2.5.4 Max.payloadwithintheoperatingradius............................................................................................................. 27
2.5.5 Toolcenterposition..................................................................................................................................................... 28
2.6 Labels..................................................................................................................28
3. Installing the Robot.................................................................... 30
3.1 Installationprecautions....................................................................................30
3.2 Installationenvironment...................................................................................30
3.2.1 Installationlocations..................................................................................................................................................... 30
3.2.2 Checkingtherobot'soperatingradius................................................................................................................... 32
3.3 Hardware installation........................................................................................35
3.3.1 Fixatingtherobot.......................................................................................................................................................... 35
3.3.2 Connectingatooltotherobot.................................................................................................................................. 37
3.3.3 Connectingtherobottothecontrolbox................................................................................................................ 39
3.3.4 Connectingthecontrolboxtotheteachpendant.............................................................................................. 42
3.3.5 Pluggingtherobotintothecontrolbox................................................................................................................... 44
4. Interfaces..................................................................................... 46
4.1 Flange I/O............................................................................................................46
4.1.1 Flangedigitaloutputspecifications.......................................................................................................................... 48
4.1.2 Flangedigitalinputspecification............................................................................................................................... 49
4.2 Control box I/O connections...........................................................................51
4.2.1 Configuringthesafetycontactinputterminalblock(TBSFT).......................................................................... 52
4.2.2 Configuringthesafetycontactoutputterminalblock(TBSTO)...................................................................... 53
4.2.3 ConfiguringthedigitalI/Opowerterminalblock(TBPWR)............................................................................. 54
4.2.4 ConfiguringtheconfigurabledigitalI/Oblocks(TBCI1-4andTBCO1-4)................................................... 55
4.2.5 ConfiguringtheanalogI/Oterminalblock(TBAIO)........................................................................................... 62
4.2.6 EncoderInputTerminal(TBEN1,TBEN2)Configuration.............................................................................. 64
4.3 Connecting to a network..................................................................................67
4.3.1 Connectingtoanexternaldevice–Visionsensor............................................................................................. 68
4.3.2 ModbusTCPSlaveSetup........................................................................................................................................ 68
