Siemens SINUMERIK 840D sl Commissioning Manual page 25

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
control cabinet-internal motor and encoder cables are supplied by the robot manufacturer. In
addition to the robot, you therefore need at least 4 further items from the robot manufacturer
(see table below). The cables are fully pre-assembled. The cables include the motor plugs 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 plug, both for the motor cable and for the encoder cable. The Harting
plug is integrated on a separate plate or directly in the control cabinet panel.
Therefore, no motor cable and encoder cable and no motor plug and encoder plug 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 the robot manufacturer.
Figure 4-4 Ordering concept for cable between robot base, control cabinet and SINAMICS/sensor module cabinet-mounted
SMC40
A
B
C
D
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD
Components for motors/encoders
Harting plug + encoder cable for connecting the robot and the control
cabinet
Harting plug + motor cable for connecting the robot and the control
cabinet
Connection Kit: Harting plugs in the control cabinet, including pins for
connecting the 6 encoder cables with 15-pin D-sub connectors (connec‐
tion to SMC40)
Connection Kit: Harting plugs in the control cabinet, including pins for
connecting the 6 motor cables with motor plugs for SINAMICS C/D type
(connection of the Motor Modules)
4.2 Configuration of a SIZER project
Available from
Robot manufactur‐
er
Robot manufactur‐
er
Robot manufactur‐
er
Robot manufactur‐
er
Configuring
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