Preface, Contents

Hardware Description
1

Parameter Assignment
2
ADI4 - Analog Drive Interface for Index
4 Axes

Equipment Manual

6FC5 297-0BA01-0BP0

09.2002 Edition
 Safety Guidelines
This manual contains notices that you should observe to ensure your own personal safety, as well as to
protect the product and connected equipment. These notices are highlighted in the manual by a warning
triangle and are marked as follows according to the level of danger:

Danger
! indicates that death, severe physical injury, or substantial property damage will result if proper precau-
tions are not taken.

Warning
! indicates that death, severe physical injury, or substantial property damage can result if proper precau-
tions are not taken.

Caution
! indicates that minor physical injury or property damage can result if proper precautions are not taken.

Caution
indicates that property damage can result if proper precautions are not taken.

Notice
Indicates that an undesirable result or condition can occur if the notice is not observed.

Qualified Personnel
The unit may only be started up and operated by qualified personnel. Qualified personnel are defined as
persons who are authorized to start up, ground, and label units, systems, and circuits in accordance with
the relevant safety standards.

Correct Usage
Note the following:

Warning
! The unit may be used only for the applications described in the catalog or the technical description, and
only in combination with the equipment, components, and devices of other manufacturers as far as this is
recommended or permitted by Siemens.
This product must be transported, stored, and installed as intended, and maintained and operated with
care to ensure that it functions correctly and safely.

Trademarks
SIMATICR, SIMATIC HMIR, SIMATIC NETR, SINUMERIKR, and SIMOTIONR are registered
trademarks of SIEMENS AG.
Third parties using for their own purposes any other names in this document that refer to trademarks might
infringe upon the rights of the trademark owners.

Copyright Siemens AG 2002 All Rights Reserved Disclaimer of Liability

The reproduction, transmission, or use of this document or its contents is not We have checked the contents of this manual for agreement with the hardwa-
permitted without express written authority. Offenders will be liable for re and software described. Since deviations cannot be precluded entirely, we
damages. All rights, including rights created by patent grant or registration of cannot guarantee full agreement. However, the data in this manual are revie-
a utility model or design, are reserved. wed regularly and any necessary corrections included in subsequent edi-
tions. Suggestions for improvement are welcome.

Siemens AG
Automation & Drives
Motion Control Systems
P.O. Box 3180, D-91050 Erlangen E Siemens AG 2002
Federal Republic of Germany E to
Technical data subject change. AG 2002 All Rights Reserved
Siemens
-2 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
Siemens Aktiengesellschaft ADI4 - Analog Drive Interface for 4 Axes
Preface

Contents of the ADI4 Product Manual

The product manual for the ADI4 module (Analog Drive Interface for 4 Axes)
contains the following:
S Hardware description (Chapter 1)
S Description of parameter assignment of the ADI4 with STEP 7 (Chapter 2)
S An index for locating information

Contacts
If you have any problems or questions when working with this manual, contact the
Siemens division listed on the Remarks Form at the end of this manual.

Hotline
In case of questions, contact our hotline:
A & D Technical Support: Phone: +49 (180) 5050-222
Fax: +49 (180) 5050-223
E-Mail: [email protected]

In case of questions about the documentation (suggestions, corrections), send a

fax or e-mail to the following:
Fax: +49 (0) 9131/98–2176
E-Mail: [email protected]

Fax form: see feedback form at the back of the printed manual

Additional Support
We offer training courses to help you get started with SIMOTION.
For more information, contact your regional training center or the main training
center in D–90027 Nuremberg/Germany, telephone +49 (911) 895-3202.

Siemens Internet Address

All of the latest information about SINUMERIK and SIMOTION products can be
found on the Internet at
http://www.siemens.de/sinumerik and
http://www.siemens.de/simotion .

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 Preface-3
Preface

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Preface-4 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
Contents

1 Hardware Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1.1 Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1.2 Interface Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1.2.1 External Power Supply (X1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1.2.2 PROFIBUS-DP (X2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1.2.3 PROFIBUS Address (S2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
1.2.4 Analog Setpoint Interface (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1.2.5 Encoder Interface (X4–1/X4–2/X5–1/X5–2) . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
1.2.6 Digital Outputs (X6–1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-18
1.2.7 Digital Inputs (X6–2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-21
1.2.8 Module Status (H1/H2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-24
1.3 Control Cabinet Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
1.4 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-25
1.5 Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-27
1.6 Connection Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-28
1.7 Dimension Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-29
1.8 Technical Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-30
2 Assigning Parameters to the ADI4 with STEP 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-31
2.1 Inserting the ADI4 in a STEP 7 Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-32
2.2 PROFIBUS Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
2.2.1 PROFIBUS Address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-33
2.2.2 Message Frame Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-34
2.2.3 I/O Addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-36
2.3 Function Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-38
2.3.1 Encoders . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-39
2.3.2 Unipolar Spindle (or Unipolar Motor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
2.3.3 Shutdown Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-40
2.3.4 Shutdown Delay Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
2.3.5 Tolerable Sign-of-Life Failures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
2.3.6 Reserved Bits for Fine Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-41
2.3.7 611U Conformant Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-42
2.4 Final Parameter Assignment for Equidistant
DP Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-43
2.4.1 Activation of Equidistant DP Cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-45
2.4.2 Equidistant Master Cyclic Component T DX . . . . . . . . . . . . . . . . . . . . . . . . . 2-46
2.4.3 Equidistant DP Cycle TDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-47
2.4.4 DP Cycle TDP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-48
2.4.5 Master Application Cycle TMAPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-49
2.4.6 Actual Value Acquisition Ti . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-49
2.4.7 Setpoint Transfer To . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-50

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 Contents-5
Contents

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Contents-6 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
Hardware Description 1
General
The ADI4 (Analog Drive Interface) interface module is suitable for running up to
four drives with an analog setpoint interface on the PROFIBUS-DP.
Using PROFIBUS-DP, the ADI4 module transmits the actual values (encoder
values) to the open loop control. The position controller in the open-loop control
calculates the speed setpoint. This value is transmitted over PROFIBUS-DP to the
ADI4 module and is output there as an analog value.

Features
The module has the following important features:
S PROFIBUS-DP connection (maximum of 12 Mbits/s), specified according to:
PROFIDrive ProfileDrive Technology Version 3
Draft V1.4.2, September 1, 2000
S 4 servo interfaces
– Inputs: TTL/SSI encoders for incremental and absolute measuring systems
– Outputs: $10 V analog
S General and drive-specific digital input/output signals
S Onboard status display by means of 4 diagnostic LEDs
To supply the module and digital outputs with power, an external voltage source
(+24 VDC) is needed.

Notice
The following boundary conditions must be taken into account for operation of the
ADI4 DP slave:
S An ADI4 DP slave can only be operated on an equidistant PROFIBUS-DP
(see Chapter 2, page 2-31)
S An ADI4 DP slave is not a certified DP standard slave in accordance with the
PROFIDrive profile. For example, the ADI4 DP slave does not enable acyclic
communication.

Order Number

Designation Order No. (MLFB)

ADI4 6FC5 211-0BA01-0AA0

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 1-7
Hardware Description

1.1 Connection Overview

X1: External 24 VDC power

OFF supply
ON

X2: PROFIBUS connection

1

PROFIBUS address:
Corresponds to

AH = 10D

S2: DIP switch for setting

the PROFIBUS address
8

X3: Analog setpoint outputs

$10 VDC, Axis 1 to 4

X4–2: Encoder connection X4-1: Encoder connection

for Axis 2 for Axis 1

X5-2: Encoder connection X5-1: Encoder connection

for Axis 4 for Axis 3

X6-2: Connection for digital X6-1: Connection for digital

input signals output signals

Diagnostic LEDs
H1: PW TMP
H2: EXCH RDY Connection for protective
ground screw M6

Figure 1-1 Connection Overview for ADI4

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1-8 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
 Hardware Description

1.2 Interface Description

Interface Overview
Interfaces of the ADI4 Module

Tabelle 1-1 Interface Overview: ADI4

Interface Designation Type

External +24 V power supply X1 Connector
PROFIBUS-DP X2 Socket
PROFIBUS-DP address S2 DIP switch
Analog setpoint interface X3 Connector
Encoder connection for Axis 1 X4-1 Socket
Encoder connection for Axis 2 X4-2 Socket
Encoder connection for Axis 3 X5-1 Socket
Encoder connection for Axis 4 X5-2 Socket
Digital outputs X6-1 Connector
Digital inputs X6-2 Connector
Module status H1/H2 LEDs

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 1-9
Hardware Description

1.2.1 External Power Supply (X1)

Interface description of the external power supply (X1):

Connector
3-pin connector MSTB 2,5/3-ST-5,08 by Phoenix

Pin Assignment

Tabelle 1-2 Pin Assignment: External Power Supply (X1)

Pin Designation Type 1) Function

1 P24EXT1 VI External supply for module (+24 V)
2 M24EXT1 VI Reference for external supply
3 PE VI Protective conductor of the external supply
1) VI Voltage input

Connecting Cables
The required connecting cables must be provided by the user:
Wire, conductor cross section: 1.0 to 1.5 mm2 (AWG17 – AWG16)

Supply Voltage
Specifications for the supply voltage are provided in Section 1.4 (page 1-25).

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1-10 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
 Hardware Description

1.2.2 PROFIBUS-DP (X2)

Interface description of the PROFIBUS-DP interface (X2)

Connection
9-pin SUB-D socket

Pin Assignment

Tabelle 1-3 Pin Assignment: PROFIBUS-DP (X2)

Pin Designation Type 1) Function

1 – – –
2 – – –
3 RxD/TxD-P B Receive/transmit data P (B line)
4 RTS O Request to send
5 DGND VO Data reference potential (M5V)
6 VP VO Supply voltage plus (P5V)
7 – – –
8 RxD/TxD-N B Receive/transmit data N (A line)
9 – – –
1) VO Voltage output
O Output
B Bidirectional

Connectors
S 6ES7 972-0BA41-0XA0; Outgoing cable 350 without programming device
socket
S 6ES7 972-0BB41-0XA0; Outgoing cable 350 with programming device socket
S 6ES7 972-0BA12-0XA0; Outgoing cable 900 without programming device
socket
S 6ES7 972-0BB12-0XA0; Outgoing cable 900 with programming device socket

Cables
S 6XV1 830-0EH10; by the meter; without trailing capability
S 6XV1 830-3EH10; by the meter; with trailing capability

Additional Technical Specifications

Maximum possible data transmission rate: 12 Mbits/s

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 1-11
Hardware Description

1.2.3 PROFIBUS Address (S2)

Using switch S2, the PROFIBUS address of the ADI4 can be set in the range from
1 to 127.

Tabelle 1-4 Meaning of Switch S2

Switch Meaning
1 PROFIBUS address: 20 = 1
2 PROFIBUS address: 21 = 2
3 PROFIBUS address: 22 = 4
4 PROFIBUS address: 23 = 8
5 PROFIBUS address: 24 = 16
6 PROFIBUS address: 25 = 32
7 PROFIBUS address: 26 = 64
8 Not used

Notice
A new PROFIBUS address setting does not take effect until a power OFF/ON.

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1-12 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
 Hardware Description

1.2.4 Analog Setpoint Interface (X3)

Interface description of the analog setpoint interface (X3):

Connection
50-pin SUB-D connector

Pin Assignment

Tabelle 1-5 Pin Assignment: Analog Setpoint Interface (X3)

Pin Designation Type 1) Function

1 SW1 VO Setpoint of Axis 1 ($10 V)
2 BS2 VO Reference for setpoint of Axis 2
3 SW3 VO Setpoint of Axis 3 ($10 V)
4 BS4 VO Reference for setpoint of Axis 4
5 to 13 – – –
14 RF1_1 K “Drive enable” of Axis 1, Relay Contact 1
15 RF2_1 K “Drive enable” of Axis 2, Relay Contact 1
16 RF3_1 K “Drive enable” of Axis 3, Relay Contact 1
17 RF4_1 K “Drive enable” of Axis 4, Relay Contact 1
18 to 33 – – –
34 BS1 VO Reference for setpoint of Axis 1
35 SW2 VO Setpoint of Axis 2 ($10 V)
36 BS3 VO Reference for setpoint of Axis 3
37 SW4 VO Setpoint of Axis 4 ($10 V)
38 to 46 – – –
47 RF1_2 K “Drive enable” of Axis 2, Relay Contact 1
48 RF2_2 K “Drive enable” of Axis 2, Relay Contact 2
49 RF3_2 K “Drive enable” of Axis 3, Relay Contact 2
50 RF4_2 K “Drive enable” of Axis 4, Relay Contact 2
1) VO Voltage output
K Relay contact

Preassembled Cables
Order Number (MLFB): 6FX2 002-3AD01-jjjj
Length of cable: v35 m
Information regarding the length codes is provided in:
References: /Z/ Catalog NC Z

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 1-13
Hardware Description

1.2.5 Encoder Interface (X4–1/X4–2/X5–1/X5–2)

Interface description of the encoder interfaces (X4–1/X4–2/X5–1/X5–2):

Connection
15-pin SUB-D socket

Pin Assignment for the Encoder Interfaces

Tabelle 1-6 Pin Assignment: Encoder Interface of Axis 1 to 4 (X4–1/X4–2/X5–1/X5–2) for

Incremental Encoder (TTL) and Absolute Encoder (SSI)

Pin Designation1) Type2) Function

Incremental Absolute (SSI)
1 Not assigned – –
2 – CLSx O SSI shift clock
3 – CLSx_N O SSI shift clock inverted
4 P5MS VO 5 VDC supply voltage
5 P24SSI VO 24 VDC supply voltage
6 P5MS VO 5 VDC supply voltage
7 MEXT VO Reference for supply voltage
8 Not assigned – –
9 MEXT VO Reference for supply voltage
10 Rx_S – I Zero mark signal (Ua0)
11 XRx_S – I Zero mark signal inverted (Ua0)
12 XBx_S – I Encoder signal Track B inverted (Ua2)
13 Bx_S – I Encoder signal Track B (Ua2)
14 XAx_S – I Encoder signal Track A inverted (Ua1)
– DATAx_N I SSI data inverse
15 Ax_S – I Encoder signal Track A (Ua1)
– DATAx I SSI data
1) x Number of the encoder interface with X4-1=1, X4-2=2, X5-1=3, X5-2=4
2) VO Voltage output
I Signal input
O Signal output

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1-14 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
 Hardware Description

Preassembled Cables When Using the Following:

S Incremental encoder with RS422 (TTL) 6FX2 001-2...
Order Number (MLFB): 6FX8 002-2CD01-1jj0
Length of cable: See “Maximum cable lengths” below.
S 1FT5 motor with installed ROD320 encoder
Order Number (MLFB): 6FX8 002-2CE01-1jj0
Length of cable: See “Maximum cable lengths” below.
S Absolute encoder with SSI 6FX2 001-5...
Order Number (MLFB): 6FX8 002-2CC11-jjj0
Length of cable: See “Maximum cable lengths” below.
S SIMODRIVE 611 analog: Plug-in closed-loop control module with 1FK6 motors
with a resolver
Order Number (MLFB): 6FX8 002-2CJ00-1jj0
Length of cable: See “Maximum cable lengths” below.
Information regarding the length codes is provided in:
References: /Z/ Catalog NC Z
S Maximum cable lengths
The maximum cable length depends on the following parameters:

Encoder Supply Voltage

Tabelle 1-7 Encoder Supply Voltage

Supply Voltage: 5 VDC

Tolerance Power Maximum Cable Length
Consumption
4.75 V to 5.25 V x300 mA 25 m
4.75 V to 5.25 V x220 mA 35 m
Supply Voltage: 24 VDC
Tolerance Power Maximum Cable Length
Consumption
20.4 V to 28.8 V x300 mA 100 m
11 V to 30 V x300 mA 300 m

Transmission Frequency

Tabelle 1-8 Transmission Frequency

Encoder Type Supply Voltage Frequency Maximum Cable Length

Incremental (TTL) 5V 1 MHz 10 m
500 kHz 35 m
24 V 500 kHz 150 m
Absolute (SSI) 24 V 1.5 Mbits/s 10 m
187.5 Kbits/s 250 m

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 1-15
Hardware Description

Note
If cable lengths longer than 25 m or 35 m are needed for incremental encoders,
encoder types with a 24 VDC supply voltage can be used instead.

Caution
To ensure error-free transmission of encoder data, do not exceed the maximum
cable lengths shown in these tables.

Specification of Encoder Supply Voltages

Tabelle 1-9 Specification of Encoder Supply Voltages

Supply Voltage 1)
P5MS P24SSI
Voltage
Minimum 5.1 V 20.4 V
Nominal 5V 24 V
Maximum 5.3 V 28.8 V
Ripple
Maximum 3.6 Vss
Current Load
Per encoder connection 0.3 A
Maximum 1.35 A 1A
1) P5MS: Supply voltage for encoder (+5 VDC)
P24SSI: Supply voltage for encoder (+24 VDC)

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1-16 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
 Hardware Description

Connectable Encoder Types:

S Incremental Encoders (TTL)
– Differential transmission with RS422 (5 V or 24 V):
Track A as a true and inverted signal (Ua1, Ua1)
Track B as a true and inverted signal (Ua2, Ua2)
Zero signal N as a true and inverted signal (Ua0, Ua0)
– Maximum output frequency: 1.5 MHz
– Phase shift of Track A to Track B: 90_"30_
– Current consumption: maximum 300 mA
S Absolute Encoder (SSI)
– Transmission procedure: synchronous–serial interface (SSI) with 5 V–
differential signal transmission (RS422 standard):
Output signal: Data as a true and inverted signal
Input signal: Shift clock as a true and inverted signal
– Resolution: maximum 25 bits
– Maximum transmission frequency: 1 Mbit/s
– Current consumption: maximum 300 mA
S Additional Encoders
– Encoders with SINE/COSINE signals (1 Vss) can be connected using
external pulse shaping electronics (EXE), which convert the signals to the
5 V TTL level.

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 1-17
Hardware Description

1.2.6 Digital Outputs (X6–1)

Description of the digital output interface (X6–1):

Connectors
Two 12-pin connectors FK-MCP 1,5/15–ST–3.81 by Phoenix (together with X6–2).

Pin Assignment
Tabelle 1-10 Pin Assignment: Digital Output Interface (X6–1)

Pin Designation Type 1) Function

1 P24EXT2 VI External 24 VDC supply voltage
2 Q0 DO Digital output signal 1
3 Q1 DO Digital output signal 2
4 Q2 DO Digital output signal 3
5 Q3 DO Digital output signal 4
6 DIR1 DO Digital output signal 5 or
axis-specific directional signal of Axis 1 3)
7 DIR2 DO Digital output signal 6 or
axis-specific directional signal of Axis 2 3)
8 DIR3 DO Digital output signal 7 or
axis-specific directional signal of Axis 3 3)
9 DIR4 DO Digital output signal 8 or
axis-specific directional signal of Axis 4 3)
10 RDY1 K 2) “Ready” signal of Relay Contact 1
11 RDY2 K 2) “Ready” signal of Relay Contact 2
12 MEXT2 VI Reference of the external supply voltage
1) VI Voltage input
Pin 1
DO Digital output (24 V)
K Relay contact
2) Maximum current carrying
capacity: 2 A for 150 VDC or
125 VAC
3) For “unipolar spindle” function j
(or unipolar motor)

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1-18 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
 Hardware Description

Tabelle 1-10 Pin Assignment: Digital Output Interface (X6–1)

Pin Designation Type 1) Function

External voltage supply

ADI4 X6–1 +24 V stabilized
Pin number: 0V
+24 V
1 (P24EXT2)

Optocoupler
2
Relays

Driver

Driver 3
: :
: :
: :
: :
Driver 9

Relays
10
Signal:
“Ready”
11
12 (MEXT2)

Supply Voltage
To supply the digital outputs with power, an external 24 VDC voltage source must
be connected to X6–1, Pin 1 (P24EXT2).
The reference ground of the external voltage source must be connected with X6–1,
Pin 15 (MEXT2).
For further information, see Section1.8 (page 1-30).

Connecting Cables:
The required connecting cables must be provided by the user:
S Supply voltage X6-1, Pin 1 and 12 (P24EXT2):
Wire, conductor cross section 1.5 mm2 (AWG16)
S Digital outputs X6–1, Pin 2 to 9:
Wire, conductor cross section 0.5 to 1.5 mm2 (AWG20 to AWG16)
S Ready X6–2, Pin 10 and 11:
Wire, conductor cross section 1.5 to 3.5 mm2 (AWG16 to AWG12)

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Hardware Description

Electrical Specification of the Digital Outputs

Tabelle 1-11 Electrical Specification of the Digital Outputs

Digital Outputs Minimum Typical Maximum Nominal

Voltage at high signal level (UH) VCC –3 V 1) VCC 24 V
Output current IOUT – – 500 mA –
Voltage at low signal level (UL) – – – 0V
Leakage current at low signal level – 50 mA 400 mA –
Signal delay TPHL, TPLH 2) – 0.5 ms – –

S Supply voltage for digital outputs

1) Typical output voltage: VCC – IOUT<RON – 0.65 V
VCC: Current operating voltage P24EXT2
Maximum output current IOUT: 500 mA
Maximum short circuit current: 4A (maximum 100 ms, VCC = 24 V)
Internal resistance RON: 0.4 W

S 2) The PROFIBUS communication time as well as the application cycle time

must also be taken into account.

S A polarity reversal does not cause a high signal level nor does it destroy the outputs.

General Electrical Characteristics

S Galvanic isolation using optocouplers
S Current limitation to a maximum of 500 mA
S Protection from: short circuit, overtemperature, and loss of ground
S Automatic disconnection in case of undervoltage

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 Hardware Description

1.2.7 Digital Inputs (X6–2)

Description of the digital input interface (X6–2):

Connectors
Two 12-pin connectors FK–MCP 1,5/15–ST–3.81 by Phoenix (together with X6–1).

Pin Assignment
Tabelle 1-12 Pin Assignment: Digital Input Interface (X6–2)

Pin Designation Type 1) Function

1 P24OUT VI 24 VDC supply voltage
2 BERO1 DI Input signal of BERO1
3 BERO2 DI Input signal of BERO2
4 BERO3 DI Input signal of BERO3
5 BERO4 DI Input signal of BERO4
6 MEPU1 DI Measuring signal of Measuring Input 1
7 MEPU2 DI Measuring signal of Measuring Input 2
8 DRV1_RDY DI “Drive Ready” signal of Axis 1
9 DRV2_RDY DI “Drive Ready” signal of Axis 2
10 DRV3_RDY DI “Drive Ready” signal of Axis 3
11 DRV4_RDY DI “Drive Ready” signal of Axis 4
12 MOUT VI Reference of the supply voltage
1) VI Voltage input
Pin 1
DI Digital input (24 V)

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Hardware Description

Tabelle 1-12 Pin Assignment: Digital Input Interface (X6–2)

Pin Designation Type 1) Function

X6–2
ADI4 P24OUT Pin Number:
(+24 VDC) 1
1

Optocoupler
2

: :
: :
: :
: :
11

0V +24 V
12 P24OUText
External voltage supply
+24 V stabilized
M

1 Connection if the internal supply voltage P24OUT is used.

The connection to 2 is then no longer necessary.

2 Connection if an external supply voltage

P24OUText is used. The connection to 1 is then no longer necessary.

Internal Supply Voltage P24OUT

The supply voltage available at X6–2, Pin 1 for the digital inputs is specified as
follows:

Tabelle 1-13 Specification of the Supply Voltage P24OUT

Voltage
Minimum 20.4 V
Nominal 24 V
Maximum 28.8 V
Ripple
Maximum 3.6 Vss
Current Load
Typical 0.1 A
Maximum 1A
Power Consumption
Typical 3.02 W

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 Hardware Description

Tabelle 1-13 Specification of the Supply Voltage P24OUT

Maximum 30.2 W
Insulation Class A, in accordance with DIN 57110b

S Typical output voltage: VCC – IOUT<RON – 0.65 V

VCC: Current P24OUT operating voltage
Maximum output current IOUT: 1A
Internal resistance RON: 0.4 W

S The supply voltage P24OUT is short-circuit proof

External Supply Voltage P24OUText

If an external supply voltage is used, its reference ground must be connected to

X6–2, Pin 12 (M).
X6–2, Pin 1 (P24OUT) then remains open.

Electrical Specification of the Digital Inputs

Tabelle 1-14 Electrical Specification of the Digital Inputs

Digital Inputs Minimum Typical Maximum Nominal

Voltage at high signal level (UH) 15 V 1) 30 V 24 V
Input current IIN at UH 3.7 mA – 7.5 mA –
Voltage at low signal level (UL) –30 V – +5 V 0V
Signal delay TPHL, TPLH 2) – 3 ms – –

S 1) See Table 1-13 (page 1-22).

S 2) The PROFIBUS communication time and the application cycle

time must also be taken into account.

S A polarity reversal does not cause a high signal level nor does it destroy the inputs.

Connecting Cables
The required connecting cables must be provided by the user:
S Supply voltage X6–2, Pin 1 (P24OUT), external supply voltage P24OUText:
Wire, conductor cross section 1.5 mm2 (AWG16)
S Digital inputs X6–2, Pin 2 to 11:
Wire, conductor cross section 0.5 to 1.5 mm2 (AWG20 – AWG16)

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Hardware Description

General Electrical Characteristics

S Galvanic isolation using optocouplers
S Active current limitation of inputs
S Protection from negative input voltage

1.2.8 Module Status (H1/H2)

The module status is displayed on the front of the module with four diagnostic
LEDs.

Tabelle 1-15 Diagnostic LEDs (H1/H2)

Designation Color Description

H1 POWER Green Supply voltage
OVTEMP Red Overtemperature indication
H2 EXCHANGE Green Cyclic data exchange with the DP master is in progress
READY Red Ready for cyclic data exchange with the DP master

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 Hardware Description

1.3 Control Cabinet Installation

Installation
For high frequency interference currents, the housing of the ADI4 module must be
connected with low-resistance to the back wall of the control cabinet, and this wall
in turn must be connected with low-resistance to the motors/machine. Ideally, the
module should be installed on a bare mounting wall. The connection between the
mounting wall and the motors/machine must be electrically conductive and have a
large surface area. Coated cabinet walls and DIN rails, or similar mounting means
with a small contact area, do not meet this requirement.

Cable Routing
Power and signal cables must always be routed separately. All I/O interface
(X6–1/X6–2) signal lines should exit jointly. Single strands that are related from the
signal point of view must be twisted together. Ideally, signal cables and encoder
cables should be installed separately.
All cables and lines within the control cabinet should always be placed as close as
possible to the control cabinet walls. Extended installation through open space can
cause interference injections (antenna effect). The proximity to sources of
interference (contactors, transformers, and so forth) must be avoided by placing a
shield plate between the cable and the source of interference, if necessary. Cable
and wire extensions through terminals, and so forth, must be avoided. To protect
against interference injections from external sources, signal cables must be
shielded.

Warning
! The ADI4 is designed for operation in an enclosed control cabinet. Operation
outside an enclosed control cabinet is not permissible.

1.4 Power Supply

ADI4 Module
To supply the ADI4 module (+24 VDC), an external power source is needed. The
power supply is connected through terminal X1 (P24EXT1) on the front panel of
the ADI4 module. See Section 1.2 (page 1-9).

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Hardware Description

Digital Outputs
To supply (+24 VDC) the digital outputs, an external power source is needed. The
power supply is connected through Terminal X6–1, Pin 1 (P24EXT2). See Section
1.2 (page 1-9).

Digital Inputs
If the digital inputs are not supplied with the internal supply voltage of X6–2, Pin 1
(P24OUT), this supply voltage can optionally be replaced with an external power
source (+24 VDC, 1 A maximum).
The reference ground (GND) of the external power supply source must be
connected with X6–2, Pin 12. X6–2, Pin 1 (P24OUT) remains open.

Specification of the Supply Voltage (+24 VDC)

The external supply voltages for the ADI4 module, the digital outputs, and
optionally the digital inputs must adhere to the specifications provided in Table 1-7.

Tabelle 1-16 Specification of the External Power Supplies

Supply Voltage 1)
P24EXT1 P24EXT2 P24OUText
Voltage
Minimum 18.5 V
Nominal 24 V
Maximum 30.2 V
Ripple
Maximum 3.6 Vss
Current Load
Typical 0.5 A – 0.1 A
Maximum 1A 8A 1A
Power Consumption
Typical 12 W – 3.02 W
Maximum 30.2 W 241.6 W 30.2 W
1) P24EXT1: Supply voltage for the ADI4 module
P24EXT2: Supply voltage for the digital outputs
P24OUText: Optional supply voltage for the digital inputs

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 Hardware Description

Caution
The external supply voltages must be generated as functional extra-low voltage
with safe electrical isolation (DIN EN 60204-1, Section 6.4, PELV).

On the module side, supply voltages P24EXT1 and P24EXT2 must be protected
against the following:
S Overvoltage
S Short circuit (electrical current limitation of outputs)
S Polarity reversal
S Overload
– P24EXT1: Fuse 2.5 A/250 V
– P24EXT2: Fuse 8 A/125 V

1.5 Grounding
The module must be installed according to EN 60204.
The user must ground each of the supply voltages. To do this, a connection must
be established from Terminal X1, Pin 2 (MEXT1) or X6–1, Pin 15 (MEXT2) to a
central grounding point of the system.
If a large-area, permanent metallic connection with the central grounding point is
not possible using the rear panel, the module must be connected to the grounding
rail by means of a wire (cross section >10 mm2).

Caution
! A protective conductor must be connected. An M6 screw is provided on the lower
right of the front of the housing to connect the protective conductor. See Section
1.1 (page 1-8).

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Hardware Description

1.6 Connection Overview

Order No.
ADI4 Prefabricated Cables
Connector:
MSTB 2,5/3-ST-5.08, Phoenix External power supply
X1 Cable:
External power supply 24 VDC
Wire (1.0 to 2.5 mm2)
24 VDC
Connectors:
6ES7 972-0BA41-0XA0
6ES7 972-0BB41-0XA0
6ES7 972-0BA12-0XA0
6ES7 972-0BB12-0XA0
X2 SINUMERIK 840Di
PROFIBUS-DP Cables: SIMOTION P350, etc.
6XV1 830-0EH10
6XV1 830-3EH10

6FX2 002-3AD01-jjjj SIMODRIVE 611 analog

X3 v35 m
Analog output 4 setpoints
Axis 1 to 4

Incremental encoder
6FX8 002-2CD01-1jj0 with RS422 (TTL)
X4-1 1) 6FX2001-2...
Connections for Encoder 1 to 4

Absolute value encoder

6FX8 002-2CC11-jjj0 with SSI
X4-2 1) 6FX2001-5...

1FT5 motor with

6FX8 002-2CE01-1jj0 built-in
X5-1
v 35 m ROD320

SIMODRIVE 611 analog

6FX8 002-2CJ00-1jj0 closed-loop control
X5-2 v50 m module 1FK6 motors with
resolver

External power supply

24 VDC
X6-1
Digital outputs
Connector:
FK-MCP 1,5/15-ST-3.81, Phoenix
Sensors 1 – n
Cable:
Wire (0.14 to 2.5 mm2)
X6-2
Digital inputs Actuators 1 – n

1) Maximum cable lengths: See Section 1.2 (page 1-9).

Figure 1-2 ADI4 Connection Overview

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 Hardware Description

1.7 Dimension Drawing

23.25
Ğ13 6.5
80 1)

3.2

374
360

1)
Necessary clearance to ensure
sufficient ventilation
80 1)

163.6
6.5

48.5

Maximum tightening torque for all screws: 0.8 Nm

Figure 1-3 Dimension Drawing: ADI4

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Hardware Description

1.8 Technical Specifications

Tabelle 1-17 Technical Specifications of the ADI4 Module

Safety
Degree of protection IP20
Protection class Protection class I, in accordance with VDE 0106 P1:
1982 (IEC 536);
Protection against ingress of foreign bodies and water in accordance
with IEC 529
Approvals CE/CSA, CE
Power Consumption
Nominal load 12 W
Maximum 30.2 W
Mechanical Data
Dimensions WxHxD [mm] 154.4 x 325 x 48.5
Weight Approximately 1.5 kg
Climatic Environmental Conditions
Heat dissipation Open circuit ventilation
Operation Storage/transportation
Temperature limit values 0 to 55 °C –20 to 55 °C/–40 to 70 °C
Humidity limits 5 to 95% 5 to 95%
without condensation without condensation
Per minute Per hour
Condensation Not permissible
Atmospheric pressure 700 to 1060 hPa 700 to 1060 hPa
Transportation altitude – –1,000 to 3,000 m
Shock stress during transportation
Free fall in transport packaging v1,000 mm

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Assigning Parameters to the ADI4 with
STEP 7 2
Notice
The ADI4 DP slave can only be run on an equidistant PROFIBUS-DP.
(DP->distributed I/O)

Requirement
To assign parameters to the ADI4 with STEP 7, you need a STEP 7 SIMATIC
Manager Version 5, Service Pack 2 or higher.

Assigning Parameters to the ADI4 DP Slave

Parameters are assigned to the ADI4 DP slave in two steps:
S First step: Insert in a STEP 7 project and configure the following:
– PROFIBUS parameters (see Section 2.2)
– Function parameters (see Section 2.3)
Step 1 should be carried out first for all ADI4 DP slaves needed in the
configuration.
S Second step:
Assign time parameters for the equidistant, cyclic communication (see Section
2.4).
Step 2 can be performed last on any ADI4 DP slave.
These settings can be transferred to all other ADI4 DP slaves by means of the
adjustment function of the SlaveOM.

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Assigning Parameters to the ADI4 with STEP 7

2.1 Inserting the ADI4 in a STEP 7 Project

Parameters for configuration of the ADI4 modules are assigned by inserting the
modules in the project using ”HW Config” in the STEP 7 SIMATIC Manager.

Requirement
The ADI4 DP slave must be included in the hardware catalog.

Inserting the ADI4 DP Slave

To insert the ADI4 DP slave, open the hardware catalog using the View > Catalog
menu command.
The ADI4 DP slave is located under
Profile: Default
PROFIBUS-DP > SINUMERIK > ADI4
With the left mouse button, click the ADI4 DP slave and move it to the DP master
system in the station window using a drag and drop operation.
The DP master system is displayed in the station window with the following
symbol:
Releasing the mouse button inserts the ADI4 DP slave in the configuration.

Note
The cursor, which appears as as a slashed circle as the DP slave is being
dragged, must be placed exactly on the DP master system for the DP slave to be
inserted in the configuration.

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 Assigning Parameters to the ADI4 with STEP 7

2.2 PROFIBUS Parameters

The PROFIBUS parameters are a result of the following:
S PROFIBUS address
S Number of axes and encoders (message frame type)
S I/O addresses

2.2.1 PROFIBUS Address

Inserting the ADI4 DP slave in the configuration causes the “Properties –

PROFIBUS Interface ADI4” dialog box to be displayed.
The SlaveOM sets the PROFIBUS address to the next unassigned PROFIBUS
address. The PROFIBUS address is random, but it must agree with the address
that is set on the ADI4 using DIP switch S2.

Notice
The PROFIBUS address setting for the ADI4 slave provided by the SlaveOM has
to agree with the PROFIBUS address setting in the drive:
There is no automatic adjustment!
The following data must agree:
1. SIMATIC S7 configuration of the PROFIBUS address of the ADI4 DP slave
2. DIP switch S2 setting for the PROFIBUS address

Dialog
After you have inserted the ADI4 in your project, select the following:
Dialog box: “Properties – PROFIBUS Interface ADI4”
Tab: “Parameter”
Address: PROFIBUS address
Button:OK

After you have confirmed this dialog box with OK, the “DP Slave Properties” dialog
box is displayed and you continue assigning parameters to the ADI4 as described
in the following section.

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2.2.2 Message Frame Type

The specific message frame type that is to be used with the ADI4 DP slave must
be selected in the “Configuration” tab.

Dialog
Dialog box: “DP Slave Properties”
Tab: “Configuration”
In the “Default” list, select the following message frame type:
“4 axes, with one encoder each, standard message frame
3 + IO, PZD–5/9 O/I 1/1” (see Table 2-1 below)

Tabelle 2-1 Message Frame Type

Message Frame Type Description

4 axes with one encoder each, standard message 4 x standard frame 3 and 1 PZD word each for
frame 3 + IO, PZD-5/9 O/I 1/1 digital I/O data
PZD x/y Number of process data words, x: Setpoint, y: Actual value

ADI4 message frame structure

Axis1 Axis2 Axis3 Axis4 I/O
STD 3 STD 3 STD 3 STD 3 Q word Setpoints (master –> slave)
Low Axis1 Axis2 Axis3 Axis4 I/O High

STD 3 STD 3 STD 3 STD 3 I word Actual values (slave –> master)

STD 3: Standard frame 3 according to PROFIDrive specification V3.0

Q word: digital output data (16 bits)
I word: digital input data (16 bits)

Standard message frame 3: Speed setpoint interface 32 bits with 1 encoder

PZD1 PZD2 PZD3 PZD4 PZD5
STW1 NSET_B STW2 G1_STW Setpoint (master –> slave)

Low High
PZD1 PZD2 PZD3 PZD4 PZD5 PZD6 PZD7
ZSW1 NACT_B ZSW2 G1_ZSW G1_XACT1
PZD8 PZD9
G1_XACT2 Actual value (slave –> master)

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Tabelle 2-1 Message Frame Type, continued

Message Frame Type Description

Q word (digital output data 16 bits)

High byte Low byte
15 12 11 8 7 4 3 0
Zero mark/BERO as homing
signal 1 to 4 in 611U conformant mode
Not used
Digital output 1 to 4
–> X6–1: Pin 2 to 5
Digital output 5 to 8/direction signal
1 to 4 for unipolar spindle
–> X6–1: Pin 6 to 9

I word (digital input data 16 bits)

High byte Low byte
15 14 13 12 11 8 7 2 1 0
Digital input 9 to 10/Drv_Rdy 3 to 4
–> X6–2: Pin 10 to 11
Not used
Digital input 1 to 4/BERO 1 to 4
–> X6–2: Pin 2 to 5
Digital input 5 to 6/measuring input 1 to 2
–> X6–2: Pin 6 to 7
Digital input 7 to 8/Drv_Rdy 1 to 2
–> X6–2: Pin 8 to 9

Notice
The message frame type setting for the ADI4 DP slave by the SlaveOM must
agree with the message frame type setting in the open-loop control.
There is no automatic adjustment!

Encoder Control Word G1_STW (see Table 2-2)

Description of the encoder control word (extract) regarding the following:
S Reference mark search
S On-the-fly measurement

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Assigning Parameters to the ADI4 with STEP 7

Tabelle 2-2 Encoder Control Word

Bit Name Signal State/Description

Bit 7 = 0 => Request: Reference mark search
Bit Meaning
0 Function 1: Homing using a zero mark
0 (except for “611U conformant mode”)
1 Function 2: Homing using a rising edge of the associated BERO
2 Function 3: Homing using a falling edge of the associated BERO
3 Function 4: Not used
Bit 7 = 1 => Request: On-the-fly measurement
Bit Meaning
0 Function 1: Measuring input 1 rising edge
1
1 Function 2: Measuring input 1 falling edge
2 Function 3: Measuring input 2 rising edge
3 Function 4: Measuring input 2 falling edge
Func-
tions Note:
Reference
mark
S Bit x = 1 Function requested
search Bit x = 0 Function not requested
2
or S If more than one function is activated, the following applies:

On-the-fly The values for all functions can only be read when each activated function has
measure- been terminated and the termination operation was confirmed with the
ment corresponding status bit (ZSW.0/.1/.2/.3 has “0” signal again).

S On-the-fly measurement
3 A rising and falling edge can be activated simultaneously.
The measuring input signal is detected depending on the direction. The values are
read out consecutively.

4 Bit 6, 5, 4 Meaning
000 —
5 Com- 001 Activate function x
mand
010 Read value x
6 011 Cancel function x

0 Reference mark search (zero mark or BERO)

7 Mode
1 On-the-fly measurement

2.2.3 I/O Addresses

For communication between the open-loop control and the individual axes of the
ADI4 DP slave, it is necessary for the setpoint and value of an axis to have the
same I/O addresses.
The SlaveOM takes this requirement into account automatically when an ADI4 DP
slave is inserted in the configuration.

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 Assigning Parameters to the ADI4 with STEP 7

Dialog
Dialog box: “DP Slave Properties”
Tab: “Configuration”
PROFIBUS Partner, I/O address: <I/O Address>
OK

Notice
Attention must be paid to the following:
S The setpoint and actual value of an axis must have the same I/O address.

Actual value I address = Setpoint Q address

If the ADI4 DP slave is inserted in an S7 project with a copy operation (for
example, from another S7 project), the I/O addresses are assigned solely
through ”HW Config.”
This could result in an axis receiving different I/O addresses for the setpoint
and actual value. The I/O addresses must be manually corrected in this case.
S To avoid access conflicts between PROFIBUS-DP drives and I/O modules,
values w272 must be used for I/O address settings for the ADI4 DP slave.

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Assigning Parameters to the ADI4 with STEP 7

2.3 Function Parameters

The function parameters are entered in the “Encoders” tab of the “DP Slave
Properties” dialog box (see Figure 2-1 with sample values for the individual
parameters).

Dialog
Dialog box: “DP Slave Properties”
Tab: “Encoder”

DP Slave Properties
Cycle clock
General Configuration Encoder
synchronization
Encoder 1 Encoder 2 Encoder 3 Encoder 4
Encoder type: Encoder type: Encoder type: Encoder type:
TTL TTL SSI SSI

Parity Parity

Resolution: 6000 Resolution: 6000 Resolution: 2048 Resolution: 2048

MsgLength: 21 MsgLength: 21
Encoding Encoding
Binary Gray

Transmission rate: Transmission rate:

187.5 Kbits/s 187.5 Kbits/s

Unipolar spindle
1st Axis 2nd Axis 3rd Axis 4th Axis

Shutdown ramp [ms]: 1 Tolerable sign-of-life errors: 0

Shutdown delay [s]: 0 Reserved bits for fine resolution: 11

611U conformant mode

OK Cancel Help

Figure 2-1 Dialog: DP Slave Properties, Encoder Tab

The function parameters result from the input fields for the following:
S Encoder type
S Unipolar spindle (or unipolar motor)
S Shutdown ramp
S Shutdown delay time
S Tolerable sign-of-life failures
S Reserved bits for fine resolution
S 611U conformant mode
For these input fields, select the appropriate parameters for your ADI4
configuration from the parameters described in sections 2.3.1 to 2.3.7.

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2.3.1 Encoders

The encoder parameter settings depend on the respective encoder type.

Encoder type: Not available

An encoder type setting of “not available” for Encoder x means that Axis x does not
exist, or that it is not to be operated. The PROFIBUS message frame transmitted
for this axis does not contain useful data.

Encoder type: TTL

Encoder parameter:
S Resolution
Encoder resolution in increments per encoder revolution

Encoder type: SSI

Encoder parameters:
S Parity
Select this check box if the encoder data are to be transmitted (encoder –>
ADI4) with a parity bit.
S Resolution
Encoder resolution in increments per encoder revolution.
S MsgLength
Number of useful data bits transmitted by the encoder.
S Encoding
The following encoder codes are supported:
– Binary
– Gray
S Transmission rate
The following transmission rates are supported:
– 187.5 Kbits/s
– 375 Kbits/s
– 750 Kbits/s
– 1.5 Mbits/s
– 3 Mbits/s

Notice
The transmission rate setting must be identical for all SSI encoders. If different
transmission rates settings are used, the rate of the SSI encoder that has highest
encoder number is used.

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Assigning Parameters to the ADI4 with STEP 7

2.3.2 Unipolar Spindle (or Unipolar Motor)

The drive can be moved in two directions. Selecting the “Unipolar spindle” check
box switches the voltage range of the analog output voltage:
S “Unipolar spindle” check box not selected:
Output voltage: –10 V to +10 V
S “Unipolar spindle” check box selected:
Output voltage: 0 V to +10 V
If the “Unipolar spindle” check box is selected, the ADI4, depending on the
current speed setpoint, outputs the direction of rotation by means of a digital
ADI4 output:
– Direction of rotation signal for Axis 1 –> digital output X6–1, Pin 6
– Direction of rotation signal for Axis 2 –> digital output X6–1, Pin 7
– Direction of rotation signal for Axis 3 –> digital output X6–1, Pin 8
– Direction of rotation signal for Axis 4 –> digital output X6–1, Pin 9

2.3.3 Shutdown Ramp

The “Shutdown ramp” parameter specifies a function that is linear with respect to
time. If an error is detected in the ADI4, all ADI4 drives are slowed down to
Setpoint 0 in accordance with this function.
A parameter value of 0 causes the drives to coast to a standstill.

Maximum
setpoint
Current
setpoint

0 t [ms]

Parameter value:
Shutdown ramp

Figure 2-2 Parameter: Shutdown Ramp

S Unit: [ms]

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2.3.4 Shutdown Delay Time

The “Shutdown delay time” parameter can be used to specify a time after which all
ADI4 drives are slowed down to Setpoint 0 following a temperature alarm in the
ADI4.
After the “Shutdown delay time” has elapsed, the “Shutdown ramp” is taken into
account.
S Unit: [s]

2.3.5 Tolerable Sign-of-Life Failures

The “Tolerable sign-of-life failures” parameter specifies the number of sign-of-life

failures tolerated for the DP master. If the assigned number is exceeded, the
setpoint interfaces of the drives are ramped down to 0 using the “Shutdown ramp.”
After the “Shutdown delay time” has elapsed, the “Shutdown ramp” is taken into
account.

2.3.6 Reserved Bits for Fine Resolution

The “Additional substitute bits for fine resolution” parameter specifies the desired
pulse duplication of the currently read encoder increments transmitted in the
encoder actual value G1_XIST1.
The number of the additional substitute bits for fine resolution must be set
permanently to 11. This corresponds to a pulse duplication of: 211 = 2048.

Transmitted encoder actual

31 value G1_XIST110 0
Current
Overflows Reserved bits for fine resolution
encoder
increments

Notice
The “Reserved bits for fine resolution” parameter setting must always be 11.

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Assigning Parameters to the ADI4 with STEP 7

2.3.7 611U Conformant Mode

The “611U conformant mode” parameter is used to select the universally

conformant signal source for the SIMODRIVE 611 for homing the axes.
In the 611U conformant mode, the signal source for homing the axes (zero mark or
BERO) is no longer specified in the standard message frame (encoder control
word G1_STW, page 2-36), but rather in the digital output word.
S Digital output word, Bit 8 to 11 (see Q word, page 2-34)
Homing the axis:
– Bit 8 = 0 –> Axis 1 with zero mark of Encoder 1 (X4–1)
– Bit 8 = 1 –> Axis 1 with rising edge of BERO 1 (X6–2, Pin 2)
– Bit 9 = 0 –> Axis 2 with zero mark of Encoder 2 (X4–2)
– Bit 9 = 1 –> Axis 2 with rising edge of BERO 2 (X6–2, Pin 3)
– Bit 10 = 0 –> Axis 3 with zero mark of Encoder 3 (X4–3)
– Bit 10 = 1 –> Axis 3 with rising edge of BERO 3 (X6–2, Pin 4)
– Bit 11 = 0 –> Axis 4 with zero mark of Encoder 4 (X4–4)
– Bit 11 = 1 –> Axis 4 with rising edge of BERO 4 (X6–2, Pin 5)
Completing the “DP Slave Properties” dialog box with “OK” enters the data and
closes the dialog box.
This completes Step 1 of the ADI4 DP slave parameter assignment.

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 Assigning Parameters to the ADI4 with STEP 7

2.4 Final Parameter Assignment for Equidistant

DP Cycle
After the ADI4 DP slave on the PROFIBUS-DP network has been inserted in the
configuration and parameters have been individually assigned, parameter
assignment for to the equidistant DP cycle is the final step to be performed.
Parameters are assigned in two separate steps:
S Step 1:
– Activation of the equidistant DP cycle
– Equidistance master cyclic component TDX
S Step 2:
– Equidistant DP cycle TDP
– Master application cycle TMAPC
– Actual value acquisition Ti
– Setpoint transfer To

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 2-43
Assigning Parameters to the ADI4 with STEP 7

Boundary When you finally parameterize the equidistant DP cycle, you must note the follo-
conditions wing boundary conditions relating to parameters in connection with ADI4:

TDX

TDP

TI

TO

Figure 2-3 Dialog: DP Slave Properties (extract)

1. Equidistant DP cycle (TDP)
TDP = 2* n * 125 us; where n w 4 ( => Minimum TDP = 1 ms)
2. Setpoint transfer (To)
(TDX + 125 us) v TO t TDP; where TDX = TDX, rounded to an integral
multiple of 125 us
3. Actual value aquisition (Ti)
250 us v TI v TDP
4. TI and TO must not be programmed in the same 125 us cycle clock
(TI +TO) , TDP
5. If TO == (TDP – 125 us)
TI must equal: TI u 3 * 125 us
6. If TO == (TDX + 125 us)
(TI + TO) must equal: (TI + TO) , (TDP + 125 us)

DT 0

ÏÏÏÏÏÏÏÏÏÏÏÏÏÏ
ÎÎÎÎÎÎÎÎÎÎ
ÏÏÏÏÏÏÏÏÏÏÏÏÏÏ
Max.: TDP Min.: 2*125 us
TI

ÎÎÎÎÎÎÎÎÎÎ
TO Min.: TDX+125 us Max.: TDP
TDX
TDP
1*125 us 2*125 us 3*125 us 4*125 us 5*125 us 6*125 us 7*125 us 8*125 us

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 Assigning Parameters to the ADI4 with STEP 7

2.4.1 Activation of Equidistant DP Cycle

Dialog
Double clicking an ADI4 DP slave in the station window opens the “DP Slave
Properties” dialog box.
It is recommended that the equidistant DP cycle be activated for all ADI4 DP
slaves by activating the equidistant DP cycle within the selected ADI4 DP slave,
and then performing an adjustment.
During an adjustment, all of the values displayed in the following dialog box are
transmitted to all DP slaves in the configuration.

Dialog: Start
Dialog box: “DP Slave Properties”
Tab: “Cycle clock synchronization”
Check box “Synchronize drive to equidistant DP cycle”
Adjust–>equidistant bus cycle is activated
(see Figure 2-4 below)

Figure 2-4 Activated Equidistant DP Cycle

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Assigning Parameters to the ADI4 with STEP 7

Note
If there are different equidistant DP slave types (for example, different
SIMODRIVE drives, ADI4, etc.) in an S7 project, you must first perform the
following two steps for each DP slave type:
1. Synchronize drive to equidistant DP cycle.
2. Adjust.
Then, continue setting the other parameters.

2.4.2 Equidistant Master Cyclic Component T DX

After all of the DP slaves have been synchronized to the equidistant DP cycle , the
time requirement for the cyclic component of the DP communication must be
calculated.
The DP master performs the calculation when the equidistant bus cycle is
activated.

Dialog: Continuation
Dialog box: “DP Slave Properties”
Tab: “General”
Group: “Station/Master System“
PROFIBUS...
Dialog box: “Properties - PROFIBUS Interface ADI4 ...”
Tab: “Parameters”
Properties...
Dialog box: “Properties PROFIBUS”
Tab: “Network settings”
Options...
Dialog box: “Options”
Tab: “Equidistance”
1. Check box: Activate equidistant bus cycle
2. Check box: Activate equidistant bus cycle

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 Assigning Parameters to the ADI4 with STEP 7

2.4.3 Equidistant DP Cycle TDP

When the cyclic component of the DP communication is calculated, the time for the
equidistant DP cycle is automatically changed to the minimum required time. This
change must be undone by reentering the assigned time for the equidistant DP
cycle.

Dialog: Continuation
Dialog box: “Options”
Equidistant DP cycle: Equidistance time
OK
OK
OK

Figure 2-5 Dialog: Options

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Assigning Parameters to the ADI4 with STEP 7

Dialog: DP Slave Properties

The following parameter settings are made for each DP slave in the
”Synchronization” tab:
S Equidistant DP cycle TDP
S Master application cycle TMAPC
S Actual value acquisition Ti
S Setpoint transfer To

DP Slave Properties
General Configuration Cycle clock Encoder
synchronization
Synchronize drive to equidistant DP cycle

Network settings in ms:

Equidistant bus cycle activated

Equidistant DP cycle: 2.000 Equidistance master cyclic 1.256

component:

Factor Increments/base time [ms]

Master application 2.000 = 1 2.000
X
cycle [ms]:
Factor Increments/base time [ms]

DP cycle [ms]: 2.000 = 8 X 0.125

Factor Increments/base time [ms]

Time Ti [ms]:
(Actual value 0.125 = 1 X 0.125
acquisition)
Factor Increments/base time [ms]
Time To [ms]:
(Setpoint transfer) 1.500 = 4 X 0.125

Adjust

OK Cancel Help

Figure 2-6 Dialog: DP Slave Properties

2.4.4 DP Cycle TDP

The DP cycle time of the ADI4 DP slave must be set to the DP master cycle time
displayed under “Equidistant DP cycle.”

Note
The following requirement must be met for the DP cycle time TDP:
DP cycle = equidistant DP cycle

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 Assigning Parameters to the ADI4 with STEP 7

2.4.5 Master Application Cycle TMAPC

The master application cycle TMAPC parameter specifies the integer ratio between
the master application (position controller) and the equidistant DP cycle.
By setting a ratio other than 1:1, the dead bands of the position controller can be
reduced for less powerful controller hardware.

Note
For an ADI4 DP slave, the ratio between the master application cycle TMAC and
the DP cycle time TDP must be as follows:
S SINUMERIK 840Di –> 1:1
S SINUMERIK 802D –> ratio other than 1:1
S SIMOTION device –> 1:1
Master application cycle = DP cycle

Dialog: continuation
Tab: “Cycle clock synchronization”
Master application cycle [ms]:
Factor: 1

2.4.6 Actual Value Acquisition Ti

The Actual value acquisition Ti parameter specifies the time when an ADI4 DP
slave reads in the actual values (actual position).
It is recommended that the time of the actual value acquisition Ti be the same for
all ADI4 DP slaves, particularly if axes are interpolated together.

Note
The following condition must be met for the time of actual value acquisition Ti:
DP cycle >= actual value acquisition >= base time

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Assigning Parameters to the ADI4 with STEP 7

Dialog: Continuation
Tab: “Cycle clock synchronization”
Actual value acquisition [ms]:
Factor: Factor

2.4.7 Setpoint Transfer To

The Setpoint transfer To parameter specifies the time when the ADI4 DP slave
receives the speed setpoint from the position controller.
It is recommended that the time for the setpoint transfer To be the same for all
ADI4 DP slaves, particularly if axes are interpolated together.

Note
The following condition must be met for the setpoint transfer To:
DP cycle >= setpoint transfer >= equidistant master cyclic component +
base time

Dialog: Continuation
Tab: “Cycle clock synchronization”
Setpoint transfer [ms]
Factor: Factor

Adjustment
Clicking Adjust transfers all values for the current ADI4 DP slave displayed in the
“Cycle clock synchronization” tab to all other ADI4 DP slaves in the configuration.
This adjustment must now be performed as the final action, and then the dialog
box must be confirmed with OK.

Dialog: End
Tab: “Cycle clock synchronization”
Adjust
OK

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 Assigning Parameters to the ADI4 with STEP 7

Note
If an S7 project includes different equidistant DP slave types, such as different
SIMODRIVE drives, ADI4, and so on, the following parameter settings must be
made as described above for each DP slave type, and an adjustment adjustment
must be performed:
S Equidistant DP cycle TDP
S Master application cycle TMAPC
S Actual value acquisition Ti
S Setpoint transfer To
The adjustment only transfers the values displayed in the “Cycle clock
synchronization” tab to DP slaves of the same type.

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 2-51
Assigning Parameters to the ADI4 with STEP 7

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2-52 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
 Index

Index
A M
Actual value acquisition , 2-49 Master application cycle, 2-49
ADI4
611U conformant mode, 2-42
function parameters, 2-38 O
properties, 2-38
Order number, ADI4, 1-7
Adjustment, 2-50
OVTEMP, LED: ADI4, 1-24

C P
Connection overview, ADI4, 1-28
POWER, LED: ADI4, 1-24
Control cabinet installation, ADI4, 1-25
Power supply, ADI4, 1-25

D R
Dimension drawing, ADI4, 1-29
READY, LED: ADI4, 1-24

E S
Equidistance master cyclic component, 2-46
Setpoint transfer, 2-50
Equidistant DP cycle, 2-47
SIMATIC Manager STEP 7, 2-31
EXCHANGE, LED: ADI4, 1-24

T
G
TDP, 2-47, 2-48
Grounding, ADI4, 1-27
Technical specifications, ADI4, 1-30
TI, 2-49
TMAPC, 2-49
H TO, 2-50
H1, module status, ADI4, 1-24
H2, module status, ADI4, 1-24
X
X3, analog setpoint interface, ADI4, 1-13
I
Interface description, ADI4, 1-9

L
LED, diagnostics: ADI4, 1-24

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ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002 Index-53
Index

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Index-54 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002
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56 ADI4 - Analog Drive Interface for 4 Axes, Edition 09.2002