Cabling the VRKP•S0•NC

Step	Action
1	Feed the three encoder cables (four with VRKP0S0R / VRKP1S0R / VRKP2S0R / VRKP4S0R / VRKP5S0R / VRKP6S0R (2)) directly to the motors (1). For robots with a motorized module: Cable the motorized module according to the cabling instructions of the respective module: Cabling the Rotational Modules Cabling the Rotational Tilting Modules Cabling the Double Rotational Modules Cabling the Tilting Modules
2	Feed the three power cables (four with VRKP0S0R / VRKP1S0R / VRKP2S0R / VRKP4S0R / VRKP5S0R / VRKP6S0R) directly to the motors. NOTE: For equipment that you are supplying that is not described in the present document, consult the documentation for those products.
3	Attach the encoder and the power cables as described in the SH3 Servo motor Motor Manual and the MH3 Servo motor Motor Manual.
4	Couple the DC buses of the servo amplifiers so that braking motors can feed back their power to the accelerating motors in the case of an on-path stop of the robot. Due to the coupling of the DC buses, the existing energy suffices in many cases for an on-path stop of the robot. In case of a power outage of the 24 Vdc supply this backfeeding measure does not have any effect. For more information, see Lexium 52 Hardware Guide or Lexium 62 Hardware Guide. NOTE: When routing the cables, ensure that the grounding cap (2) remains on the ground connection of the motors. The motor supply cable may become damaged by the thread of the ground strap attachment.
5	Verify the correct routing and fastening of the cables to help prevent any collision of cables and moving parts.

DANGER
	ELECTRIC SHOCK DUE TO DAMAGED CABLES Verify that the grounding cap is placed correctly on the grounding connection of the motor. Failure to follow these instructions will result in death or serious injury.

DANGER
	LOOSE WIRING OR CABLING CAUSES ELECTRIC SHOCK Tighten wiring or cabling connections in conformance with the torque specifications. Failure to follow these instructions will result in death or serious injury.

NOTICE
	INCORRECT PAIRING OF MOTOR AND ENCODER CABLES Label the motor and associated encoder cables according to their pairing. Failure to follow these instructions can result in equipment damage.