EG-00404 P-20 Cable Routing

FANUC ROBOTICS ENGINEERING GUIDELINE Page 1 of 15
Title: P-20iA Cable Routing EG #: EG-00404
PAGE NO. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
REVISION D D D D D D D D E E F F F F F
DWG SIZE A A A A A A A A A A A A A A A
PAGE NO. 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30
REVISION
DWG SIZE
DRAWN BY
CHECKED BY
APPROVED BY
REV ECN NAME SIGNATURE DATE
A E80484 Jerue 9/21/11
B E110789 Jerue 11/3/11
C E120311 Jerue 5/15/2012
D E120323 Jerue 5/21/2012
E E120374 Jerue 6/21/2012
F E121036 Jerue 1/30/2013
Purpose:
This is a supplement to the following drawings for cabling the P-20iA.
• EO5157-800-002A 550mm INNER LINK

• EO5157-800-002B 900mm INNER LINK
• EO-6246-420-000 20Ft CABLE CARRIER ASM
Required tools and equipment:
Fanuc Robotics Brake Box

Cutters for GSKTEPDM3X3618X gasket material
Cable tie cutter
Pliers
Phillips Head Screwdriver
Tie wrap gun (Hellerman Tyton Mark 9 recommended)
Cable gage EO-5156-700-009
This material is the exclusive property of FANUC Robotics Corporation and must be returned to FANUC immediately upon request.
This material and the information illustrated herein may not be reproduced, copied, used or transmitted in whole or in part in any way
without the consent of FANUC.
There are two basic P-20iA robot configurations which are shown on Fig. 1 & 2.
Figure 1 550mm INNER LINK
Figure 2 900mm INNER LINK
Steps 1 through 5 are common for all types of P-20iA robots.
This EG is a supplement to EO5157-800-002. Clamp points referenced on this drawing correspond

to those shown on EO5157-800-002.
1.) Initial Step:
• J1 Turret must be at 0 position as shown in Figure 1. Inner link and Outer Link at 0.
• Position the unrolled cables in the proper relationship inside the robot. Ref EO-5156-800-
002 SHT5.
• Attach the ground to the carriage as shown in Figure 3.
Do not attach
cables to carriage.
Figure 3
Ground connection
Do Not Loctite
2.) Carriage Clamping: EO5157-800-002 sheets 5 and 6.
• There should be 2 to 2.5 inches slack between the carriage connectors and clamp point #1
so that the connector can be rotated after install. There should be no slack between #2 and
#3 but the cables should not be pulled tight.
ECN/5V
Leave 2 to 2.5 inches of slack. Do not

fasten connector to carriage
PWR
• Position the J1 and E1 encoder cables at clamp point #1. Ref EO-5156-800-002 SHT5&6.
Wrap with GSKTEPDM3X3618X, and tie the bundle. These should not go through clamp
point #3. (See Figure 5.)
• Position the J1 and E1 power cables and tubing at clamp point #2 per Figure 4. Wrap with
GSKTEPDM3X3618X and loosely tie the bundle. These should not go through clamp point
#3.
• Position the remaining bundle in the turret clamp (point #3), wrap with
GSKTEPDM3X3618X and loosely tie the bundle. (See Figure 5.)
• Route the power and brake cables to axis 1 and E1 as shown in Figure 5.
Figure 4
Clamp point #2
EO5157-800-002 Sheet 6
Clamp point #1 not visible
See EO-5156-800-002 sheet 6 view J
Tie wrap
Figure 5
Clamp point #3
EO5157-800-002 Sheet 6
3.) Axis 1: EO5157-800-002 sheets 5 and 6.
• Position the cables in the upper axis 1 clamp (point #4 see fig 4), wrap with
GSKTEPDM3X3618X and loosely tie the bundle. (See Figure 6 and EO5157-800-002
sheets 5 and 6)
• Insure that the cable bundle does not rub on the center tube.
Figure 6
Clamp point #4
• Extra cable length can be looped in the inner link housing.

• Position the cables in the upper axis 2 clamp (point #5), wrap with GSKTEPDM3X3618X
and loosely tie the bundle. (See Figure 7 and EO5157-800-002 sheets 5 and 6.)
Ground from
Clamp carriage
point #5
Ground connection under

bundle
Do not Loctite
Ground to outer link
Clamping
point #6
Figure 7
• Position the cables in the lower axis 2 clamp (point #7), wrap with GSKTEPDM3X3618X
and loosely tie the bundle. (See Figure 8 below)
• Insure that the cable bundle does not rub on the center tube.
Clamp point #7
Figure 8

• Position the cables in the lower axis 3 clamp (point #8), wrap with GSKTEPDM3X3618X
and loosely tie the bundle. (See Figure 9 and EO-5156-800-002 SHT 7)
Figure 9
Ground under bundle

Do Not Loctite
Clamp point #8
6.) After all clamp points are set, tighten all tie wraps to a tension of 87 pounds. A Hellermann Tyton
Mark 9 tie wrap gun with the tension dial set to 8 is recommended.
Cable Carrier Routing
Procedure
1. Allow cables to reach room temperature before proceeding further.
2. Unwind cable from the outside of the coil and lay out onto the floor. The cables must be prepared for
installation into the cable carrier without twists, bends or kinks in the cable.
a. Unroll the cable so that the cable is laid out straight with no twisting (see figure below).
b. Unroll the cable from the outside of the roll as shown.
c. If any twists appear in the cable, shake the cable vigorously up and down from the end with
one connector and two cables.
3. Lay the cable carrier on the floor and open the links. Remove the end brackets if the carrier has the old
brackets. See fig10. New bracket sets are available, P/N HDWMO000057255O.
The moving end will have 4 links that can backbend as shown in fig 12.
Note: For cable replacement in the field, the cable carrier should be removed from the rail.
Moving end, upper
Old brackets
New brackets Fixed end, lower

Bracket set Fig 10
P/N HDWMO000057255O
4. Install cables into carrier in the positions shown in fig 11. Ensure the cable with the single connector is at
the end of the cable carrier with the backbending links. Cables should be placed in the cable carrier flat
and without twists. Cables must be able to move freely inside the cable carrier and remain in line. Install
hoses with natural curl towards track radius.
Outside of cable carrier

ENC/5V
PWR
EOAT air 8mm
Purge Air 12mm

Ground
Inside radius
Position cables in separators as shown
Ground cable always to the back of the rail
FIG 11
5. Install the new type end brackets if replacing old brackets See fig 10.
6. Adjust cable to achieve dimension L at the moving end as shown in fig 12.
Back bending links
Moving end
Fig 12
ENC/5V
PWR
Tie Wrap Cables to finger clamp in potion shown
FIG 13
7. Place the cables in the position shown in figure 13 and place 2 tie wraps in alternating directions on the
moving end tie wrap plate with tie wraps TYRPPLT4SXXXXXX. See figures 10 & 12 to identify the
moving end. Pull the tie wraps manually to insure that there is no slack in the tie wrap. Then clamp the tie
wrap with approximately 31 pounds of force. A Hellermann Tyton Mark 9 tie wrap gun with the tension
dial set to 3 is recommended.
Ensure the tie wraps are secure by trying to move them on the cable. If they are not tight, replace
them.
When installing fixed end bolts ensure

adequate space between cables. Cut tie
wraps if needed and re-secure when
completed.
Alternate direction of loop

on the two tie wraps
Cable marking
Fig 14
8. Insure that the cables are lying straight in the cable carrier with no slack. For cables, push ½” of slack
back into the cable carrier. Fasten the cables to the fixed end bracket with two tie wraps as shown in step
7. For hoses and ground cable, snug fixed end with one tie wrap.
9. Close the links of the cable carrier.
10. Flip the catrac over into its operating condition and draw lines across cables at the moving clamp with a
paint marker as shown in Fig 14.
11. Install cable carrier on rail per applicable cable carrier drawing, EO6246-4XX-000. Center the brackets
in the trough front to back as shown in fig 15. The upper bracket should be in line with the lower bracket
front to back. Install mounting screws, Loctite per EG-00008 and torque per EG-00010. When installing
the fixed end bolts, ensure there is adequate space between cables. Cut one set of tie wraps if needed and
re-secure when complete.
In Line
Out of Alignment
Fig 15
Removed gauge description
12. For hoses and ground cable, pull the hoses and ground out ½” from the carrier. Add second tie wrap and
secure per step 7 above.
13. For hoses and ground cable that have one tie wrap and pull ½” out of carrier. Add second tie wrap and
secure per step 7 above.
14. Draw a line across cables at fixed end clamp with a paint marker as shown in fig 14.
15. Rotate connectors on top of carriage so that the cables can be plugged in with minimal twisting. Fasten
connectors.
16. Connect ground and air lines and dress out on tow arm, as shown in fig 16. Insure that cables will not hit
cover brackets or the cable carrier troughs as they route from the opener carriage to the cable carrier.
Fig 16
17. Dress out cables at stationary end as shown in fig 17. Cables must pass under trough section.
Fig 17
18. Run robot through full rail stroke. Insure the cables do not cross over each other, hit the cover brackets or
the cable carrier at the moving end.
19. Due to the overspray that is possible on the lower rails, the cables should be coated with Vaseline or
Eastcoat ESB M1C 99A Amber. Other coating to be approved by FRA.
20. Check cables after 24 hours of operation to insure proper function.
Miscellaneous Information
1. Never use the cable legend as an indication the cable is laid in the track straight. The
cable legend is not applied straight.
2. Do not try to mark a line on the cable as it sits on the floor and then try to orient this line
on top in the track as a means to determine if the cable is installed straight. Twisting
the cable will be required to line up the mark.

EG-00404 P-20 Cable Routing

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FANUC ROBOTICS ENGINEERING GUIDELINE Page 1 of 15

Title: P-20iA Cable Routing EG #: EG-00404

This is a supplement to the following drawings for cabling the P-20iA.

• EO5157-800-002A 550mm INNER LINK

Required tools and equipment:

Fanuc Robotics Brake Box

Figure 1 550mm INNER LINK

Figure 2 900mm INNER LINK

Steps 1 through 5 are common for all types of P-20iA robots.

This EG is a supplement to EO5157-800-002. Clamp points referenced on this drawing correspond

1.) Initial Step:

2.) Carriage Clamping: EO5157-800-002 sheets 5 and 6.

Leave 2 to 2.5 inches of slack. Do not

3.) Axis 1: EO5157-800-002 sheets 5 and 6.

• Extra cable length can be looped in the inner link housing.

4.) Axis 2: EO5157-800-002 sheets 5 and 7.

Ground connection under

Ground to outer link

5.) Axis 3: EO5157-800-002 sheets 5 and 7.

Ground under bundle

Cable Carrier Routing

Moving end, upper

New brackets Fixed end, lower

Outside of cable carrier

EOAT air 8mm

Purge Air 12mm

Back bending links

When installing fixed end bolts ensure

Alternate direction of loop

9. Close the links of the cable carrier.

Removed gauge description

20. Check cables after 24 hours of operation to insure proper function.

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