ABB OmniCore E10 Product Manual

Route the cablesRouting of cables shall be done in a professional way.• Cables of different classes, such as signal cables and power cables, mustnot be routed together as the power cables may introduce noise in the signalcables. The greater the separation distance, the lesser the risk for interferencebetween the cables.• Robot controller mains supply input cable and robot power cable should beseparated even though they belong to the same class.• If crossing cables from different classes, cables should cross at an angleclose to 90 degrees.• All external cables that are to be connected inside the controller must beshielded in the chassis before entering the cabinet.Separation distances can be reduced if e.g. dividers are used between cablesclasses. Manufacturers of cable duct systems can provide information on howreduced separation distances can be achieved using their specific products.Cable typeSignal class• These signals generate a lot of interference and must belaid separate from control, measurement, and communica-tion signals.• The shielding must be connected to a paint-free part of thepanel chassis of the cabinet at both ends of the cable. Anyunshielded cable must be as short as possible.• The manipulator power cables are routed on the floor andalong the left side of the controller cabinet.• Cables should not be wound up like coils. This could causean magnetic field disturbing the signals. There will also bea risk of overheating depending on the load.Power signals• These signals are very sensitive to interference. To protectthese signals they should not be laid along with the powersignals.• In the cable, each signal must be twisted with a neutral wire.• The shielding must be connected directly to the chassis atboth ends of the cable.Control signalsMeasurement signalsData communicationsignalsShielding cablesWhen peripheral devices are connected to the robot system, a shielded cable isnecessary to reduce coupling of the inner cable conductors to the environmentthey pass through.Shielding cable requirements• The best method for shielding is to ground the shield at both ends of thecable, provided the ends grounding are at the same potential.• If the grounding points have different electric potentials - grounding bothends will create a ground loop allowing unwanted current to flow in the shield.In such cases one end grounding may be used. The grounding point shouldthen be at the robot controller side.• Cables carrying analog low-level signals is another exception where theshield should be grounded at only one end.Continues on next pageProduct manual - OmniCore E10 673HAC079399-001 Revision: C© Copyright 2019-2022 ABB. All rights reserved.3 Installation and commissioning3.5.2 Connecting cables to the controllerContinued