.) is firmly fastened to
the floor to prevent movement.
• If you are preparing a metal plate, the metal should have a minimum yield
strength of 30 Ksi [210 MPa].
Note: The locations for the metric and imperial dowel pins are different, as shown
in the drawings on the next page.
1. Use the dimensions shown in the drawings on the next pages to prepare a
mounting platform.
2. Drill and tap four holes for the threaded fasteners:
• Imperial:
3
/
8
- 16 thread
• Metric: M8 x 1.25 thread
3. If you require dowel pins, drill and ream two holes for the dowel pins:
• Imperial:
1
/
4
inch diameter
• Metric: 6 mm diameter
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