5 Electrical connections
5.1.1 Connecting the manipulator to the control cabinet
76 A 3HAC 16245-1
Section 5.1: Signal/Power cables
5.1.1 Connecting the manipulator to the control cabinet
General Connect the manipulator and control cabinet to each other after securing them to the founda-
tion. The lists below specify which cables to be used in each application.
Location of con-
nectors
Main cable
categories
All cables between manipulator and control cabinet are divided into the following categories:
XS Application interface
XS20 I/O connections
XS8 External axes in separate cabinet
X13/X5 Operator’s panel
XS78 Safety signals, external connections
XS77/X7 DeviceNet
LAN/XTDF Mains connection
X24VE/VS External axes
IBS Position switches
XS41 Manipulator cables
XS58
XS2
Ext. contr. panel
Cable category Description
Manipulator cables Handles power supply to and control of the manipulator’s
motors as well as feedback from the serial measurement
board.
Position switch cables (option) Handles supply to and feedback from any position switches
and cooling fans on the manipulator.
Customer cables (option) Handles communication with equipment fitted on the manip-
ulator by the customer, including databus communication,
low voltage signals and high voltage power supply + protec-
tive earth.
External axes cables (option) Handles power supply to and control of the external axes’
motors as well as feedback from the servo system.
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