Siemens SINUMERIK 840D sl Commissioning Manual page 22

Configuring
4.2 Configuration of a SIZER project
Hardware components
Each SIZER project contains SINAMICS drives for 6 robot axes. If possible, a layout with 3 dual-
axis modules is selected because this is the most compact and most cost-effective version. The
motor data and the mechanical limits (maximum torque in the drive train) of the respective
robot type serve as the criteria for the layout.
Figure 4-1 SIZER - drive systems - axis 1
SLM infeeds are configured for all types of robots. Configuration is carried out for maximum load
(RDF=0.5).
If you specify an exact motion profile for your application, the RDF can be further reduced and,
as a result, a smaller infeed can be selected.
Three SMC40 modules are needed for connecting the encoder systems Endat2.2.
The DRIVE-CLiQ topology configured in the SIZER project corresponds exactly to the topology
that is contained in the supplied CMC Topo project "RMRDC_Topologieprojekte.uptz". If you wire
the SINAMICS component according to this specification, you can export the drive configuration
("*.utz") directly from the CMC Topo project ("*.uptz"). Further constraints for the DQ topology
are contained in section Creating a user-specified topology in Create MyConfig Topo (Page 33).
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SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD