Generating The User-Specified Topology In Create Myconfig Topo - Siemens SINUMERIK 840D sl Commissioning Manual

5.3

Generating the user-specified topology in Create MyConfig Topo

Precondition
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.
Alternatively, or for complex DQ topologies, you can also determine the currently installed DQ
topology by means of an automatic device configuration in Sinumerik Operate. The procedure
is described in the Commissioning Manual "SINUMERIK 840D sl Commissioning CNC: NC, PLC,
Drives" in the chapter "Automatic device configuration".
After the device configuration, you must create a setup archive with drive data in ASCII format
in the operating area Setup -> Setup archive. You can copy this archive to a USB stick, for
example, and open it via CMC Topo to import the DQ topology.
Comply with the known 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 for third-party motors.
• The physical order of the SINAMICS axes must be arranged and wired in ascending order to
guarantee error-free processing of the drive macro for third-party motors.
Examples:
– Motor module sequence (DRIVE-CLiQ) 1,2,3,4,5,6 corresponds to RA1 to RA6
– Motor module sequence (DRIVE-CLiQ) 1,2,3,6,4,5 is not permitted
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD
5.3 Generating the user-specified topology in Create MyConfig Topo
Commissioning
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