Chapter 3: Robot Installation The Hornet 565 is designed to be mounted above the work area suspended on a user-supplied frame. The frame must be adequately stiff to hold the robot rigidly in place while the robot plat- form moves within the workspace. While we do not offer robot frames for purchase, and the frame design is the responsibility of the user, we provide some general guidelines as a service to our users. Any robot’s ability to settle to a fixed point in space is governed by the forces, masses, and accelerations of the robot.
Since “every action has an equal and opposite reaction”, these forces are transmitted to the robot frame and cause the frame and base of the robot to move and pos- sibly vibrate in space. As the robot system works to position the tool flange relative to the base of the robot, any frame or base motion will be “unobservable” 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 disturbance forces cause “work” to be done by the robot servo control system which may result in longer settling times for robot operations. It is important to note that, even after the system reports the robot to be fully settled, the tool flange will still be moving by any amount of motion that the suspended base of the robot may be experiencing. Robot-to-Frame Considerations The Hornet 565 has a moderately-complex mounting requirement due to the nature of the par- allel-arm kinematics and the need to minimize the robot size and mass. Arm Travel Volume on page 133 shows the inner arm travel and how it may encroach on the robot mounting points.
As a starting point, for a frame that is 1440 mm in the X and Y directions, (allowing use of the full range of the robots), you should attempt to attain a frame frequency of 25 Hz. For specialized applications, such as heavy payloads and/or aggressive moves, you may want to attain a frame frequency of 40 Hz. In general, a smaller frame will yield a higher frequency. If you aren’t going to use the entire work envelope, you can increase the frequency simply by using a smaller frame. A lower frequency frame, more aggressive robot moves, and heavier payloads will all con- tribute to longer settling times. Mounting Dimension Drawings on page 131 shows the mounting hole pattern for the Hornet 565.
Note the hole location and mounting pad tolerances for position and flatness. Deviation from this flatness specification will, over time, cause a possible loss of robot cal- ibration. NOTE: We suggest welding the robot mounting tabs as a last step in the frame fab- rication, using a flat surface as a datum surface during the tack welding operation. Hornet 565 Robot User's Guide, 14608-000 Rev C Page 24 of 156