ADI4
ADI4
ADI4
Valid for
Controller
SINUMERIK 802D
SINUMERIK 840Di
SINUMERIK 840DiE (export version)
SIMOTION P
SIMOTION C
SIMOTION D
SIMATIC Technology CPU
6FC5 297-0BA01-0BP4
05.2005 Edition
Parameter assignment
Startup
Boundary conditions
Index
Device Manual
Software
ADI4
Hardware description
version
1.3
Safety Information
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
means that death, serious injury or considerable material damage will result if the appropriate safety
precautions are not taken.
Warning
means that death, serious injury or considerable material damage may result if the appropriate safety
precautions are not taken.
Caution
indicates that minor personal injury or property damage may result if proper precautions are not taken.
Caution
indicates that property damage may result if proper precautions are not taken.
Notice
indicates the risk of potential danger if the corresponding information is not observed.
Qualified personnel
Commissioning and operation of a device may only be performed by qualified personnel. Qualified persons are defined as persons who are authorized to commission, to ground, and to tag circuits, equipment,
and systems in accordance with established safety practices and 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 where
recommended or permitted by Siemens.
This product can only function correctly and safely if it is transported, stored, set up, and installed
correctly, and operated and maintained as recommended.
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, which refer to trademarks,
might infringe upon the rights of the trademark owners.
Disclaimer of Liability
Siemens AG
Automation and Drives
Postfach 4848
90437 Nuremberg
Germany
-2
Siemens Aktiengesellschaft
Preface
SINUMERIK Documentation
The SINUMERIK documentation is organized in 3 parts:
S General Documentation
S User documentation
S Manufacturer/Service Documentation
Please contact your local Siemens office for more detailed information about other
SINUMERIK 840D sl/840D/840Di/810D publications and publications that apply to
all SINUMERIK controls (e.g., universal interface, measuring cycles, etc.).
A list of documents, updated on a monthly basis, is available on the Internet for the
available languages at:
http://www.siemens.com/motioncontrol
Select Support, > Technical Documentation > Overview of Documents.
The Internet version of the DOConCD (DOConWEB) is available at:
http://www.automation.siemens.com/doconweb
Target readership
This documentation is intended for machine tool manufacturers (project engineers,
electricians and fitters, service and operating staff). The document contains all the
information required to install, connect and parameterize the module.
Standard functionality
This documentation describes the standard functionality of the ADI4 module.
Other functions not described in this documentation may be executable in the module. This does not, however, represent an obligation to supply such functions with a
new module or when servicing.
Hotline
A&D Technical Support
A&D Technical Support:
Phone: +49 (0) 180 5050--222
Fax: +49 (0) 180 5050--223
E-mail: adsupport@siemens.com
Internet:www.siemens.com/automation/support-request
Preface-3
Preface
If you have any comments, suggestions, or corrections regarding this documentation, please fax or e-mail them to:
Fax: +49 (0) 9131 98 - 63315
E-mail: motioncontrol.docu@siemens.com
Fax form: Refer to the reply form at the end of this manual
Internet address
http://www.siemens.com/motioncontrol
Preface-4
Preface
Change
1.
SIMATIC
Change
1.
General
2.
SIMOTION
3.
SIMATIC
Change
1.
General
2.
SINUMERIK
3.
SIMOTION
Preface-5
Preface
Preface-6
Contents
1
General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1
1.1.1
1.1.2
1.1.3
1.1.4
1-9
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Order number and firmware version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-9
1-9
1-9
1-9
1-10
Hardware Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-11
2.1
Overview of connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-11
2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.2.5
2.2.6
2.2.7
2.2.8
2.2.9
Interface description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface (X1): external power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface (X2): PROFIBUS DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface (S2): PROFIBUS address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface (X3): Analog setpoint interface . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interfaces(X4--1/X4--2/X5--1/X5--2): encoder interfaces . . . . . . . . . . . . . . .
Interface (X6--1): Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface (X6--2): Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface (H1/H2): Module status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-12
2-12
2-12
2-13
2-13
2-15
2-16
2-20
2-23
2-25
2.3
2-26
2.4
Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-26
2.5
Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-28
2.6
Overview of connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-29
2.7
Dimension drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-30
2.8
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2-31
Parameter Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-33
3.1
3-33
3.2
3-33
3.3
Requirements (SIMOTION) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3-34
3.4
3-34
3.5
3.5.1
3.5.2
3-35
3-35
3-35
3.6
3-37
3.7
3-37
3-37
3.7.1
Contents-7
Contents
3.7.2
3.7.3
3.7.4
3-39
3-42
3-43
3.8
3-43
3.9
3.9.11
3.9.12
3.9.13
3.10
3.10.1
3.10.2
3.10.3
3.10.4
3.10.5
3.10.6
3.10.7
3.10.8
3.10.9
3-56
3-56
3-58
3-59
3-60
3-60
3-63
3-63
3-64
3-65
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-69
4.1
4.1.1
Controller startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Linear encoder with distance-coded zero marks/reference marks
(SINUMERIK 840Di) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-69
Supplementary Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-73
3.9.1
3.9.2
3.9.3
3.9.4
3.9.5
3.9.6
3.9.7
3.9.8
3.9.9
3.9.10
3-44
3-45
3-46
3-47
3-47
3-47
3-48
3-49
3-51
3-52
3-53
3-54
3-54
3-54
4-69
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Index-75
Contents-8
General Information
1.1
1.1.1
Overview
Properties
An ADI4 module (Analog Drive Interface for 4 Axis) is an interface module suitable
for running up to four drives with an analog setpoint interface on the equidistant
PROFIBUS DP.
Communication between the controller and the ADI4 is performed via an ADI4-specific message frame type which, in addition to digital input/output data, also contains a message frame type (standard message frame 3) for each drive specified
according to a PROFIDrive profile. As part of cyclic DP communication, the actual
drive values (encoder values) are transferred from the ADI4 module to the controller via PROFIBUS DP, and the speed setpoints calculated by the controller are
transferred to the ADI4 module.
The transferred speed setpoints are then output from the ADI4 module to the
drives as analog values.
1.1.2
Main features
The module has the following important features:
S
4 servo interfaces
Inputs: TTL/SSI encoders for incremental and absolute measuring systems
Outputs: $10 V analog
To supply the module and digital outputs with power, an external voltage source
(+24 V DC) is needed.
1.1.3
Order number
Order number (MLFB):
1-9
General Information
Firmware version
The firmware version is not displayed directly on the module. The order number
and firmware version correlate as follows:
Order number
1.1.4
Firmware version
6FC5 211-0BA01-0AA0
1.1.4
6FC5 211-0BA01-0AA1
1.2.2
6FC5 211-0BA01-0AA2
1.3.1
Supplementary Conditions
The following boundary conditions must be taken into account for the module:
1-10
An ADI4 DP slave is not a certified DP standard slave according to the PROFIDrive profile. For example, the ADI4 DP slave does not allow acyclic communication.
Hardware Description
Overview of connections
External 24 V DC power
supply
X2:
PROFIBUS link
S2:
X3:
OFF
X1:
corr. to
PROFIBUS address:
AH = 10D
ON
2.1
X42:
Encoder connection
for Axis 2
X41:
Encoder connection
for Axis 1
X52:
Encoder connection
for Axis 4
X51:
Encoder connection
for Axis 3
X62:
X61:
Diagnostic LEDs
H1:
H2:
Fig. 2-1
PW
EXCH
TMP
RDY
2-11
Hardware Description
2.2
Interface description
2.2.1
Interface overview
The module has the following interfaces:
Table 2-1
2.2.2
Interface
Name
Type
X1
connector
PROFIBUS DP
X2
Socket
PROFIBUS DP address
S2
DIP switch
X3
connector
X41
Socket
X42
Socket
X51
Socket
X52
Socket
Digital outputs
X61
connector
Digital inputs
X62
connector
module status
H1/H2
LEDs
Connection
3pin connector MSTB 2.5/3-ST-5.08 by Phoenix
Pin assignment
Table 2-2
Pin
Name
Type1)
P24EXT1
VI
M24EXT1
VI
PE
VI
1) VI
Function
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 2.4 (Page 2-26).
2-12
Hardware Description
2.2.3
Connection
9pin SUB D socket
Pin assignment
Table 2-3
Pin
Name
Type1)
RxD/TxDP
RTS
Request to send
DGND
VO
VP
VO
RxD/TxDN
1) VO
O
B
Function
Voltage Output
Output
Bidirectional
Connector
S
Cable
2.2.4
2-13
Hardware Description
Table 2-4
Meaning of switch S2
Switch
Meaning
PROFIBUS address:
20 = 1
PROFIBUS address:
21 = 2
PROFIBUS address:
22 = 4
PROFIBUS address:
23 = 8
PROFIBUS address:
24 = 16
PROFIBUS address:
25 = 32
PROFIBUS address:
26 = 64
Not used
Notice
A new PROFIBUS address setting does not take effect until a power OFF/ON.
2-14
Hardware Description
2.2.5
Connection
50pin SUB D connector
Pin assignment
Table 2-5
Pin
Name
Type1)
SW1
VO
BS2
VO
SW3
VO
BS4
VO
513
14
RF1_1
Function
2)
2)
15
RF2_1
16
RF3_1
K 2)
17
RF4_1
K 2)
1833
34
BS1
VO
35
SW2
VO
36
BS3
VO
37
SW4
VO
3846
47
48
49
50
RF1_2
RF2_2
RF3_2
RF4_2
2)
2)
2)
2)
1) VO Voltage output
K
Relay contact
2) Max. current carrying capacity: 2 A at 150 VDC or 125 VAC
Max. number of operating cycles:
24 VDC, 1 A: 107
24 VDC, 2 A: 105
ADI4
X3
Pin number:
Relay
Signal:
Drive enable
of Axis 1 to 4
14 ... 17
47 ... 50
2-15
Hardware Description
Preassembled cables
Order No. (MLFB): 6FX2 002-3AD01-jjjj
Cable length:
v35 m
Information regarding the length codes is provided in:
References:
2.2.6
/Z/ Catalog NC Z.
Connection
15-pin SUB D socket
Pin assignment
Table 2-6
Pin
Incremental
1
Function
Absolute (SSI)
Do not use
CLSx
CLSx_N
P5MS
VO
5 V DC supply voltage
P24SSI
VO
24 V DC supply voltage
P5MS
VO
5 V DC supply voltage
MEXT
VO
Do not use
MEXT
VO
10
Rx_S
11
XRx_S
12
XBx_S
13
Bx_S
14
XAx_S
DATAx_N
Ax_S
DATAx
SSI data
15
1) x
2) VO
I
O
2-16
Type 2)
Hardware Description
Preassembled cables
The following preassembled cables can be used, depending on the encoder type:
S
/Z/
Catalog NC Z.
Table 2-7
Supply voltage: 5 V DC
Tolerance
Current input
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 V DC
Tolerance
Current input
20.4 V to 28.8 V
x300 mA
100 m
11 V to 30 V
x300 mA
300 m
Transmission frequency
Table 2-8
Transmission frequency
Encoder type
Supply voltage
Frequency
Incremental (TTL)
5V
1 MHz
10 m
Absolute (SSI)
500 kHz
35 m
24 V
500 kHz
150 m
24 V
1.5 Mbps
10 m
187.5 kbps
250 m
2-17
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.
P24SSI
4.75 V
20.4 V
Voltage
Minimum
Nominal
Maximum
5V
24 V
5.25 V
28.8 V
50 mVpp
3.6 Vpp
Ripple
Maximum
Current load
Per encoder connection
Maximum
1) P5MS:
P24SSI:
0.3 A
1.35 A
1A
2-18
Hardware Description
Notice
In conjunction with ADI4, synchronous serial data transmission for absolute
encoders (SSI) must be operated in fir tree (TSSI) output format can be
operated.
(SINUMERIK 802D)
S
(SINUMERIK 840Di)
S
Heidenhain: LS 476 C
Heidenhain: LS 186 C,
in conjunction with external pulse-shaper electronics (EXE): e.g., IBV 610
Note
Encoders with SINE/COSINE signals (1 Vpp) can be connected using external
pulse-shaper electronics (EXE), which convert the signals to the 5 V TTL level.
2-19
Hardware Description
2.2.7
Connection
Two 12-pin connectors FK-MCP 1.5/15ST3.81 by Phoenix (X61 and X62).
Pin assignment
Table 2-10
Pin
Name
P24EXT2
VI
Q0
DO
Q1
DO
Q2
DO
Q3
DO
DIR1
DO
DIR2
DO
DIR3
DO
DIR4
DO
10
RDY1
K 2)
11
RDY2
2)
12
MEXT2
Function
VI
1) VI Voltage input
DO Digital output (24 V)
K Relay contact
2) Max. current carrying capacity: 2 A
for 150 VDC or 125 VAC;
Max. number of operating cycles:
24 VDC, 1 A: 107
24 VDC, 2 A: 105
3) For unipolar spindle function j
(or unipolar motor)
Pin 1
X61
Pin no.:
ADI4
+24 V
0V
1 (P24EXT2)
Optocoupler
Relay
Driver
Driver
:
:
:
:
:
:
:
:
9
Driver
Relay
10
Signal:
Ready
11
12 (MEXT2)
M
2-20
Hardware Description
(SINUMERIK 802D)
The signals from pins 2 to 9 are not available on an ADI4 module connected to
SINUMERIK 802D.
Supply voltage
To supply the digital outputs with power, an external 24 VDC voltage source must
be connected to X61, Pin 1 (P24EXT2).
The reference ground of the external voltage source must be connected with X61,
Pin 15 (MEXT2).
For further information, see Section 2.8 (Page 2-31).
Electrical specification
Table 2-11
Digital outputs
Minimum
Standard
Maximum
Nominal
VCC 3 V
1)
VCC
24 V
500 mA
0V
50 mA
400 mA
0.5 ms
2)
VCC:
500 mA
A polarity reversal does not cause a high-signal level nor does it destroy the outputs.
2-21
Hardware Description
Connecting cables
The required connecting cables must be provided by the user:
S
Notice
The maximum length of the digital signal cables is 30 m.
2-22
Hardware Description
2.2.8
Connection
Two 12-pin connectors FKMCP 1.5/15ST3.81 by Phoenix (X61 and X62).
Pin assignment
Table 2-12
Pin
Name
Function
P24OUT
VI
24 V DC supply voltage
BERO1
DI
BERO2
DI
BERO3
DI
BERO4
DI
MEPU1
DI
MEPU2
DI
DRV1_RDY
DI
DRV2_RDY
DI
10
DRV3_RDY
DI
11
DRV4_RDY
DI
12
MOUT
VI
1) VI Voltage input
DI Digital input (24 V)
ADI4
Pin 1
P24OUT
X62
Pin no.:
1
(+24 VDC)
1
Optocoupler
2
3
:
:
:
:
11
:
:
:
:
12
0V
+24 V
P24OUText
ext. power supply
+24 V stabilized
2-23
Hardware Description
is no longer required.
is no longer required.
(SINUMERIK 802D)
The signal from pin 7 is not available on an ADI4 module in combination with
SINUMERIK 802D.
Voltage
Minimum
20.4 V
Nominal
24 V
Maximum
28.8 V
Ripple
Maximum
3.6 Vpp
Current load
Typical
0.1A
Maximum
1A
Power consumption
Typical
3.02 W
Maximum
30.2 W
Insulation Class
1A
0.4 W
2-24
Hardware Description
Electrical specification
Table 2-14
Digital inputs
Minimum
Standard
Maximum
Nominal
15 V
1)
30 V
24 V
3.7 mA
7.5 mA
30 V
+5 V
0V
3 ms
S
S
2)
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
Measuring Input
ADI4 supports measurement of a rising or falling edge of the measuring input. A
simultaneous request for measurement of a rising edge and a falling edge of the
measuring input cannot be parameterized.
2.2.9
H1
H2
Name
Color
POWER
Green
OVTEMP
Red
EXCHANGE
READY
Green
Red
Description
Supply voltage
Overtemperature indication
Cyclic data exchange with DP master in progress
Ready for cyclic data exchange with DP master
2-25
Hardware Description
2.3
Installation/Mounting
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
(X61/X62) 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, etc.) must be avoided by placing a shield plate between the cable and the source of interference, if necessary. Cable and wire extensions through terminals, etc., must be avoided. To protect against interference injections from external sources, signal cables must be shielded.
2.4
Warning
The module has been designed for operation in an enclosed control cabinet.
Operation outside an enclosed control cabinet is not permissible.
Power supply
ADI4 module
To supply the ADI4 module (+24 V DC), 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 2.2 (Page 2-12).
2-26
Hardware Description
Digital outputs
To supply (+24 VDC) the digital outputs, an external power source is needed. The
power supply is connected through Terminal X61, Pin 1 (P24EXT2).
See Section 2.2 (Page 2-12).
Digital inputs
If the digital inputs are not supplied with the internal supply voltage of X62, 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 X62, Pin 12. X62, Pin 1 (P24OUT) remains open.
P24EXT2
P24OUText
Voltage
Minimum
18.5 V
Nominal
24 V
Maximum
30.2 V
Ripple
Maximum
3.6 Vpp
Current load
Typical
Maximum
0.5A
0.1A
1A
8A
1A
12 W
3.02 W
30.2 W
241.6 W
30.2 W
Power consumption
Typical
Maximum
1) P24EXT1:
Supply voltage of ADI4 module
P24EXT2:
Supply voltage for digital outputs
P24OUText: Optional supply voltage for digital inputs
2-27
Hardware Description
Caution
The external supply voltages must each be generated as functional extra-low
voltages with safe electrical isolation (DIN EN 602041, Section 6.4, PELV).
On the module side, supply voltages P24EXT1 and P24EXT2 must be protected
against the following:
S
Overvoltage
Polarity reversal
Overload
P24EXT1: Fuse 2.5 A/250 V
P24EXT2: Fuse 8 A/125 V
2.5
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 X61, 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).
2-28
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 2.1 (Page 2-11).
Hardware Description
2.6
Overview of connections
Order no.
Prefabricated cables
ADI4
X1
Ext. power
supply 24 V DC
X2
PROFIBUS DP
X3
Analog output
Axis 1 to 4
Plug connector:
MSTB 2,5/3ST5.08, Phoenix
Cable:
Wire (1.0 to 2.5 mm2)
Plug connector:
6ES7 9720BA410XA0
6ES7 9720BB410XA0
6ES7 9720BA120XA0
6ES7 9720BB120XA0
Cable:
6XV1 8300EH10
6XV1 8303EH10
Controller, e.g.,
SINUMERIK 802D
SINUMERIK 840Di
SIMOTION
SIMATIC Technology CPU
6FX2 0023AD011jj0
v35 m
6FX8 0022CD011jj0 (5 V)
6FX5 0022CD241jj0 (24 V)
1)
6FX8 0022CC111jj0
1)
6FX8 0022CE021jj0
v 35 m
ROD320
pulse encoder
in the 1FT5 motor
X41
X42
X51
X52
X61
Dig. outputs
X62
Plug connector:
FKMCP 1.5/15ST3.81, Phoenix
Cable:
Wire (0.14 to 2.5 mm2)
v 30 m
Sensors 1 n
Actuators 1 n
Dig. inputs
Fig. 2-2
2-29
Hardware Description
Dimension drawing
13
23.25
6.5
360
374
3.2
80 1)
2.7
1)
Necessary clearance to ensure
80 1)
sufficient ventilation
163.6
6.5
48.5
Fig. 2-3
2-30
Hardware Description
2.8
Technical data
Table 2-17
Security
Degree of protection
Protection class
IP20
Protection class I, according to VDE 0106 T1: 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 specifications
Dimensions WxHxD [mm]
Weight
approx. 1.5 kg
Temperature limits
Limits for relative humidity
Opencircuit-ventilated
Operation
Storage/transport
0 ... 55 C
5 ... 95 %
without condensation
5 ... 95 %
without condensation
Per minute
Per hour
Condensation
Air pressure
Transportation altitude
Not permissible
700 ... 1060 hPa
v1,000 mm
2-31
Hardware Description
2-32
Parameter Assignment
Notice
The following boundary conditions must be taken into account for the operation of
an ADI4 DP slave on the PROFIBUS DP:
3.1
MD 11240: PROFIBUS_SDB_NUMBER
3.2
SlaveOM (Slave Object Manager) for SINUMERIK 840Di, Version 5.1.1 and
higher or Drive ES Basic, Version 5.1 and higher
SlaveOM
The SlaveOM for SINUMERIK 840Di enables dialogbased parameter assignment
for SIMODRIVE drives and the ADI4 module as part of configuring with SIMATIC
STEP 7 HW Config.
3-33
Parameter Assignment
Note
3.3
When using the SlaveOM for SINUMERIK 840Di in connection with other PLC
CPUs, a consistency error is reported during the configuration compilation and
no system data blocks are generated.
Requirements (SIMOTION)
The following components are required for assigning parameters for an ADI4 DP
slave:
3.4
SIMOTION
SIMOTION P or C:
SIMOTION D:
3-34
Parameter Assignment
3.5
3.5.1
3.5.2
Profile: Standard
PROFIBUS-DP > SINUMERIK > ADI4
Using a drag-and-drop operation, select the ADI4 DP slave and move onto to the
DP master system in the station window.
The DP master system is displayed in the station window with the following symbol:
Releasing the left mouse button inserts the ADI4 DP slave in the configuration.
3-35
Parameter Assignment
Note
As you drag the DP slave, the cursor appears as a circle with a slash through it.
When the cursor is positioned exactly over the DP master system, it changes to a
plus sign, and the DP slave can be added to the configuration.
3-36
Parameter Assignment
3.6
3.7
3.7.1
PROFIBUS address
I/O addresses
PROFIBUS address
Inserting the ADI4 DP slave in the configuration opens the dialog: Properties PROFIBUS Interface ADI4, Tab: Parameter:
Properties PROFIBUS interface ADI4
General
Parameter
Address:
- not networked -
New...
Properties...
Delete...
OK
Fig. 3-1
Cancel
Help
PROFIBUS address
3-37
Parameter Assignment
The displayed address value was automatically set by HW Config to the next available PROFIBUS address within the configuration.
Note
The dialog can also be called later. To do so, double-click the ADI4 DP slave icon
in HW Config and activate the PROFIBUS button in the General tab of the
displayed dialog.
Notice
The PROFIBUS address of the ADI4 DP slave can be set to any value, in
principle. However, it must be ensured that the PROFIBUS address setting in
HW Config matches the DIP switch setting on the ADI4 DP slave.
There is no automatic adjustment!
The following data must agree:
1. SIMATIC S7 configuration of the
PROFIBUS address of the ADI4 DP slave
2. ADI4 module DIP switch S2
PROFIBUS address
After you have confirmed this dialog box with OK, the DP Slave Properties dialog opens. Continue with the parameter assignment for the message frame type.
3-38
Parameter Assignment
3.7.2
Configuration
Clock synchronization
Encoder
None
None
4 axes, each with one encoder, Standard message frame 3 + IO, PZD-5/9 O/I 1/1
Type
Address
Type
PR...
I/O address
Pro...
L...
Slot
4
No PKW
Add slot
Delete slot
Master-slave configuration 1
Master:
Station:
(2) DP(DRIVE)
SIMATIC 300(1)
Comment:
Cancel
OK
Fig. 3-2
Help
Dialog
Dialog box: DP Slave Properties
Tab card: Configuration
List field: Default setting
4 axes, each with one encoder, Standard message frame 3
and IO, PZD-5/9 O/I 1/1
OK
3-39
Parameter Assignment
Table 3-1
Description
4 axes, each with one encoder, Standard message frame 3 + IO, PZD-5/9 O/I 1/1
STD 3
Axis4
I/O
STD 3
STD 3
STD 3
Axis2
Axis3
Axis4
STD 3
STD 3
STD 3
Q word
I/O
I word
PZD2
NSET_B
STW1
Low
PZD 3
PZD 4
STW2
PZD 5
Setpoint (master > slave)
G1_STW
High
PZD1
PZD2
ZSW1
PZD 3
NACT_B
PZD 4
PZD 5
ZSW2
G1_ZSW
PZD8
PZD9
G1_XIST2
PZD6
PZD7
G1_XIST1
12 11
Low byte
8 7
4 3
Low byte
8 7
2 1
0
Dig. inputs 9 to 10/Drv_Rdy 3 to 4
> X62: Pins 10 to 11
Not used
Dig. inputs 14/ext. zero marks 1 to 4
> X62: Pins 2 to 5
Dig. inputs 5 to 6/measuring inputs 1 to 2
> X62: Pins 6 to 7
Dig. inputs 7 to 8/Drv_Rdy 1 to 2
> X62: Pins 8 to 9
3-40
Parameter Assignment
Notice
The message frame type setting for the ADI4 DP slave in HW Config must agree
with the message frame type setting in the controller.
There is no automatic adjustment!
Signal state/description
Reference
mark
search
Functions
N t
Note
or
on-the-flyy
measurement
Bit x = 1
Bit x = 0
Function requested
Function not requested
If more than one function is enabled, the values for all functions cannot be read
until all functions have ended and this has been signaled via the relevant status bit
(G1_ZSW, Bit 0 Bit 3 = 0).
on-the-fly measurement
The rising and falling edges of the measuring input can be enabled simultaneously.
The measuring input signal is detected according to the direction of the signal
change. The measured values are read out consecutively.
Note
ADI4 only supports measurement on a rising or falling edge.
Bit 6, 5, 4
4
5
Command
Mode
Meaning
000
001
Enable Function x
010
Read Value x
011
Cancel Function x
on-the-fly measurement
3-41
Parameter Assignment
Table 3-2
Bit
Name
15
Encoder error
Signal state/description
0
No fault
G1_XIST2
Meaning
Possible causes/description
1Hex
The encoder signal levels are too low, faulty (inadequate shielding) or
open-circuit monitoring has been tripped.
2Hex
3.7.3
I/O addresses
For communication between the controller and the individual axes of an ADI4 DP
slave, it is necessary that the setpoint and the actual value of an axis have the
same I/O address.
HW Config takes this requirement into account automatically when an ADI4 DP
slave is inserted in the configuration.
Dialog
Dialog box: DP Slave Properties
Tab card: Configuration
PROFIBUS partner, I/O address: <I/O addresses>
OK
Notice
S The setpoint and actual value of an axis must have the same I/O address.
I address (actual value) = Q address (setpoint)
3-42
Parameter Assignment
3.7.4
Consistency
The default setting for I/O data consistency is:
Total length
This setting means that direct access from the PLC user program (e.g., byte, word,
or double word) to this address area is not permitted by the PLC operating system.
3.8
Encoder type:
TTL
Unipolar spindle:
Inactive
Shutdown ramp:
11
Active
1)
3-43
Parameter Assignment
3.9
Encoder type
Shutdown ramp
Figure 3-3 shows the corresponding dialog box with sample values for the various
encoder types and parameters.
DP slave properties
General
Configuration
Encoder 1
Encoder 2
Encoder 3
Encoder 4
Encoder type:
Encoder type:
Encoder type:
Encoder type:
TTL
TTL
SSI
SSI
Parity
Resolution:
6000
Resolution:
6000
Parity
Resolution:
2048
Resolution:
2048
MsgLength:
21
MsgLength:
21
Encoding
Encoding
Binary
Gray
Baud rate:
Baud rate:
187.5 Kbps
187.5 Kbps
3rd Axie
4th Axis
Unipolar spindle
1st Axis
2nd Axis
11
OK
Fig. 3-3
3-44
Cancel
Help
Parameter Assignment
3.9.1
Encoder type
Resolution
Encoder resolution in increments per encoder revolution
Note
In the case of spindles a with a low-resolution encoder, the actual-value
characteristic (incrementing) may be displayed in a non-linear fashion. The
incrementing that is visible on the actual-value display is the result of the speed
resolution (RR), where:
RR = 60000/( Tdp * ER * PM )
RR (speed resolution):
Tdp (position-control cycle = PROFIBUS clock pulse):
ER (encoder resolution):
PM (pulse multiplication)
Example:
Tdp (position-control cycle = PROFIBUS clock pulse):
2 ms
ER (Encoder Resolution):
2500 pulses/revolution
PM (ADI4-internal pulse multiplication): 4
RR = 60000/( 2 * 2500 * 4 ) = 3 ( revolutions/minute )/encoder pulse
(SINUMERIK 840Di)
Smoothing of the actual value for low-resolution encoders via machine data item:
MD34990 $MA_ENC_ACTVAL_SMOOTH_TIME (smoothing time constant)
Parity
Select this check box if the encoder data are to be transmitted from the encoder
to the ADI4 with a parity bit.
Resolution
Encoder resolution in increments per encoder revolution
MsgLength
Number of useful data bits transmitted by the encoder
3-45
Parameter Assignment
Encoding
The following encoder codes are supported:
Binary
Gray
Transmission rate
The following transmission rates are supported:
187.5 Kbps
375 Kbps
750 Kbps
Notice
3.9.2
The transmission rate setting must be identical for all SSI encoders. If
transmission rate settings are different, the transmission rate of the SSI
encoder with the highest encoder number is used.
In conjunction with ADI4, only absolute encoders (SSI) with fir tree (TSSI)
output format can be operated.
3-46
Parameter Assignment
(SINUMERIK)
Voltage level of direction of rotation signals at digit. output X6-1, pin 6 - 9, where:
S
S
S
3.9.3
M3 (spindle CW)
= 24 V
M4 (spindle CCW) = 0 V
M5 (spindle stop) = 0 V
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 brings the drives to an immediate stop (brake at current
limit).
S
Unit: [ms]
Maximum
setpoint
Current
setpoint
0
Fig. 3-4
3.9.4
Parameter value:
Shutdown ramp
t [ms]
3.9.5
Unit: [s]
3-47
Parameter Assignment
Notice
Presently, the Tolerable sign-of-life failures parameter may only be used on
values in the range of 0 to 13.
3.9.6
10
Current encoder increments
0
Reserved bits for fine resolution
Notice
S
Presently, the Reserved bits for fine resolution parameter setting must always
be 11.
(SINUMERIK 840Di)
Notice
S
3-48
Parameter Assignment
3.9.7
Not selected
The signal source for homing is specified via the encoder control word Gx_STW
(see page 3-41) in the PROFIDrive standard message frame.
Selected
The signal source for homing is specified via the additional digital output word in
the PROFIBUS message frame.
Bit
Value
If the 611U conformant mode has been parameterized for an axis to be homed, the
axis-specific signal for selecting the signal source must be set in the digital output
word of the ADI4 from the PLC user program, before the Reference mark search
function is requested in the encoder control word.
Subsections 3.9.8 to 3.9.10 below show the basic system structure and the respective boundary conditions of the individual homing methods.
(SIMOTION)
With611U conformant mode
S
For homing of an axis using an encoder zero mark and an external zero mark
the appropriate axis-specific bit must be set to 0 (encoder zero mark) in the digital output word by the PLC user program.
The signal source for homing can be switched during operation.
3-49
Parameter Assignment
this has no effect. To enable homing using an external zero mark, the relevant output bit of the axis must be set using an Output Cam technology object.
S7 Technology Version 2.0 and higher
The following options are available for using 611U conformant mode with signal
source selection:
S
Use the Output Cam technology object for signal source selection. To do so,
configure an output cam in S7TConfig with its output pointing to the relevant bit
address for selection of the signal source on the corresponding axis.
You place the address of the additional data word in the ADI4 message frame in
the DP(DRIVE) I/O image. This address is placed using the MC_ReadPeriphery and MC_WritePeriphery technology functions. The address of the data
word must be adapted manually for the module in HW Config; it must be within
the address range of 0 to 63 bytes.
Dialog: End
When you click OK in the DP Slave Properties dialog, your data are applied and
the dialog box is closed.
Step 1: End
This concludes Step 1 of the ADI4 DP slave parameter assignment (see Subsection 3.5.1, Page 3-35).
3-50
Parameter Assignment
3.9.8
System structure
ADI4
Controller, e.g.,
SINUMERIK 802D
SINUMERIK 840Di
SIMOTION
SIMATIC Technology CPU
PROFIBUS DP
Analog setpoint
Fig. 3-5
Function
Once the controller requests homing, the ADI4 transmits the actual encoder value
to the controller as the home position the next time it detects an encoder zero
mark.
Without 611U conformant mode
No further actions are necessary.
With 611U conformant mode
The relevant signal for the axis to be homed (e.g., Axis 1) must be set in the digital
output word:
S
3-51
Parameter Assignment
3.9.9
System structure
ADI4
Controller, e.g.,
SINUMERIK 802D
SINUMERIK 840Di
SIMOTION
SIMATIC Technology CPU
PROFIBUS DP
Analog setpoint
External
zero mark signal
External
zero mark
Fig. 3-6
Function
Once the controller requests homing, the ADI4 transmits the actual encoder value
to the controller as the home position the next time it detects an external zero mark
signal.
Without 611U conformant mode
The controller must define the relevant function via encoder control word G1_STW:
S
S
(SINUMERIK) (SIMOTION)
Homing using an external zero mark requires 611U conformant mode to be selected.
3-52
Parameter Assignment
3.9.10
System structure
ADI4
Controller, e.g.,
SINUMERIK 802D
SINUMERIK 840Di
SIMOTION
SIMATIC Technology CPU
PROFIBUS DP
Analog setpoint
Reference cam
signal
Reference
cam
Fig. 3-7
Basic system structure: Homing using encoder zero mark and external zero mark
Function
The reference cam signal must be connected to a digital input on the ADI4 (X62,
Pins 2 to 5). The reference cam signal is processed in the controller as part of the
homing operation.
Once the reference cam signal is detected, the controller reduces the axis velocity
to the homing approach velocity and requests the ADI4 to home to the next encoder zero mark. Once the request is detected, the ADI4 transmits the actual encoder value to the controller as the home position the next time it detects an encoder zero mark.
Without 611U conformant mode
No further actions are necessary.
With 611U conformant mode
The relevant signal for the axis to be homed (e.g., Axis 1) must be set in the digital
output word:
S
3-53
Parameter Assignment
3.9.11
Boundary conditions
3.9.12
Error 20005
In conjunction with an ADI4 DP slave, the following message is displayed when the
SIMOTION CPU switches from RUN to STOP mode:
S
Error 20005: Device type: 1/2, log. address: x faulted. (Bit: 0, Reason: 0x...)
3.9.13
3-54
Parameter Assignment
3-55
Parameter Assignment
3.10
Notice
When assigning parameters for DP communication, you must observe the
boundary conditions applicable to the individual parameters
(see Subsection 3.10.9, Page 3-65).
3.10.1
Note
It is recommended that the equidistant DP cycle be enabled for all ADI4 DP slaves
by enabling the equidistant DP cycle for the selected ADI4 DP slave, and then
performing an alignment.
During an alignment, the values displayed in dialog:
S
DP Slave Properties
Tab: Clock synchronization
are transferred to all DP slaves of the same type in the configuration, i.e., in this
case, to all ADI4 DP slaves.
3-56
Parameter Assignment
Dialog: Start
Dialog box: DP Slave Properties
Tab: Clock synchronization
Check box: Synchronize drive to equidistant DP cycle
Button: Adjustment
DP slave properties
General
Configuration
Clock synchronizationEncoders
1.533
Equidistance
component:
Increments/base
[ms]
1.625
time
Increments/base
[ms]
0.125
time
Increments/base
[ms]
0.125
time
Increments/base
[ms]
0.125
time
Factor
Master application
cycle [ms]:
1.625
DP cycle [ms]:
1.625
0.125
0.750
1
Factor
Time Ti [ms]:
(Actual
acquisition)
13
Factor
value
Time To [ms]:
(Setpoint transfer)
1
Factor
6
cyclic 0.516
master
Adjustmen
t
Cancel
OK
Fig. 3-8
Help
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. Align
Then, you can continue setting the other parameters.
3-57
Parameter Assignment
3.10.2
Dialog: Continuation
Dialog box: DP Slave Properties
Tab: General
Group: Station/Master System
Button: PROFIBUS...
Dialog box: Properties PROFIBUS Interface ADI4 ...
Tab: Parameters
Button: Properties...
Dialog box: Properties of PROFIBUS
Tab: Network settings
Button: Options...
Dialog box: Options
Tab: Equidistance
1st check box: Enable equidistant bus cycle
2nd check box: Enable equidistant bus cycle
See Figure 3-9, Page 3-59.
3-58
Parameter Assignment
3.10.3
Dialog: Continuation
Dialog box: Options
Equidistant DP cycle: Equidistance time
OK
OK
OK
Options
Equidistance Network stations Lines
Enabling equidistant bus cycle/Recalculating equidistance time
Number of
PROFIBUS
PGs/OPs/TDs
on
the
Isochronous DP cycle:
(minimum
0.427
2.000
Increme
ms nt:
0.001 ms
Details ...
ms)
Synchronization
of the
slaves
Times Ti and To same for all slaves
(If not: Set in Properties Slaves)
ms
ms
OK
Fig. 3-9
Cancel
Help
Dialog: Options
3-59
Parameter Assignment
3.10.4
DP cycle TDP
Dialog: Continuation
Dialog box: DP Slave Properties
Tab: Clock synchronization
DP cycle (ms): < Factor >
The DP cycle time of the ADI4 DP slave must be set to the DP master cycle time
displayed under Equidistant DP cycle.
See Figure 3-12, Page 3-65.
Note
The DP cycle time (Parameter: DP cycle) of the ADI4 DP slave must be set to the
same value as the DP cycle time setting for the DP master (Parameter:
Equidistant DP cycle).
DP cycle = equidistant DP cycle
3.10.5
Dialog: Continuation
Dialog box: DP Slave Properties
Tab: Clock synchronization
Master application cycle [ms]: < Factor>
See Figure 3-12, Page 3-65.
3-60
Parameter Assignment
TMAPC = TDP
NC:
Master or
position controller
PROFIBUS-DP
communication
TM
DPV1 GTR
TDX
TDX
GC Dx Dx Dx DPV1 GTR
GC Dx Dx Dx
TI
TO
TI
R R
TO
TMAPC = 2 * TDP
NC:
Master or position
controller
TM
TDP
TDP
TDX
TDX
PROFIBUS DP
communication
GC Dx Dx Dx DPV1 GTR
GC Dx Dx Dx DPV1 GTR
GC
R R
TI
TO
R R
TI
3-61
Parameter Assignment
TDP
TDX
TM
TI
Input time: Timing of actual value acquisition. The actual values are transferred to the
DP master in the next DP cycle.
TO
GC
Dx
DPV1
GTR
The actual values for the current DP cycle/position control cycle are
transferred from the DP slave drives to the NC position controller.
(SINUMERIK 802D)
The ratio between master application cycle TMAC and DP cycle time TDP can be
set to a ratio other than 1:1.
3-62
Parameter Assignment
3.10.6
Dialog: Continuation
Dialog box: DP Slave Properties
Tab: Clock synchronization
Actual value acquisition [ms]: < Factor >
See Figure 3-12, Page 3-65.
Note
The following condition must be satisfied for actual value acquisition time Ti:
DP cycle >= actual value acquisition >= base time
3.10.7
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 setpoint transfer time To be the same for all ADI4 DP
slaves, particularly if axes are interpolated together.
Dialog: Continuation
Dialog box: DP Slave Properties
Tab: Clock synchronization
Setpoint transfer [ms]: < Factor >
See Figure 3-12, Page 3-65.
Note
The following condition must be satisfied for setpoint transfer time To:
DP cycle >= setpoint transfer >= equidistant master cyclic component +
base time
3-63
Parameter Assignment
3.10.8
Alignment
Alignment transfers all values for the current ADI4 DP slave displayed in the Clock
synchronization tab to all other ADI4 DP slaves in the configuration.
Dialog: End
Dialog box: DP Slave Properties
Tab: Clock synchronization
Button: Adjustment
OK
See Figure 3-12, Page 3-65.
Note
If an S7 project includes different equidistant DP slave types, such as different
SIMODRIVE drives, ADI4, etc., the following parameter settings must be made for
each DP slave type as described above, and an alignment must be performed:
S
Setpoint transfer To
This align operation concludes the parameter assignment DP communication for all
ADI4 slaves.
3-64
Parameter Assignment
DP slave properties
General
Configuration
Clock synchronization
2.000
Master application
cycle [ms]:
2.000
Equidistance
component:
Factor
1
2.000
Actual
value
acquisition [ms]:
0.250
1.000
16
0.125
Base time [ms]
Factor
8
0.125
Base time [ms]
Factor
2
2.000
Base time [ms]
Factor
DP cycle [ms]:
cyclic 0.872
master
0.125
Adjustmen
t
OK
Fig. 3-12
3.10.9
Cancel
Help
Supplementary Conditions
Configuration
Clock synchronization
2.000
Equidistance
component:
master
TDP
TDX
Factor
Master application
cycle [ms]:
2.000
2.000
0.250
1.000
TI
Actual
value
acquisition [ms]:
Setpoint transfer [ms]:
Fig. 3-13
16
TO
0.125
Base time [ms]
Factor
8
0.125
Base time [ms]
Factor
2
2.000
Base time [ms]
Factor
DP cycle [ms]:
cyclic 0.872
0.125
3-65
Parameter Assignment
TIMax.: TDP
TIMin.: 2*125 us
TO
TDX
TOMin.: TDX+125 us
TI
TOMax.: TDP
TDP
(SINUMERIK 802D)
Typical parameter values are:
Equidistant DP cycle (TDP):
2.000 ms
0.250 ms
1.000 ms
(SINUMERIK 840Di)
Typical parameter values are:
3-66
2.000 ms
0.250 ms
1.000 ms
Parameter Assignment
2.000 ms
3.000 ms
0.250 ms
0.250 ms
1.250 ms
1.000 ms
Note
ADI4 DP slaves:
3-67
Parameter Assignment
3-68
Startup
4.1
4.1.1
Controller startup
Linear encoder with distance-coded zero marks/reference marks
(SINUMERIK 840Di)
Machine data
The following machine data must be set for the purpose of starting up the measuring system of a machine axis with linear encoder featuring distance-coded zero
marks/reference marks:
Number
Identifier: $MA_
Meaning
30240
ENC_TYPE
31000
ENC_IS_LINEAR
31010
ENC_GRID_POINT_DIST
31040
ENC_IS_DIRECT
32100
AX_MOTION_DIR
32110
ENC_FEEDBACK_POL
34090
REFP_MOVE_DIST_CORR
34200
ENC_REFP_MODE
Homing mode
34300
ENC_REFP_MARKER_DIST
34310
ENC_MARKER_INC
34320
ENC_INVERS
4-69
Startup
Example
The following example illustrates how the mounting conditions of the machine axis
and linear encoder have to be taken into account in the machine data for the machine axis concerned.
Type of linear encoder with distance-coded zero marks/reference marks used:
Heidenhain: LS 476 C
Technical characteristics (extract)
Value
Measuring length
270 mm
20 mm
Signal division of incremental signals with scale division of 0.02 and integrated interpolation: x5
0.004 mm
0.02 mm
60
270
10.06
40
10.04
20
10.02
Fig. 4-1
Because of the various possibilities regarding the orientation of the machine axis
and linear encoder (equidirectional/counterdirectional) it is necessary to distinguish
between 2 scenarios.
Machine data remains the same in both cases
Number
Identifier: $MA_
Value
30240
ENC_TYPE
31000
ENC_IS_LINEAR
31010 *
ENC_GRID_POINT_DIST
0.004
31040
ENC_IS_DIRECT
34200
ENC_REFP_MODE
34300 *
ENC_REFP_MARKER_DIST
20
34310 *
ENC_MARKER_INC
0.02
4-70
Startup
270
+
0
Fig. 4-2
AX_MOTION_DIR
32110
ENC_FEEDBACK_POL
34090
REFP_MOVE_DIST_CORR
RO
34320
ENC_INVERS
270
+
0
Fig. 4-3
AX_MOTION_DIR
32110
ENC_FEEDBACK_POL
34090
REFP_MOVE_DIST_CORR
RO
34320
ENC_INVERS
4-71
Startup
4-72
Supplementary Conditions
5-73
Supplementary Conditions
5-74
Index
Symbols
(H1/H2): module status, 2-25
(S2): PROFIBUS address, 2-13
(SIMATIC Technology CPU), 3-34, 3-44, 3-46,
3-50, 3-54, 3-62, 3-66, 3-67
(SIMOTION), 3-34, 3-37, 3-44, 3-46, 3-49,
3-52, 3-54, 3-62, 3-66, 3-67
(SINUMERIK 802D), 2-19, 2-21, 2-24, 3-33,
3-37, 3-43, 3-62, 3-66
(SINUMERIK 840Di), 2-19, 3-33, 3-37, 3-44,
3-45, 3-48, 3-62, 3-66, 4-69
(SINUMERIK), 3-47, 3-52
(X1): external power supply
Connecting cable, 2-12
Pin assignment, 2-12
Supply voltage, 2-12
Terminal, 2-12
(X2): PROFIBUS DP
Cables, 2-13
Connector, 2-13
Data rate, 2-13
Pin assignment, 2-13
Terminal, 2-13
(X3): Analog setpoint interface
Pin assignment, 2-15
Preassembled cables, 2-16
Terminal, 2-15
(X4--1/X4--2/X5--1/X5--2): encoder interfaces
Connectable measuring systems, 2-18
Encoder supply voltages, 2-18
Maximum cable lengths, 2-17
Pin assignment, 2-16
Preassembled cables, 2-17
Terminal, 2-16
(X6--1): Digital outputs
Connecting cable, 2-22
Electrical specification, 2-21
General electrical properties, 2-21
Pin assignment, 2-20
Relay contact: Ready signal, 2-22
Supply voltage, 2-21
Terminal, 2-20
Numbers
611U conformant mode, 3-40, 3-41, 3-43, 3-44,
3-49
SIMATIC Technology CPU, 3-50
SIMOTION, 3-49, 3-52
SINUMERIK, 3-52
With, 3-51, 3-52, 3-53
Without, 3-51, 3-52, 3-53
A
Absolute encoder, SSI, 2-19
Actual speed value, 3-54
Actual value acquisition, 3-63
Additional encoder actual value, 3-42
ADI4 module, 2-26
Adjustment, 3-64
Approved encoders, Linear encoder with
distance-coded zero marks/reference
marks, 2-19
Assigning parameters for
DP communication, 3-56
Index-75
Index
B
Boundary conditions, 1-10, 3-54, 3-65, 5-73
Actual speed value, 3-54
Encoders with axes, 3-54
Error 20005, 3-54
External encoder interface, 3-54
Homing using external zero mark, 3-54
Measuring Input, 3-54
On-the-fly measurement, 3-54
SIMATIC Technology CPU, 3-54, 3-66, 3-67
SIMOTION, 3-54, 3-66, 3-67
SINUMERIK 802D, 3-66
SINUMERIK 840Di, 3-66
C
Cable routing, 2-26
Configuration, 3-35
Connection overview, 1-9, 2-11, 2-29
Consistency, 3-43
Control cabinet installation, 2-26
Controller startup, 4-69
CPU 317T, 3-34
D
Data exchange time, 3-62
Digital inputs, 2-27
Digital outputs, 2-27
Dimension drawing, 2-30
Direction of rotation signal, 3-46
Direction of rotation signals, 3-47
Distance-coded zero marks, 2-19
SINUMERIK 840Di, 4-69
DP cycle, 3-61
DP cycle time, 3-62
Drive ES Basic, 3-34
Dx, 3-62
F
Fine resolution, 3-48
SINUMERIK 840Di, 3-48
Fir tree, 2-19, 3-46
Firmware version, 1-9
Function parameters
SIMATIC Technology CPU, 3-44
SIMOTION, 3-44
SINUMERIK 802D, 3-43
SINUMERIK 840Di, 3-44
G
GAP, 3-62
GC, 3-62
General, 1-9
Global control message frame, 3-62
Grounding, 2-28
GTR, 3-62
Gx_STW, 3-41
Gx_XIST2, 3-42
H
Hardware description, 2-11
Homing
Encoder zero mark, 3-51
Encoder zero mark and external
zero mark, 3-53
External zero mark, 3-52
SIMATIC Technology CPU, 3-50
SIMOTION, 3-49, 3-52
SINUMERIK, 3-52
E
Encoder control word, 3-41
Encoder error, 3-41
Encoder type, 3-45
SSI, 3-45
TTL, 3-45
Encoder zero mark, 3-49, 3-50, 3-51, 3-53
Encoders with axes, 3-54
Index-76
I
I/O addresses, 3-42
Incremental encoders, TTL, 2-18
Input time, 3-62
Input word, 3-40
Installation/Mounting, 2-26
Index
Interface
(H1/H2): module status, 2-25
(S2): PROFIBUS address, 2-13
(X1): external power supply, 2-12
(X2): PROFIBUS DP, 2-13
(X3): Analog setpoint interface, 2-15
(X4--1/X4--2/X5--1/X5--2): encoder interfaces, 2-16
(X6--1): Digital outputs, 2-20
(X6--2): Digital inputs, 2-23
Interface description, 2-12
Interface overview, 2-12
Isochronous DP cycle, 3-56, 3-59
L
Linear encoders, 2-19
SINUMERIK, 4-69
M
M3, 3-47
M4, 3-47
M5, 3-47
Main features, 1-9
Master application cycle, 3-60, 3-62
SIMATIC Technology CPU, 3-62
SIMOTION, 3-62
SINUMERIK 802D, 3-62
SINUMERIK 840Di, 3-62
Master time, 3-62
MD34990, SINUMERIK 840Di, 3-45
Measuring Input, 2-25, 3-54
Message frame structure, 3-40
Message frame type, 3-39
MLFB: 6FC5 211--0BA01--0AA0, 1-9, 3-67
MLFB: 6FC5 211--0BA01--0AA1, 3-34, 3-65,
3-67
N
NC startup, 4-69
P
Parameter assignment, 3-33
Parameter assignment sequence, 3-35
POWER, LED: ADI4, 2-25
Power supply, 2-26
PROFIBUS address, 3-37
PROFIBUS parameters
SIMOTION, 3-37
SINUMERIK 802D, 3-37
SINUMERIK 840D, 3-37
PROFIBUS DP parameter assignment, 3-35
Properties, 1-9
R
READY, LED: ADI4, 2-25
Reference mark search, 3-41, 3-49
Reference marks, 2-19
SINUMERIK 840Di, 4-69
Requirements
SIMATIC Technology CPU, 3-34
SIMOTION, 3-34
SINUMERIK 802D, 3-33
SINUMERIK 840Di, 3-33
RESERVE, 3-62
Reserved bits for fine resolution, 3-48
SINUMERIK 840Di, 3-48
S
S7 Technology, 3-34
Setpoint transfer, 3-63
Shutdown delay time, 3-47
Shutdown ramp, 3-47
Sign-of-life failures, 3-47
SIMATIC STEP 7, 3-34
SIMOTION C, 3-34
SIMOTION D, 3-34
SIMOTION P, 3-34
SlaveOM, 3-33
Smoothing time constant,
SINUMERIK 840Di, 3-45
STEP 7 SIMATIC Manager , 3-34
Supply voltages (+24 VDC), 2-27
Index-77
Index
TM, 3-62
TMAPC, 3-60, 3-62
SIMATIC Technology CPU, 3-62
SIMOTION, 3-62
SINUMERIK 802D, 3-62
SINUMERIK 840Di, 3-62
TO, 3-62, 3-63
TOKEN, 3-62
Tolerable sign-of-life failures, 3-47
Total length, 3-43
Index-78
U
Unipolar motor, 3-46
SIMATIC Technology CPU, 3-46
SIMOTION, 3-46
SINUMERIK, 3-47
Unipolar spindle, 3-46
SIMATIC Technology CPU, 3-46
SIMOTION, 3-46
SINUMERIK, 3-47
To
SIEMENS AG
A&D MC BMS
P.O. Box 3180
Suggestions
Corrections
For Publication/Manual:
D--91050 Erlangen
Phone: +49 (0) 180 5050 - 222 [Hotline]
Fax: +49 (0) 9131 98 - 63315 [Documentation]
E--mail: motioncontrol.docu@siemens.com
Manufacturer/Service Documentation
Product Manual
From
Order No.:
Edition:
Name
Company/Dept.
6FC5 297-0BA01-0BP4
05.2005
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Phone:
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