Schematic and dimensions - 7 DoF spherical wrist............................................................................................ 48
Technical Specifications..........................................................................................................................................................49
Sensors.............................................................................................................................................................................................. 52
Base readings available.............................................................................................................................................. 53
Actuators readings available...................................................................................................................................54
Interface readings available.....................................................................................................................................54
End effector readings available.............................................................................................................................54
Effective workspace..................................................................................................................................................................55
Payload vs. workspace............................................................................................................................................................56
Interface module expansion - tips for installing tools....................................................................................57
End effector reference design...........................................................................................................................................58
Remove end cap from Interface module...................................................................................................................60
Robotiq Adaptive Grippers installation (optional)..................................................................................................61
Interface module bolting pattern.................................................................................................................................... 63
Interface module user expansion connector pinout........................................................................................... 63
Spring-loaded connector pinout....................................................................................................................................... 64
Robot communications and network interfaces................................................................................................66
Accessing Vision module color and depth streams.........................................................................................68
Concepts and terminology.........................................................................................................................................69
Robot key concepts...................................................................................................................................................................69
Terminology reference.............................................................................................................................................................71
General mathematics and robotics...................................................................................................................... 71
Features, components and functionalities......................................................................................................73
Control and Operation Modes.................................................................................................................................74
Control features............................................................................................................................................................. 76
Singularity avoidance............................................................................................................................................................... 76
Protection zones..........................................................................................................................................................................76
Control modes overview.............................................................................................................................................78
Trajectory control modes......................................................................................................................................................78
Joystick control modes...........................................................................................................................................................78
Admittance modes.....................................................................................................................................................................79
Configurations and safeties...................................................................................................................................... 80
Configurable parameters...................................................................................................................................................... 80
Base configuration..........................................................................................................................................................80
Actuators configuration............................................................................................................................................... 81
Device configuration......................................................................................................................................................82
Vision configuration.......................................................................................................................................................82
Safety items................................................................................................................................................................................... 83
Base (controller) safeties...........................................................................................................................................83
Actuators safeties...........................................................................................................................................................84
Interface module safeties..........................................................................................................................................87
Dimensions, specifications, and capabilities....................................................................................................... 48
