Connections; Connecting Cables To The Controller - ABB IRC5 Product Manual

2 Installation and commissioning

2.5.1 Connecting cables to the controller

2.5 Connections

2.5.1 Connecting cables to the controller
General
A good and proper electrical installation of the robot system is necessary to ensure
the best performance and prolong the lifetime of the whole robot system.
This section includes important information on how to connect cables and signals
to the controller.
Signal classes
Different rules apply to the different classes when selecting and laying cables.
Signals from different classes must not be mixed.
Signal class
Power signals
Class 4 (noisy)
Control signals
Class 3 (slightly
noisy)
Measurement signals
Class 2 (slightly sens-
itive)
Data communication
signals
Class 1 (sensitive)
Selecting cables
All cables laid in the control cabinet must be capable of withstanding 70°C. In
addition, the following rules apply to the cables of certain signal classes:
Signal class
Power signals
Control signals
Measurement signals
Data communication
signals
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Description
Supplies external motors and brakes.
Applies to the cables associated with the power inputs and outputs
of variable speed drives. Cables carrying strongly interfering signals
such as motor cables, DC-link load sharing, unsuppressed inductive
loads, DC motors, welding equipment, etc.
Digital operating and data signals (digital I/O, protective stop, etc.).
Applies to cables carrying slightly interfering signals: AC power
supply (<1 kV), DC power (24 V), power to equipment with RFI/EMI
filters, control circuits with resistive or suppressed inductive loads
(such as contactors and solenoids), direct-on-line induction motors,
etc.
Analog measurement and control signals (resolver and analog I/O).
This class covers ordinary analogue signals such as analogue sig-
nals (4-20 mA, 0-10V, or signals below 1 MHz), low-speed digital
signals (RS232, RS485), digital (on/off) signals, limit switches, en-
coders, etc.
Gateway (fieldbus) connection, computer link.
Applies to cables carrying very sensitive signals. Signals with a full-
scale range less than 1 V or 1 mA, and/or a source impedance >1
kOhm, and/or a signal frequency >1 Mhz. For example high-speed
digital communication (Ethernet), thermocouples, thermistors, strain
gauges and flowmeters.
Cable type
Shielded cable with an area of at least 0.75 mm² or AWG 18.
Shielded cable.
Shielded cable with twisted pair conductors.
Shielded cable with twisted pair conductors. A specific cable
should be used for field bus connections and Ethernet, according
to the standard specification of the respective bus.
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Product manual - IRC5 Panel Mounted Controller
3HAC047137-001 Revision: AB