Siemens SINUMERIK 840D sl Commissioning Manual page 27

The motors, including MLFB, are included in each robot axis in the generated parts list. The
motors are already mounted on the robot. This means that the motors are part of the robot
manufacturer's offer and do not have to be ordered separately by you. A corresponding reference
is contained in the SIZER projects as "Info" in the parts list.
The DRIVE-CLiQ topology configured in the SIZER project differs from the supplied CMC Topo
project "RMRDC_Topologieprojekte.uptz". Use the topology from
"RMRDC_Topologieprojekte.uptz". Deviations can occur if, for example, DQ hubs (DMC20) are
integrated in the robot base to minimize the number of encoder cables between the robot base
and the control cabinet. These components are then part of the robot manufacturer's delivery
and are therefore not included in the SIZER project. The SINAMICS components are wired
according to the SIZER project. You can export the drive configuration ("*.utz") directly from the
CMC Topo project ("*.uptz").
Figure 4-6 DRIVE-CLiQ topology (Siemens motors)
Further constraints for the DQ topology are contained in section Creating a user-specified
topology in Create MyConfig Topo (Page 33).
SINUMERIK Run MyRobot /Direct Control
Commissioning Manual, 07/2020, A5E45238414B AD
4.2 Configuration of a SIZER project
Configuring
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