Table of Contents
Advertisement
1.4 Robot Options
NOTE: The only visible difference between the P32 and P34 platforms is the
model number, and the dots immediately below that number. Two dots des-
ignate a P32 platform.
Robot Motions and Obstacles
Considerations for robot motions and obstacles are described below.
Robot Motions
Joint-interpolated motion is not possible with the robot because the positions of all the joints
must always be coordinated in order to maintain the connections to the platform. As a result,
the control system automatically performs a straight-line motion when a joint-interpolated
motion request is encountered.
Containment Obstacle
The work space of the robot is defined by an inclusion obstacle. This is done because, unlike
other robots, joint limits are not meaningful in defining the work space. The system defines a
cone-like shape as a containment obstacle as the work envelope. Other obstacles can be
defined within this area. Refer to the Sysmac Studio Robot Integrated System Building Function
with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for more information.
1.4 Robot Options
This section describes the various options available for the robot.
!
I/O Options
The following optional items are available for use with digital I/O.
XIO Breakout Cable (p/n 04465-000)
l
Refer to Optional Cables on page 21 for more information.
XIO Termination Block (p/n 90356-40100)
l
Includes terminals for user wiring and I/O status LEDs. Connects to the XIO connector
with 2m cable.
IO Blox (p/n 30410-220)
l
IO Blox units extend the robot's capabilities by providing expandable I/O capacity.
18
Figure 1-8. P34 Platform
WARNING: Ensure all optional equipment is installed properly and securely
fastened to the robot before operation. Failure to do so may result in personal
injury or equipment damage.
NOTE: This cable is not compatible with the XIO Termination Block
described below.
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
22793-000 Rev. A
Advertisement
Table of Contents
