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Chapter 1: Introduction
Robot Links and Joints
The robot links and joints are described below.
Joints 1, 2, and 4 are rotational. Joint 3 is translational.
Figure 1-6. Robot Joint Motions - eCobra 600 Robot Shown
Key
Meaning
Key
Meaning
A
Joint 1 (Shoulder)
D
Joint 4 (Wrist)
B
Joint 2 (Elbow)
E
Outer link
C
Joint 3 (Z)
F
Inner link
Robot Connections
This section describes the various external and internal ports and connectors that are available
on the standard eCobra robot..
NOTE:
Some connections may differ on robots with the IP65 or Cleanroom
options. Refer to IP65 Option Considerations on page 153 and Cleanroom Option
Considerations on page 167 for more information.
The external connections include:
l
iCS-ECAT robot interface panel connections
l
Pneumatic pass-through ports
24402-000 Rev B
eCobra 600 and 800 Robots with EtherCAT
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