Introduction to the Hardware
5
Optional Linear Axis Module
The PF400 and PF3400 robots may be attached to an optional Linear Axis Module. The Linear Axis
Module may be ordered in 1000mm, 1500mm and 2000mm travel distances. The module length is about
380mm longer than the travel distance. All cables and controls are contained inside the Linear Axis
Module, which is equipped with drip proof covers and tape seals. Power entry, a power switch, Pendant,
and IO connectors are extended from the base of the robot to the end cap of the Linear Axis Module. The
Linear Axis Module is driven by a servo amplifier located in the carriage. This servo amp gets both power
and commands from the controls in the robot, so the Linear Axis Module must be slaved to a robot in
order to work, and cannot be purchased as a standalone module at this time.
The picture below shows a 750mm vertical travel PF400 on a 1000mm Linear Axis Module. The robot is
positioned in the middle of travel, which is defined as the zero position in the linear axis. The robot may
be mounted in this orientation, in which case the linear axis moves along the Y axis in the robot’s
coordinate system with the linear axis extending the robot’s Y axis by plus or minus 500mm. The robot
may also be rotated 90 degrees so that it faces the connector end cap of the Linear Axis. In this case the
Linear Axis extends the robot’s X axis travel, if the appropriate SW parameter is changed. See the
Software Reference section.
Mounting of Robot and Linear Axis Module
The Robot Base Plate contains a mounting hole pattern for 4 M6 Screws along with reference surfaces
for locating the robot on a table or work cell surface. The Linear Axis Module contains mounting patterns
for both M6 and ¼-20 screws. See Installation section for details.
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