80 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A
CN22
CN20
AIR1
AIR2
Ground
Label
Figure 4-16. Ground Point on Robot Base
IMPORTANT: The earth ground conductor resistance must be ≤ 10 Ω.
Ground Point on eCS-ECAT
The user can install a ground wire at the eCS-ECAT chassis. Use the hole below the eCS-ECAT
interface panel. See the following figure. The user should provide a ground wire and use the
provided M4 screw and external tooth lock washer to connect to earth ground. Make sure to
tighten the screw on the ground wire to create a proper ground connection. Two tapped holes
are provided to attach optional user-supplied strain relief.
Figure 4-17. (A)eCS-ECAT Ground Location
Grounding Robot-Mounted Equipment
The tool flange is not grounded to protective earth. If hazardous voltages are present at any
user-supplied robot-mounted equipment or tooling, you must install a ground connection from
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