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4.5 Grounding the Robot System
AC Power Supply Cable Connection Procedure
Use the following procedure to connect the AC power supply cable from the power source to
the robot interface panel.
Additional Information: Refer to External Connection Specifications on page 166
for more information.
Considerations for the cable inlet box should be made before connecting the
AC power supply cable. Refer to Installing a Cable Inlet Box for iX4-650H/800H
Robots on page 88 and Installing a Cable Inlet Box for iX4-650HS/800HS Robots
on page 91 for more information.
IMPORTANT: Do not apply AC power until all installation steps are complete
and verified and all safety measures are in place.
1. With the AC supply OFF, connect the unterminated end of the AC power cable to your
facility AC power source.
2. Plug the AC connector into the AC power connector on the robot interface panel on the
robot.
3. Secure the AC connector with the locking latch.
4.5 Grounding the Robot System
Proper grounding is essential for safe and reliable robot operation. Follow these recom-
mendations to properly ground your robot.
IMPORTANT: The resistance of the ground conductor must be ≤ 10 Ω.
!
If hazardous voltages are present at any user-supplied robot-mounted equipment or tooling,
you must install a ground connection for that equipment or tooling. Hazardous voltages can
be considered anything in excess of 30 VAC (42.4 VAC peak) or 60 VDC.
If there will be hazardous voltages present at the tool flange or end-effector, you must:
Connect the mounting frame to protective earth ground.
l
Ground the robot base to the mounting frame.
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The iCS-ECAT is grounded to the robot base through a conductive gasket.
Ground the end-effector to the robot base while considering routing to prevent entan-
l
glement.
NOTE: A ground strap from the end-effector to the base mounting pad must
include a service loop that allows full rotation and movement of the tool flange.
86
WARNING: ELECTROCUTION RISK
Failing to ground robot-mounted equipment or tooling that uses hazardous
voltages could lead to injury or death of a person touching the end-effector
when an electrical fault condition exists.
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
22793-000 Rev. A
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