1-5
Model Numbers ....................................................................................................................1-15
1-5-1
Robot Model Numbers ..............................................................................................................1-15
1-5-2
Controller Model Numbers ........................................................................................................1-15
1-6
Optional Hardware ...............................................................................................................1-16
1-6-1
IO Blox ......................................................................................................................................1-16
1-6-2
T20 Pendant..............................................................................................................................1-16
1-6-3
IPC Application Controller .........................................................................................................1-17
1-6-4
XIO Termination Block...............................................................................................................1-17
1-6-5
Optional Cables.........................................................................................................................1-18
1-6-6
1-6-7
Bellows Kit.................................................................................................................................1-21
1-6-8
Pneumatic Valve Kit ..................................................................................................................1-22
1-6-9
Power Supply Kits .....................................................................................................................1-23
Section 2
2-1
Physical Specifications .........................................................................................................2-2
2-1-1
Robot Overall Dimensions ..........................................................................................................2-2
2-1-2
Mounting Flange Dimensions......................................................................................................2-4
2-1-3
Tool Flange Dimensions ..............................................................................................................2-5
2-1-4
Front Panel Dimensions ..............................................................................................................2-5
2-1-5
2-1-6
2-1-7
Robot Weights.............................................................................................................................2-8
2-2
2-2-1
2-2-2
2-3
Electrical Specifications......................................................................................................2-13
2-3-1
2-3-2
2-3-3
2-4
2-5
Other Specifications ............................................................................................................2-16
2-5-1
2-5-2
2-5-3
Section 3
3-1
3-2
Mounting the Robot ...............................................................................................................3-5
3-2-1
Robot Mounting Surface .............................................................................................................3-5
3-2-2
Mounting Procedure ....................................................................................................................3-5
3-3
3-4
3-4-1
3-4-2
USER Connector Wiring .............................................................................................................3-8
3-4-3
3-4-4
3-4-5
3-4-6
High Power Kit Connections .....................................................................................................3-19
3-5
Adjustable Hardstops..........................................................................................................3-20
3-5-1
3-5-2
3-5-3
3-6
System Cable Installation ...................................................................................................3-23
i4L Robots with EtherCAT User's Manual (I659)
CONTENTS
7