Mvc\Model\Query\Builder::join

// Inner Join model 'Robots' with automatic conditions and alias
$builder->join('Robots');

  // Inner Join model 'Robots' specifing conditions
$builder->join('Robots', 'Robots.id = RobotsParts.robots_id');

  // Inner Join model 'Robots' specifing conditions and alias
$builder->join('Robots', 'r.id = RobotsParts.robots_id', 'r');

  // Left Join model 'Robots' specifing conditions, alias and type of join
$builder->join('Robots', 'r.id = RobotsParts.robots_id', 'r', 'LEFT');