ABB IRB 2000, Product Manual

Page: 115 / 270

3
CONNECTION OF SIGNALS
To avoid damage by ESD (Electrostatic Discharge) always wear the (grounded bracelet
when handling electronic components.
3.1
Signal classes
The signals to the control cabinet are of four classes.
Power - drive voltage for electrical motors.
Control signals - digital operation and data signals (digital I/O, emergency stop,
General (mode) stop etc).
Measuring signals - analog measurement and control signals (resolver, (except for
and analog I/O).
Data communication signals - (printout, computer link, panel cable to externally
installed operator's unit).
For the different classes it's different rouls for cables and cables extension. Signal from
differnt classes are not allowed to mixed.
3.1.1
Cable selection
All of the cables in the control cabinet must withstand an ambient temperature
of 70° C ambient temperature. The following rules also apply to cables for signals of
certain classes:
Power supply - screened cable with smallest area 0.75 mm* or AWG18.
Note that local standards which apply with respect to insulation and conducting area
must be complied with.
Control signals - screened cables.
Measurement signals - screened cable with twisted pairs.
Data communication signals - screened cable with twisted pairs.
3.1.2
Routing
Power signals - these signals cause high disturbance and are to be contained in a
separately screened cable. The screening is to be clamped against a surface free of
paint on the steel frame of the cabinet.
Control signals - These signals are not very sensitive. However, they should not be
routed side-by-side and parallel with non-screened switched-power cables. When
screened cable is used, should the screen be connected direct to the chassis with help
of a steel bracket.
Measuring signals - these signals are very sensitive to disturbance. To protect these signals
the cable should not be located closer to power signals than 30 cm. In the cable each signal is
to be twisted with a neutral conductor. The screening is to be connected to the body of the
cabinet using a steel clamp.
Data communication signals - these signals are very sensitive to disturbance. To protect
these signals, the cable should not be located closer to power signals than 30 cm. Each signal in
the cable should be twisted with a neutral conductor. The screen should be connected to the body
using a steel clamp.
INSTALLATION S3
3:1