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4.1 Overview ....................................................................................................................................... 29
4.2 System Overview ........................................................................................................................... 29
4.2.1 Robot Arm ............................................................................................................................... 30
4.2.1.1 Robot Range of Motion ..................................................................................................... 30
4.2.1.2 Robot Arm Maximum Allowed Payload ............................................................................. 34
4.2.1.3 Robot Arm Installation ....................................................................................................... 35
4.2.2 Robot End Module .................................................................................................................. 36
4.2.2.1 End Module Components ................................................................................................. 36
4.2.3 End Flange Surface ................................................................................................................ 38
4.2.4 End Mounting Caution ............................................................................................................. 39
4.2.4.1 End Indication Light Ring Table ......................................................................................... 39
4.2.5 Control Box ............................................................................................................................. 41
4.2.5.1 Robot Stick ....................................................................................................................... 41
5. Electrical Interface .................................................................................................................................. 44
5.1 Overview ....................................................................................................................................... 44
5.2 Electrical Warnings and Cautions .................................................................................................. 44
5.3 Control Box .................................................................................................................................... 45
5.3.1 Safety Connector .................................................................................................................... 45
5.3.2 Power Connector .................................................................................................................... 47
5.3.3 Digital In/Out ........................................................................................................................... 48
5.3.4 Analog In ................................................................................................................................. 50
5.3.5 Analog Out .............................................................................................................................. 50
5.3.6 EtherCAT: For EtherCAT Slave I/O Expansion ........................................................................ 51
5.3.7 USB Port ................................................................................................................................. 51
5.4 Tool End I/O Interface .................................................................................................................... 52
5.4.1 I/O Terminals ........................................................................................................................... 52
5.4.2 Connecting Tool End Digital Out .............................................................................................. 54
5.4.3 Connecting Tool End Digital In ................................................................................................ 54
5.4.4 Connecting Tool End Analog In ............................................................................................... 55
5.5 Control Box Interfaces ................................................................................................................... 55
5.6 Control Box Power Interface and Robot Interface .......................................................................... 57
5.6.1 Control Box Power Interface ................................................................................................... 57
5.6.2 Robot Interface ....................................................................................................................... 59
6. Maintenance and Repair ......................................................................................................................... 60
7. Warranty Statement ................................................................................................................................ 61
7.1 Product Warranty ........................................................................................................................... 61
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