ABB IRC5 Compact Product Manual page 64

2 Installation and commissioning
2.6.2 Connecting cables to the controller
Continued
Ground and screen connections
The task of the grounding system is twofold - protective and functional. The primary
task is to serve as protective earth (PE) for personal and equipment safety. The
secondary task is to serve as a return path for common mode current.
For further information refer to EN 60204-1 and UL 1740.
Grounding requirements
The controller cabinet ground must come from the mains power supply PE.
For requirements on the marking of the supply ground connection inside the control
cabinet refer to UL 508C. For further details on how grounding systems should be
designed refer to IEC 61000-5-2. For details of cross-sectional area of PE refer to
IEC 60204-1.
Grounding installation
For information on how to install the ground for the IRC5 Compact controller cabinet,
see
For information on how to install the ground for the manipulator, see the
corresponding product manual.
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64
• The cross-sectional area of each grounding (PE) conductor must be not less
2
than 2 mm copper (AWG14) in the IRC5 Compact controller, and not less
2
than 10 mm copper (AWG7) in the manipulator.
• The grounding cable color shall be green-yellow.
• The ground for the controller cabinet, robot manipulator and peripheral
devices must be the same, preferably an equipotential ground grid (mesh).
• Ground connection points must have stable inter-metallic bonding, like screw
fixation. Paint, dirt, rust, and other insulating material must be removed from
the contacting surfaces.
Grounding on page 72.
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Product manual - IRC5 Compact
3HAC047138-001 Revision: M