Siemens SINUMERIK 840D sl Commissioning Manual page 37

⑨
⑩
⑪
⑫
⑬
⑭
⑮
⑯
Figure 5-8
Notes
Notes on the topology
The DRIVE-CLiQ wiring, also called topology, is saved in the "cmc" folder of the delivery
package as a *.uptz file by default. The topologies for all of the topologies contained in the robot
configurator are saved in this file.
You must change the topology in CMC-Topo in the following cases:
● Standard wiring changed (unlike SIZER demo projects)
● Axis assignment changed (see standard configuration when pressing the button
above)
● The number of robots to be installed has changed
Procedure:
Select the created or adapted topology (*.utz) under "Selection of topology" in the "DRV" tab of
the robot configurator.
Figure 5-9
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 12/2018, A5E45238414B AB
Selection of the mode group (BAG)
Assignment of the robot axes (channel axes) to the corresponding machine axes.
If there is a change to the default assignment, you must adapt the topology project.
Setting of the rotation sequence during the orientation programming:
● RPY: Standard for robot manufacturers (A ⇓ Z, B ⇓ Y', C ⇓ X''), Z points out of the flange
● CARDAN: Standard for machine tools (A ⇓ X, B ⇓ Y', C ⇓ Z''), Z points into the flange
Export of the configuration files
Resetting the configuration (button functions specifically for each robot)
Loading the standard configuration (button functions specifically for each robot)
If you select several robots, you must carry out the configuration for the corresponding number
of robots.
Settings in the various main areas:
● NC: Setting for NC-specific data (axis, channel, ...)
● DRV: Setting for the configuration of the drives (topology)
SINUMERIK Integrate Run MyRobot /Direct Control - Robot configurator
Robot configurator - Topology
Commissioning
5.4 Robot configurator
⑭
, figure
37