Routing a Fieldbus Cable Through the Base of a Robot

Introduction

There are certain robot models that have the option of running a fieldbus cable through the inside of the arm. These robots have a 12mm inner diameter polyurethane tube, where the fieldbus cable can be run through. This option is more beneficial than running the cable along the external casting and avoids adding a service loop in the S-Axis to prevent the fieldbus cable from failing/ripping, due to the motion of the robot.

Overview

The image below shows a GP35 robot that has the option of routing a fieldbus cable through the base of the robot.

To add a fieldbus cable:

1. Turn OFF power to the robot controller.
2. Unfasten the connector base plate on the base of the robot where the manipulator cable is connected.
3. Pull out the tube from the inside of the robot.
4. Remove the vinyl tape from the end of the tube and secure the fieldbus cable to the fish line or guide wire using electrical tape or zip ties.
5. Pull out the tube from Item Ballon "B".
6. Remove the vinyl tape from the end of the tube. Pull the fish line or guide wire in the tube to pull the fieldbus cable through the tube. NOTE: There may be some friction between the fieldbus cable and tube, depending on the diameter of the cable. Adding lubricant on the cable or blowing compress air in the tube will help in running the cable through the tube.
7. Remove the cover on Item Ballon "A" and pass the fieldbus cable through the opening.
8. Resecure the gland plate on the base of the robot. Make sure that the cables don't get pinched or caught when resecuring the gland plate.

The following list of robots include the option to route a fieldbus cable through the inside of the robot. The applicable robot Instructions Manual is linked for each robot model in the list below. For additional information reference Section 7.4 "How to Wire Fieldbus Cable inside Manipulator" of the Instruction Manual for the specific robot model.

• GP20HL

• AR3120

• GP35L/GP50

• GP70L

• GP88

• SP80

• PL80

• GP110/GP110B

• SP100/SP100B

• SP110H

• GP165R/GP200R

• SP150R/SP185R

• SP165/SP165-105/SP210 D00

• SP165/SP165-105/SP210 A00

• GP180/GP180-20/GP225

• PL190/PL320 A00

• PL190 B00

• GP200S

• GP215/GP250/GP280

• SP235

• GP400/GP600

• GP400R

• PL500

• PL800

• MH900

Conclusion

Installing a fieldbus cable through the base of the arm is possible on certain robot models. The list of robot models mentioned above in the Overview section are the only robot models with this option. Reference Section 7.4 "How to Wire Fieldbus Cable inside Manipulator" of the robot's Instruction Manual for additional information.