Siemens SINUMERIK 840D sl Commissioning Manual page 33

Adhere to this physical wiring specification to ensure error-free processing of the drive
macros.
Apply these specifications in an analogous manner for a drive line-up on an NX.
● The DO variables DO No. and DO name must be addressed as follows (see figure below)
in order to guarantee the correct execution of the drive macro:
– Robot axis RA1_1 has DO No. 2
– Robot axis RA2_1 has DO No. 3
– ...
– Robot axis RA6_1 has DO No. 7
Call the DO list in "CMC-Topo" via the menu command "Data" > "Manage DO list".
Figure 5-6
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB
5.3 Generating the user-specified topology in Create MyConfig Topo
DO list
Commissioning
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