Cabling the Rotational Modules

Overview

For cabling the Rotational Module, use only Schneider Electric extension cables that are specifically designed for the robot application.

The following table presents the appropriate cable for each robot type.

Robot type	Cable length	Cable type	Order number
VRKP0 VRKP1 VRKP2 VRKP4	3 m (9.8 ft)	Encoder extension cable	VW3E2100R030
VRKP0 VRKP1 VRKP2 VRKP4	3 m (9.8 ft)	Power extension cable	VW3E1168R030
VRKP5 VRKP6	4.3 m (14 ft)	Encoder extension cable	VW3E2100R043
VRKP5 VRKP6	4.3 m (14 ft)	Power extension cable	VW3E1168R043

If other cable lengths are required, contact your local Schneider Electric service representative.

Cabling the Rotational Modules

Step	Action
1	Feed one encoder cable for SH3040 motors to the middle of the robot housing.
2	Feed one power cable for SH3040 motors to the middle of the robot housing. NOTE: For equipment that you are supplying that is not described in the present document, consult the documentation for those products.
3	Connect the encoder extension cable (VW3E2100R•••) (1) and the power extension cable (VW3E1168R•••) (2) to the Rotational Module (3) as described for the SH3040 motor in the SH3 Servo motor Motor Manual. NOTE: For cabling the Rotational Module use only Schneider Electric extension cables that are specifically designed for the robot application.
4	Feed the encoder extension cable and the power extension cable from the Rotational Module via the lower and upper arms of the robot into the robot housing. NOTE: Attach the cables to the lower and upper arms so that the cables have sufficient freedom of movement to reach with the TCP all positions in the working space. Consider the bending radius for the respective cables: VW3E1168R••• – minimum bending radius: 69 mm (2.7 in) VW3E2100R••• – minimum bending radius: 63 mm (2.5 in)
5	Connect the cables in the robot housing with the cables from the Rotational Module. NOTE: For the washdown robot references, contact your local Schneider Electric representative.
6	Verify the correct routing and fastening of the cables to help prevent any collision of cables and moving parts.

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

Grounding Robots with the Rotational Module

Ground those parts of the robot which are located where either contact with current carrying parts (cables) or an insulation error is probable.

Alternatively, protect the cables with insulation which withstands the mechanical, chemical, electrical, and thermal stresses that it can be subjected to during normal operating conditions.

Ground the Rotational Module via one of the screws (1) for protective ground (earth) if grounding via the protective ground conductor of the motor cable is insufficient. To ensure an ideal electrical connection, use a serrated lock washer between the housing and cable lug. The tightening torque of the screws is 2 Nm (17.7 lbf-in).

DANGER
	ELECTRIC SHOCK DUE TO IMPROPER GROUNDING Ground robot components in accordance with local, regional and/or national standards and regulations at a single, central point. Verify that the motors are connected to the central ground. Failure to follow these instructions will result in death or serious injury.