Cables, robots, control methods, methods for manufacturing articles, control programs, recording media

Abstract

To provide a cable that can prevent noise radiation to its surroundings and also prevent noise ingress thereto from the surroundings, without causing an increase in volume or weight.SOLUTION: A cable connects an electric motor and a controller. The cable includes a power line that feeds power to the electric motor, and the power line includes a plurality of twisted core wires.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a cable.

Background Art

[0002] An electric motor that converts electric energy into power is widely used in various fields such as production equipment, household appliances, air conditioning equipment, and automobiles. Generally, an electric motor is connected to an operation panel equipped with a power supply, a controller for control, a safety device, etc. by a cable. However, when supplying driving power, the noise generated from the cable is large, and the influence on surrounding electronic devices is significant.

[0003] In addition, the need to control electric motors at higher speeds and with higher precision is increasing, and there is a demand for reducing noise that enters from the outside with the cable serving as an antenna. In particular, in the case of a device equipped with a plurality of electric motors, such as an articulated robot, or a device equipped with a sensor (such as an encoder) for controlling an electric motor, the driving cables and communication cables are densely arranged and are likely to influence each other.

[0004] Patent Document 1 discloses a method of suppressing the influence of noise on the surroundings by covering a cable with a shield or the like to shield it electromagnetically.

[0005] Note: There is no content here in the original, so it remains blank in the translation. Patent Document 2 discloses a method of covering a signal system cable with a shielding material and arranging a power system cable around it so that the noise generated by the power system cable does not affect the signal system cable.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0007] However, the methods described in Patent Document 1 and Patent Document 2 require additional components to cover the cable, such as a robust metal shield for noise reduction. This increases the volume and weight of the harness, raising concerns about reduced mobility for robots and other devices. Furthermore, the need for additional components increases component and assembly costs. [Means for solving the problem]

[0008] A first aspect of the present invention relates to a cable connected to a control object, twisted Having at least three first power lines and second power lines, and twisted Before First power line Formed by arranging multiple sets The cable is characterized in that the second power line is arranged in space. [Effects of the Invention]

[0009] According to the present invention, it is possible to provide a cable that can suppress the radiation of noise to the surroundings and the intrusion of noise from the surroundings without increasing volume or weight. [Brief explanation of the drawing]

[0010] [Figure 1] A schematic diagram showing the configuration of the power unit according to Embodiment 1. [Figure 2] (a) A diagram showing the external appearance of the three-core cable 3 according to Embodiment 1. (b) A diagram showing a cross-section of the three-core cable 3 according to Embodiment 1. [Figure 3] (a) A diagram showing the external appearance of the two-core cable 3 according to Embodiment 1. (b) A diagram showing a cross-section of the two-core cable 3 according to Embodiment 1. [Figure 4] A diagram showing the drive waveform of an electric motor and the waveform of a communication signal. [Figure 5] (a) A diagram showing the external appearance of the cable 3 including the grounding wire according to Embodiment 1. (b) A diagram showing a cross-section of the cable 3 including the grounding wire according to Embodiment 1. [Figure 6]Schematic diagram showing the configuration of the power unit according to Embodiment 2. [Figure 7] (a) Diagram showing the appearance of the cable 3 according to Embodiment 2. (b) Diagram showing the cross-section of the cable 3 according to Embodiment 2. [Figure 8] Schematic diagram showing the configuration of the power unit according to Embodiment 3. [Figure 9] Schematic diagram showing the configuration of the power unit according to Embodiment 4. [Figure 10] Diagram showing the cross-section of the cable 3R according to Embodiment 4. [Figure 11] Diagram for explaining the twist pitch of the power lines included in the cable according to Embodiment 4. [Figure 12] Diagram showing the cross-section of the cable 3S according to Embodiment 4. [Figure 13] Diagram showing the cross-section of the cable 3T according to Embodiment 4.

MODE FOR CARRYING OUT THE INVENTION

[0011] Referring to the drawings, embodiments of the present invention will be described. Note that the embodiments shown below are examples, and for example, those skilled in the art can appropriately change and implement the detailed configurations without departing from the gist of the present invention. Note that in the drawings referred to in the descriptions of the following embodiments and examples, unless otherwise specified, elements denoted by the same reference numerals have the same functions.

[0012] [Embodiment 1] Referring to FIGS. 1 to 5, Embodiment 1 of the present invention will be described. FIG. 1 is a schematic diagram showing the configuration of the power unit according to Embodiment 1. As shown in FIG. 1, the power unit 5 includes an electric motor 1, a control unit 2 for controlling the electric motor 1, and a cable 3 connecting the control unit 2 and the electric motor 1.

[0013] The electric motor 1 is not particularly limited as long as it is a device that converts electric power into mechanical power. Here, a three-phase induction motor will be exemplified and described. The control unit 2 is, for example, a control panel, but at least includes a power supply that supplies electric power to the electric motor 1.

[0014] Fig. 2(a) shows the appearance of the cable 3. Also, Fig. 2(b) shows a cross-section of the cable 3 cut along the line A-A' in Fig. 2(a). The cable 3 includes at least a power line for supplying driving power from the control unit 2 to the electric motor 1.

[0015] When the electric motor 1 is a three-phase induction motor, the cable 3 has at least three or more core wires as shown in the figure. For example, to drive the electric motor 1, the core wire 3 one is assumed to transmit the U phase of the drive current, the core wire 3 two is assumed to transmit the V phase of the drive current, and the core wire 3 three is assumed to transmit the W phase of the drive current. Each core wire is a wire material having a structure in which the periphery of the conductor wire is covered with an insulator. The cable 3 of the present embodiment is characterized in that it has a structure in which those three core wires (power lines) are bundled and twisted as shown in Fig. 2(a).

[0016] Conventionally, in fields where information signals with low voltage and high speed are transmitted, such as signals from sensors such as encoders, force sensors, and temperature sensors, and control signals, twisted signal lines have been used to reduce noise. However, regarding the power lines of electric motors, as in the present embodiment, for example, twisting the line for transmitting the U phase, the line for transmitting the V phase, and the line for transmitting the W phase has not been done.

[0017] Referring to Fig. 4, the reason will be explained. The waveform of the U-phase drive voltage for driving the electric motor is shown as the drive waveform 101. The U-phase drive voltage is, for example, a sine wave with an amplitude of 48V. Also, the waveform of the communication signal inside the control unit is shown as the signal waveform 102. The communication signal is a rectangular wave with an amplitude of 5V.

[0018] Here, we assume that a 10V noise 103 is generated similarly in both the drive waveform 101 and the signal waveform 102. As can be seen from the figure, the drive waveform 101 has a large voltage amplitude, so the amplitude of the noise 103 is relatively small. Therefore, the effect of the noise on the operation of the motor is negligible, and immediate practical adverse effects are rare. However, because the signal waveform 102 has a small voltage amplitude, the effect of the noise 103 is relatively large, and in some cases, communication errors may occur, causing the control unit to malfunction. For this reason, noise countermeasures have generally been implemented on the signal lines rather than the power lines.

[0019] However, as automation in factories and other facilities progresses, the control of electric motors requires faster and more precise responses than ever before, necessitating a reduction in noise in the motor's power lines. Furthermore, beyond electric motor power lines, the control of other high-power electrical equipment such as lighting, electric heaters, and solenoids also requires similarly fast and precise responses, and reducing noise in high-power power lines is highly anticipated.

[0020] Therefore, in this embodiment, a cable 3 is used in which the core wires that transmit the waveforms of each phase are twisted together in a high-power power line. The cancellation effect of the twisted core wires has the effect of significantly reducing electromagnetic field noise (especially common-mode noise) emitted to the outside by the drive of the electric motor 1. In addition, in this embodiment, the cancellation effect of the twisted structure can also reduce the influence of external electromagnetic field noise on the power unit 5.

[0021] According to this embodiment, noise emitted by the power unit 5 and noise received by the power unit 5 can be reduced without installing additional noise suppression components such as braided shields or ferrite cores on the cable 3. Therefore, the impact of noise can be reduced without causing a decrease in the movement performance of robots, etc., or an increase in costs. However, in this embodiment, which has a structure in which each core wire is twisted, there is no impediment to combining it with braided shields or ferrite cores, and braided shields or ferrite cores can be used in combination to improve resistance to noise other than common-mode noise.

[0022] Referring to Figures 3(a) and 3(b), the structure of the cable 3 of this embodiment will be described for the case where there are two cores, such as when the motor 1 is a single-phase motor. Figure 3(a) shows the external appearance of the cable 3. Figure 3(b) shows a cross-section of the cable 3 cut along the line B-B' in Figure 3(a). To drive the motor 1, the drive voltage is transmitted through cores 34 and 35. The cable 3 of this embodiment is characterized by having a structure in which these two cores (power lines) are bundled and twisted together, as shown in Figure 3(a).

[0023] In this configuration as well, the cancellation effect of the twisted core wires significantly reduces electromagnetic field noise (especially common-mode noise) emitted to the outside by the drive of the motor 1. Furthermore, the cancellation effect of this twisted structure also reduces the influence of external electromagnetic field noise on the power unit 5.

[0024] Next, referring to Figures 5(a) and 5(b), we will explain the structure of cable 3 in the case where, for example, motor 1 is a three-phase induction motor, and a core wire (grounding wire) is provided to ground the case of motor 1 for safety reasons.

[0025] Figure 5(a) shows the external appearance of cable 3. Figure 5(b) shows a cross-section of cable 3 cut along the line C-C' in Figure 5(a). To drive the motor 1, for example, core wire 31 transmits the U phase of the drive current, core wire 32 transmits the V phase of the drive current, and core wire 33 transmits the W phase of the drive current. Core wire 300 is connected to the protective earthing terminal of motor 1 and grounds the case of motor 1. Each core wire is a wire material with an insulating material covering the conductor wire. Cable 3 in this embodiment is characterized by having a structure in which four core wires, including the power line, are bundled and twisted together, as shown in Figure 5(a).

[0026] In this configuration as well, the cancellation effect of the twisted structure significantly reduces electromagnetic field noise (especially common-mode noise) emitted to the outside by the drive of the motor 1. Furthermore, the cancellation effect of this twisted structure also reduces the influence of electromagnetic field noise on the power unit 5 from external noise sources. In addition, by twisting the grounding wire 300 together with the three power line wires, the need to lay a separate grounding wire is eliminated.

[0027] [Embodiment 2] Embodiment 2 of the present invention will be described with reference to Figures 6 and 7. Matters similar to those in Embodiment 1 will be omitted or simplified in their explanation. Figure 6 is a schematic diagram showing the configuration of a power unit according to Embodiment 2. As shown in Figure 6, the power unit 5 includes an electric motor 1, a brake 10 attached to the electric motor 1, a control unit 2 for controlling the electric motor 1 and the brake 10, and a cable 3 connecting the control unit 2 to the electric motor 1 and the brake 10. The brake 10 may be an integrated structure with the electric motor 1 as schematically shown in Figure 6, or it may be positioned separately from the electric motor at a location capable of braking the rotation shaft of the electric motor 1. The brake 10 operates to an on or off state by receiving a control signal from the control unit 2 via the cable 3, thereby restraining (stopping) or releasing the shaft of the electric motor 1. The control unit 2 is, for example, a control panel, and includes at least a power supply that supplies power to the electric motor 1 and the brake 10.

[0028] Figure 7(a) shows the external appearance of the cable 3 in this embodiment. Figure 7(b) shows a cross-section of the cable 3 cut along the line D-D' in Figure 7(a). The cable 3 includes at least power lines for supplying drive power from the control unit 2 to the electric motor 1 and the brake 10.

[0029] If the motor 1 is a three-phase induction motor, the cable 3 has at least three cores (cores 31, 32, and 33) for supplying power to the motor 1, as shown in the figure. To drive the motor 1, for example, core 31 transmits the U phase of the drive current, core 32 transmits the V phase of the drive current, and core 33 transmits the W phase of the drive current.

[0030] Furthermore, cable 3 is equipped with brake wiring (core wires 301 and 302) that supplies driving power to the brake 10. In this embodiment, a two-core configuration is shown, with core wire 301 being the power line and core wire 302 being the ground line. Since the brake 10 often uses less power than the electric motor 1, the diameters of core wires 301 and 302 can be reduced.

[0031] As shown in Figure 7(b), by placing the thin core wires 301 and 302 that connect to the brake 10 in the gap (center of the twisted structure) surrounded by the twisted thick core wires 31, 32, and 33 that connect to the motor 1, the outer diameter of the cable 3 can be reduced. This also has the effect of reducing the effort required to lay the cable for the brake 10 separately from the drive wires for the motor 1. Furthermore, by twisting the core wires 301 and 302 and placing them in the gap between the twisted core wires 31, 32, and 33, the influence of noise between the drive wires for the motor 1 and the drive wires for the brake 10 can be reduced. In other words, the radiation of common-mode noise is suppressed from the twisted core wires 301 and 302 for the brake 10, and because the core wires 31, 32, and 33 for the motor 1 are twisted, even if they receive noise, it is canceled out and they are less affected. Furthermore, the radiation of common-mode noise is suppressed from the twisted core wires 31, 32, and 33 for the motor 1, and because the core wires 301 and 302 for the brake 10 are twisted, even if they receive noise, it is canceled out and less affected. In addition, the influence of electromagnetic field noise that the motor 1 and brake 10 receive from outside the power unit 5 can also be reduced by the cancellation effect of the twisted structure. Note that this embodiment and its modifications may be combined with the first embodiment and its modifications described above.

[0032] [Embodiment 3] Embodiment 3 of the present invention will be described with reference to Figure 8. Matters similar to those in Embodiment 1 will be omitted or simplified in their explanation. Figure 8 is a schematic diagram showing the configuration of a power unit according to Embodiment 3. As shown in Figure 8, the power unit 5 includes an electric motor 1, a control unit 2 for controlling the electric motor 1, a connector 4 for connecting a cable 3 to the control unit 2, a shield case 11 covering the connector 4, and a cable 3 connecting the control unit 2 and the electric motor 1. The cable 3 in this embodiment has a structure in which the power lines of the electric motor are twisted together, similar to the cable described in Embodiment 1.

[0033] For convenience when installing the power unit 5, it is desirable that the cable 3 be detachably connected to the control unit 2. In this embodiment, the cable 3 is attached to the control unit 2 using a detachable connector 4. The structure of the connector 4 is not particularly limited, but it is necessary to untwist the core wires of the cable 3 at the connector 4. Therefore, there is a concern that the noise radiated by the power unit 5, or the noise received by the power unit 5 from the outside, will increase at the connector 4. To address this, in this embodiment, a shield case 11 is provided to cover the connector 4, thereby preventing the influence of external noise and reducing noise leakage to the outside.

[0034] The shield case 11 is made of a conductor, such as metal. The case (housing) of the control unit 2 is also made of a conductor, and by electrically connecting it to the shield case 11 and grounding them, the noise suppression effect is greatly enhanced. The shield case 11 is provided with an opening for the cable 3 to pass through, but by making the opening sufficiently small, the influence of noise can be suppressed. Alternatively, a braided shield may be laid around the cable 3 and made in contact with the opening of the shield case 11 so that no gap is created. Note that this embodiment and its modifications may be combined with the various embodiments and modifications described above.

[0035] [Embodiment 4] Embodiment 4 of the present invention will be described with reference to Figures 9 to 13. Matters similar to those in Embodiment 1 will be omitted or simplified in their explanation. Figure 9 is a schematic diagram showing the configuration of the power unit according to Embodiment 4. As shown in Figure 9, the power unit 5 includes a multi-axis drive unit 1010, a control unit 2 for driving and controlling the multi-axis drive unit 1010, and a cable 3R connecting the control unit 2 and the multi-axis drive unit 1010. Here, we will explain using the case where the multi-axis drive unit 1010 is a 6-axis articulated robot as an example.

[0036] The 6-axis articulated robot, as a multi-axis drive unit 1010, is equipped with at least six electric motors so that each axis can be moved independently. Cable 3R contains the same number of power lines as the electric motors.

[0037] The control unit 2, which is a control computer, has an operating unit for changing, for example, the posture (position and angle) of the joints of a 6-axis articulated robot, or the position of a reference part located at the end of the robot arm. When a user instructs an action via the operating unit, the control unit 2 sends power and control signals via cable 3R to control the movement of the robot arm. At that time, the control unit 2 executes a robot control program, thereby controlling each part of the robot arm.

[0038] Furthermore, the robot control program may be recorded on any recording medium that is computer-readable. For example, ROM, disks, external storage devices, etc., may be used as recording media for supplying the program. Specifically, flexible disks, optical disks, magneto-optical disks, magnetic tapes, non-volatile memory such as USB memory, SSDs, etc., can be used as recording media.

[0039] Figure 10 is a cross-sectional view showing a cross-section of cable 3R. As shown in the figure, cable 3R contains power lines PW1 to PW6 for individually driving and controlling six electric motors. Since the six electric motors are three-phase induction motors, each of power lines PW1 to PW6 has a twisted configuration, as explained with reference to Figure 2(a), with core wire 31 for the U-phase of the drive current, core wire 32 for the V-phase of the drive current, and core wire 33 for the W-phase of the drive current.

[0040] In cable 3R of this embodiment, power lines PW1 to PW6 are bundled adjacent to each other, and each power line has a twisted core structure. Due to the cancellation effect of the twisted core structure, electromagnetic field noise (especially common-mode noise) emitted from each power line by the operation of the motor is greatly reduced. Furthermore, the influence of electromagnetic field noise received by each power line from a noise source is also reduced by the cancellation effect of the twisted structure.

[0041] In this embodiment, as shown in Figure 10, the signal wiring 305 can be arranged in the internal space of cable 3R (the gap in the bundle of six power lines). That is, when the cable is viewed in cross-section in a direction perpendicular to the longitudinal direction of the cable, the signal wiring is arranged so as to be surrounded by multiple power lines. The signal wiring 305 can be arranged as a path for transmitting information signals exchanged between sensors such as encoders, torque sensors, and image sensors equipped in a 6-axis articulated robot and the control unit 2, or control signals for servo-controlling the rotation of an electric motor. In this embodiment, since the noise radiated from power lines PW1 to PW6 is reduced, even if the signal wiring is placed close to the power lines, problematic levels of noise will not be generated in the signal lines.

[0042] As described above, this embodiment has a structure in which each of the power lines PW1 to PW6 has core wires 31 to 33 twisted together. However, considering mass production, it is preferable to have the same twist pitch for all power lines. On the other hand, when multiple power lines are placed in close proximity, if there is a concern that the electromagnetic field vectors of the core wires of adjacent power lines will coincide and reinforce each other's noise intensity, the twist pitch of the core wires can be configured to be different for adjacent power lines. Twist pitch refers to the length of one turn of the twist.

[0043] For example, as illustrated in Figure 11, by making the twist pitch P1 of power line PW1 and the twist pitch P2 of power line PW2 different lengths, a shift occurs in the electromagnetic field vectors between adjacent core wires, thereby suppressing constructive interference between noises.

[0044] Furthermore, in this embodiment, the pneumatic or hydraulic transmission path (tube) used to drive the 6-axis articulated robot as a multi-axis drive unit 1010 can be placed in the gap between power lines within the cable. For example, the cable of this embodiment is suitably used when the multi-axis drive unit 1010 is equipped with a mechanism driven by gas or liquid pressure, such as when a pneumatically driven chuck is attached to the tip of the robot arm as an end effector.

[0045] For example, in cable 3S, whose cross-section is illustrated in Figure 12, power lines PW1 to PW6, whose core wires are twisted together, are bundled together by the outer sheath SK. When the cable is viewed in cross-section in a direction perpendicular to the longitudinal direction of the cable, an air tube 12 is placed in the central space surrounded by power lines PW1 to PW6. By adopting this configuration, a compact cable can be realized without increasing the diameter of the cable harness, including not only the power lines but also the pneumatic and hydraulic pressure pipes.

[0046] Furthermore, when implementing signal wiring in addition to relatively large-diameter pneumatic or hydraulic tubes, the signal wiring can be placed in the gaps between adjacent power lines. For example, in cable 3T, whose cross-section is illustrated in Figure 13, power lines PW1 to PW6, whose core wires are twisted together, are bundled together by an outer sheath SK. When the cable is viewed in cross-section in a direction perpendicular to the longitudinal direction of the cable, an air tube 12 is arranged in the central space surrounded by power lines PW1 to PW6. Furthermore, signal wiring 305 is arranged in the area surrounded by adjacent power lines and the outer sheath SK. Signal wiring 305 can be arranged as a path for transmitting information signals exchanged between sensors such as encoders, torque sensors, and image sensors equipped in a 6-axis articulated robot and the control unit 2, or control signals for servo-controlling the rotation of an electric motor. By adopting this configuration, a compact cable can be realized without increasing the diameter of the cable harness, including not only power lines but also pneumatic and hydraulic tubes and signal wiring. Note that this embodiment and its modifications may be combined with the various embodiments and modifications described above.

[0047] [Other embodiments] It should be noted that the present invention is not limited to the embodiments and examples described above, and many modifications are possible within the technical concept of the present invention. For example, in Embodiment 4, the case where the multi-axis drive device 1010 is a 6-axis articulated robot was described as an example, but the form of the multi-axis drive device 1010 is not limited to this. For example, it can be implemented in a machine or equipment that can automatically perform actions such as extension and retraction, bending and straightening, vertical movement, horizontal movement, or rotation, or combinations thereof, by driving and controlling an electric motor via a power line based on information in a memory device provided in the control unit 2.

[0048] The cable embodying the present invention can be suitably used in robotic devices equipped with a torque sensor and capable of torque control. For example, it can be applied to robotic devices that perform assembly work that applies large loads of several hundred grams to several kilograms to the object, such as assembling automobile engine parts. Alternatively, it can be suitably used in robotic devices that perform assembly work that applies minute loads of several grams to the object during assembly, such as handling tiny parts weighing several grams, thin films, or sheets. In other words, by using a robotic device equipped with the cable embodying the present invention, for example, the electric motor that drives the joints can operate without being affected by noise, thus enabling the implementation of a method for manufacturing articles with high work precision (method of manufacturing articles).

[0049] Furthermore, in a robot device equipped with a cable implementing the present invention, the control unit drives and controls actuators and end effectors via the cable, thereby enabling a robot control method that controls the operation of the robot device with high precision. By changing the posture of the robot device using this control method, the effects of noise (radiation and intrusion) originating from power lines are suppressed, making the power unit and peripheral devices less susceptible to noise (especially common-mode noise).

[0050] The present invention can be used in a wide range of applications involving electric motors. For example, it can be applied to the power lines of electric motors in robotic devices used in environments where equipment sensitive to electromagnetic noise is located in close proximity, such as automated assembly lines in factories, to obtain desirable effects. Alternatively, it can be applied to the power lines of robotic devices operating near equipment that generates strong electromagnetic noise, or to the power lines of robotic devices operating near antennas on radio towers, etc. [Explanation of symbols]

[0051] 1...Electric motor / 2...Control unit / 3, 3R, 3S, 3T...Cable / 4...Connector / 5...Power unit / 11...Shielded case / 31, 32, 33, 34, 35...Core wire / 101...Drive waveform / 102...Signal waveform / 103...Noise / 300, 301, 302...Core wire / 305...Signal wiring / 1010...Multi-axis drive unit / P1, P2...Twisted pitch / PW1, PW2, PW3, PW4, PW5, PW6...Power line

Claims

1. In a cable connected to the controlled object, It has at least three twisted first power lines and a second power line, The second power line is positioned in a space formed by arranging multiple sets of the twisted first power line. A cable characterized by the following features.

2. The second power line is thinner than the first power line. The cable according to feature 1.

3. Each of the three first power lines includes at least one core wire transmitting the U phase, one core wire transmitting the V phase, and one core wire transmitting the W phase. The cable according to feature 1 or 2.

4. The first power line includes a core wire that grounds the case of the controlled object. The cable according to any one of the features 1 to 3.

5. When the cable is viewed in cross-section from a direction intersecting the longitudinal direction, the second power line is arranged in the space. The cable according to any one of the features 1 to 4.

6. The second power line is a signal line that transmits signals to the controlled object. The cable according to any one of claims 1 to 5.

7. The signal line is connected to at least one of the encoder, torque sensor, image sensor, and servo controller. The cable according to claim 6.

8. The space is formed by arranging at least six sets of the twisted first power lines. The cable according to any one of claims 1 to 7.

9. Of the plurality of sets of twisted first power lines, at least two sets of twisted first power lines have different twist pitches. The cable according to any one of the features 1 to 8.

10. Among a plurality of sets of twisted first power lines, the twist pitch of the twisted first power lines in adjacent sets is made different. The cable according to any one of claims 1 to 9.

11. The cable is detachably connected to the controlled object via a connector covered with a shielded case. The cable according to any one of claims 1 to 9.

12. A robot having a cable, The cable has at least three twisted first power lines and a second power line. The second power line is positioned in a space formed by arranging multiple sets of the twisted first power line. A robot characterized by the following features.

13. The space is formed by arranging at least six sets of the twisted first power lines, It has at least six power sources, Each of the twisted first power lines is connected to each of the drive sources, The robot according to feature 12.

14. A method for controlling a robot having a cable, The cable has at least three twisted first power lines and a second power line. The second power line is positioned in a space formed by arranging multiple sets of the twisted first power lines. The control unit controls the robot via the cable. A control method characterized by the following:

15. A method for manufacturing an article, characterized by manufacturing the article using the robot described in claim 12.

16. A control program for causing a computer to execute the control method described in claim 14.

17. A computer-readable recording medium that stores the control program described in claim 16.

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