When to say "i" before a Welsh verb

I notice that sometimes there is an “i” before a verb; is there any rule about this?

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There’s a helpful topic on this. I’ll try to find it.

I think this is the best thread -
https://forum.saysomethingin.com/t/when-to-use-and-when-not-to-use-i-as-a-preposition-before-a-verbnoun/7110