ABB OmniCore E10 Product Manual

3.5.2 Connecting cables to the controllerGeneralA good and proper electrical installation of the robot system is necessary to ensurethe best performance and prolong the lifetime of the whole robot system.This section includes important information on how to connect cables and signalsto the controller.Signal classesDifferent rules apply to the different classes when selecting and laying cables.Signals from different classes must not be mixed.DescriptionSignal classSupplies external motors and brakes.Power signalsApplies to the cables associated with the power inputs and outputsof variable speed drives. Cables carrying strongly interfering signalssuch as motor cables, DC-link load sharing, unsuppressed inductiveloads, DC motors, welding equipment, etc.Class 4 (noisy)Digital operating and data signals (digital I/O, protective stop, etc.).Control signalsApplies to cables carrying slightly interfering signals: AC powersupply (<1 kV), DC power (24 V), power to equipment with RFI/EMIfilters, control circuits with resistive or suppressed inductive loads(such as contactors and solenoids), direct-on-line induction motors,etc.Class 3 (slightlynoisy)Analog measurement and control signals (resolver and analog I/O).Measurement signalsThis class covers ordinary analogue signals such as analogue sig-nals (4-20 mA, 0-10V, or signals below 1 MHz), low-speed digitalsignals (RS232, RS485), digital (on/off) signals, limit switches, en-coders, etc.Class 2 (slightly sens-itive)Gateway (fieldbus) connection, computer link.Data communicationsignals 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 >1kOhm, and/or a signal frequency >1 Mhz. For example high-speeddigital communication (Ethernet), thermocouples, thermistors, straingauges and flowmeters.Class 1 (sensitive)Selecting cablesAll cables laid in the control cabinet must be capable of withstanding 70°C. Inaddition, the following rules apply to the cables of certain signal classes:Cable typeSignal classShielded cable with an area of at least 0.75 mm² or AWG 18.Power signalsShielded cable.Control signalsShielded cable with twisted pair conductors.Measurement signalsShielded cable with twisted pair conductors. A specific cableshould be used for field bus connections and Ethernet, accordingto the standard specification of the respective bus.Data communicationsignalsContinues on next pageProduct manual - OmniCore E10 653HAC079399-001 Revision: C© Copyright 2019-2022 ABB. All rights reserved.3 Installation and commissioning3.5.2 Connecting cables to the controller