Connecting The Cables; Cable Routing; Connecting The Earth Ground; Figure 4-13 Cable Routing - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

4.10

Connecting the Cables

After components are level and securely in place, unwrap the cables and connect
them according to the cable diagram included in the system drawing package. All
cables are labeled to match the labels at the connection points.
4.10.1

Cable Routing

It is important to keep cables covered/hidden as much as possible. Figure 4-13
shows the recommended cable routings to avoid cable damage. Cables leading to
the robots must be routed and hidden under the robot common base. Other cables
must be routed close to equipment when possible.
CAUTION!
Route wires and cables away from hazardous work areas to avoid
wire breakage and unnecessary interruption of cell operation.
R1 POWER
SOURCE
R1 CONTROLLER
EXPOSED
CABLES
POSITIONER
4.10.2

Connecting the Earth Ground

Each robot and controller must each be connected to an earth ground. The ground
stake must be driven a minimum of 2.43 m (8 ft) into the earth, and the earth must
be treated with chemicals in order to reduce resistance to the ground stake. A
maximum of 100 ohms ground resistance is recommended. Deeper ground stakes
may be required depending on area soil conditions. To ground the robots and
controller, proceed as follows:
MOTOMAN
PROGRAMMING
PLATFORM
HIDDEN
CABLES

Figure 4-13 Cable Routing

4-13
CABLE ROUTING
FLOOR COVER
SLOT
PLATE
ArcWorld IV-6200 XHD DR2C System Manual
INSTALLATION