Generating The User-Specified Topology In Create Myconfig Topo - Siemens SINUMERIK 840D sl Commissioning Manual
Sinumerik run myrobot /direct control
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5.3
Generating the user-specified topology in Create MyConfig Topo
Requirement
Before you begin commissioning with the robot configurator, you must generate the user-
specified topology for DRIVE-CLiQ.
Standard topology
The standard topologies for all currently supported robots are contained in a Topo project
"*.uptz" in the "cmc" folder of the delivery package. If the user-specified topology corresponds
exactly to the user-specified topology in the SIZER project, you can transfer this standard
topology directly as a user-specified topology without changes in CMC Topo (mode: User-
specified topology, transfer version: "*.utz").
User-defined topology
If the user-specified topology deviates from the standard topology, e.g. because additional
SINAMICS axes or other DRIVE-CLiQ components have been added, you must create a user-
defined topology with CMC-Topo. The standard topologies for all currently supported robots
are contained in a Topo project "*.uptz" in the "cmc" folder of the delivery package. You must
use these as the basis for expansions.
Comply with the DRIVE-CLiQ rules when generating the user-specified topology. In addition,
observe the rules for operating a 6-axis robot with RMR/DC:
● It is permissible to connect a maximum of 4 drives to one DRIVE-CLiQ line (requirement for
Cartesian Safety).
● All 6 robot DOs must be wired on one drive unit (NCU or NX). Distribution of the 6 robot axes
on NCU and NX is not permitted, because the correct execution of the drive macro and thus
the drive commissioning are not guaranteed.
● The physical order of the SINAMICS axes must be arranged and wired in ascending order
to guarantee error-free processing of the drive macro.
Examples:
– Motor module sequence 1,2,3,4,5,6 corresponds to RA1 to RA6
– Motor module sequence 1,2,3,6,4,5 is not permitted
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB
5.3 Generating the user-specified topology in Create MyConfig Topo
Commissioning
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