Siemens SINUMERIK 840D sl Commissioning Manual page 35

Observe this physical wiring specification to ensure that the drive macros run correctly for
third-party motors.
Apply these specifications in an analogous manner for a drive line-up on an NX.
• The DO variables and DO no. must be named or addressed as follows. Compliance with the
rules is necessary to ensure the correct execution of the drive macro for third-party motors
and to correctly import the controller data of the respective robot axis for Siemens motors.
The robot configurator checks the correct assignment of the DO variables according to this
scheme and indicates a necessary change.
– Robot axis RA1_1 has DO no. 2 for the 1st robot
– Robot axis RA2_1 has DO no. 3 for the 1st robot
– ...
– Robot axis RA6_1 has DO no. 7 for the 1st robot
For multi-channel applications you have to extend the naming as follows:
– Robot axis RA1_2 has DO no. 2 for the 2nd robot
– Robot axis RA2_2 has DO no. 3 for the 2nd robot
– ...
– Robot axis RA6_2 has the DO no. 7 for the 2nd robot
– Robot axis RA1_x has the DO no. 2 for the xth robot
– Robot axis RA2_x has DO no. 3 for the xth robot
– ...
– Robot axis RA6_x has DO no. 7 for the xth robot
The assignment of the robot numbers "x" refers to the order of the robots selected in the
respective robot project of the robot configurator.
You 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, 07/2020, A5E45238414B AD
5.3 Generating the user-specified topology in Create MyConfig Topo
DO list
Commissioning
35