Siemens SINUMERIK 840D sl Commissioning Manual page 26

Configuring
4.2 Configuration of a SIZER project
As an alternative to the "SITOP modular", the "SITOP PSU8600 40A" and the associated
"BUF8600 4s" buffer module are configured under "Additional components". This means the 24
V are buffered in the event of a power failure. The SINAMICS drives can brake the robot axes
from maximum speed at the current limit until they come to a standstill. The drives do not coast
down. This ensures that the single-turn absolute encoder values retain their validity.
Operator components
The HT8, including connection box, is selected as the operator component. Expand these if
necessary.
Software options
The minimum requirements for operating the robot are listed in Section Requirements for
commissioning (Page 21). Depending on your specific application, additional software options
may be necessary.
Note that the option CC AXCO (mechanical positive coupling of the hand axes) is not needed
for every type of robot. The option is included in the SIZER projects as needed.
Motor and encoder cables
Both the motor and encoder cables between the robot base and the control cabinet and the
motor and encoder cables inside the control cabinet are supplied by Comau. In addition to the
robot, you thus need at least 4 additional items from Comau (refer to the table below). The
cables from Comau are completely prefabricated. The cables include the motor plug for the
SINAMICS S120 (3 A-30 A!) or the 15-pin D-sub connector for the SMC40. The interface in the
control cabinet is a Harting connector, both for the motor cable and for the encoder cable. The
Harting connector is integrated on a separate plate or directly in the control cabinet panel.
Therefore, no motor cable and encoder cable and no motor connector and encoder connector
are selected in the SIZER project of the respective robot type. The technical specification for
the cables (including the grounding and shielding measures) is included in the delivery kit of the
robot and is provided by Comau.
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SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB