IAI America CT4 - Manual (Page 27)

2. Installation
21
2.3.3 Platform for installation
Ɣ The attachment surface should be a machined surface or a flat surface that possesses an
equivalent accuracy, and the flatness should be 0.05mm/m or less.
Ɣ The platform should possess a structure that the robot can be installed in the horizontal
orientation.
Ɣ The platform to mount the robot on receives large reaction forces. Shown in the table below
is the transient maximum reaction force (reference) applied to each axis when 1kg is loaded
assuming the robot moves at the maximum speed and acceleration.
Prepare a platform that is stiff enough. Affix the robot with items such as anchor bolts to
install it solidly so the CT4 would not move with the movement of the robot.
Axis Reaction Force
X-axis 660N
Y-axis 235N
Z-axis 85N
Ɣ Prepare a platform with its specific frequency at 75Hz or more.
[Example for Installation Platform]
Shown in the figure below is an example for an installation platform.Build an installation
platform by referring to it.
0.05/1000
25 or more
800 or less
500 or less 900
□100 x 100 x t6.0
(Steel Squares)