Chapter 4: Installation 35
99-04-23
• Electrical wire, minimum #12 gauge, from arm to grounding point.
Procedure:
1. Connect the wire to the grounding stud with the nut. The stud is located on the
left side of the rear of the robot arm base, beside the umbilical cable
connectors.
2. Connect the wire to an industrial grounding rod. If a grounding rod is not
available, use a utility ground.
Connecting the Umbilical Cables
Two cables connect the robot arm to the controller: the feedback (or signal) cable
with the 57 pin connector at each end, and the motor power cable with the 24
socket connector at the controller end. Each cable has one or two braided wire
grounding straps at one end.
You need:
• Small Phillips(+) screwdriver
Before you begin:
• Ensure that the location for the cables is protected, and does not leave the
cables exposed to damage.
• If the controller is not yet installed, only connect the cables to the arm.
• If the controller is installed, ensure that the controller’s main power switch is
OFF.
1. For each cable, connect the end with the grounding strap to the controller. This
end is labeled “controller end”.
a. When making a connection, ensure that the connector keys and keyways
are properly aligned. If they are not, you may damage the connector.
b. Carefully turn the locking ring clockwise to draw the connectors together.
• The motor power cable rotates about 360°.
• The feedback cable rotates about 270°.
• Stop turning when you feel it click, indicating that the connector is
correctly locked in place.
Note: When turning the feedback cable (with the 57-pin connector), the last 10
degrees of rotation may require more force, as you compress the O-ring in
the connector.
Warning! Use only hand pressure to secure plastic connectors. Using greater
pressure with tools can damage the connectors.
Warning! Do not attempt to use a cable with a damaged connector.
2. Route all umbilicals, AC, I/O, and teach pendant cables away from high
voltage sources such as: AC lines feeding other devices, AC or DC motors, heat,
moving equipment, conveyors, etc.
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