3-4
Installing Optional Equipment
This section provides information about installing the following optional equipment.
3-4-1
Mounting External Equipment to the Robot
The robot body has accommodations to mount external equipment such as a camera or solenoid
valves. Use the information below to understand how to mount external equipment to the robot.
4 mounting holes are provided on the bottom of the outer link between joint 2 and joint 4.
2 mounting holes are provided on the bottom and near the end of the outer link.
The following considerations should be made when mounting external equipment to the robot.
• Do not mount equipment that will interfere with robot motion or other objects in the work cell.
• Do not mount equipment in a way that can induce excessive inertia to the outer link.
• Mounting holes are thru-type and the robot body is 6.5 mm thick. Do not use fasteners that can ex-
tend into the body of the robot. This can interfere with internal components.
Precautions for Correct Use
Any externally mounted equipment is considered robot payload. Consideration to the payload
attached to the Tool Flange should be made when mounting external equipment to the robot.
Apply a torque of 2.5 N-m to the user-supplied fasteners when mounting equipment to the 4 mounting
holes between joint 2 and joint 4. Apply Loctite thread lock type 222 or equivalent.
Apply a toque of 4.5 N-m to the user-supplied fasteners when mounting equipment to the 2 mounting
holes at the end of the outer link. Apply Loctite thread lock type 243 or equivalent.
(4X) M4 X 0.7 6H THRU
6.5 mm max. thread engagement
(2X) M5 x 0.8 6H 7.5
20.5 mm
14 mm
0
20.5 mm
14 mm
86.6 mm
70 mm
0
34 mm
Bottom Surface
(Outer Link)
3 Installation
3-6
i4L Robots User's Manual (I658)
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