Siemens SIMOTION ADI4 Technical Document

SIMOTION
SIMOTION SCOUT
SIMOTION ADI4 - Analog Drive
Interface for 4 Axes
Equipment Manual
Valid for
Control unit: SIMOTION P
SIMOTION C
SIMOTION D
Software version ADI4 1.4.8
07/2017
A5E33446849B
Preface
Fundamental safety
instructions 1
General 2
Hardware description 3
Parameter assignment 4
Commissioning 5
Standards and approvals A
ESD guidelines B

Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage
to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices
referring only to property damage have no safety alert symbol. These notices shown below are graded according to
the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Quali󹪝ed Personnel
The product/system described in this documentation may be operated only by personnel quali󹪝ed for the speci󹪝c
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Quali󹪝ed personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance
are required to ensure that the products operate safely and without any problems. The permissible ambient
conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identi󹪝ed by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may
be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this
publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG
Digital Industries
Postfach 48 48
90026 NÜRNBERG
GERMANY
Document order number: 6FC5 297-0BA01-0AP6
Ⓟ 07/2021 Subject to change
Copyright © Siemens AG 2009 - 2021.
All rights reserved

Preface
SIMOTION SCOUT documentation
This documentation is included as electronic documentation in the scope of delivery of
SIMOTION SCOUT. It comprises ten documentation packages.
The following documentation packages are available for SIMOTION:
• SIMOTION Engineering System Handling
• SIMOTION System and Function Descriptions
• SIMOTION Service and Diagnostics
• SIMOTION IT
• SIMOTION Programming
• SIMOTION Programming - References
• SIMOTION C
• SIMOTION D
• SIMOTION Supplementary Documentation
Purpose of the manual
This manual describes the functionality and use of the ADI4 - Analog Drive Interface for 4 Axes.
Note
This manual provides information about the hardware and applications of the ADI4. In the
SIMOTION manuals, you will 󹪝nd general information about working with the SIMOTION SCOUT
engineering software, technology objects, etc.
Hotline and Internet addresses
Additional information
Click the following link to 󹪝nd information on the following topics:
• Ordering documentation / overview of documentation
• Additional links to download documents
• Using documentation online (󹪝nd and search manuals/information)
http://www.siemens.com/motioncontrol/docu
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
Equipment Manual, 07/2017, A5E33446849B 3

My Documentation Manager
Click the following link for information on how to compile documentation individually on the
basis of Siemens content and how to adapt it for the purpose of your own machine
documentation:
https://support.industry.siemens.com/My/ww/en/documentation
Training
Click the following link for information on SITRAIN - Siemens training courses for automation
products, systems and solutions:
http://www.siemens.com/sitrain
FAQs
Frequently Asked Questions can be found in SIMOTION Utilities & Applications, which are
included in the scope of delivery of SIMOTION SCOUT, and in the Service&Support pages in
Product Support:
http://support.automation.siemens.com
Technical support
Country-speci󹪝c telephone numbers for technical support are provided on the Internet
under Contact:
http://www.siemens.com/automation/service&support
Scope
ADI4 is supported by the following Siemens products:
• SCOUT Engineering System, Version 3.1.1 or later
• SIMOTION Runtime, Version 3.1.1 or later
• SINAMICS V2.1 or later
Organization of information
The information about ADI4 in this manual is organized as follows:
• General
This chapter describes the properties and essential features as well as the higher-level
boundary conditions of the ADI4.
• Hardware description
This chapter describes the interfaces of the ADI4, the control cabinet installation, and the
power supply of the module.
• Parameter assignment
This chapter describes the assignment of ADI4 parameters for PROFIBUS DP and for functions.
Preface
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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• Commissioning
This chapter presents a commissioning example using absolute and incremental encoders in
conjunction with ADI4.
• Index
The index helps you to locate information in the manual quickly and easily.
Danger notices
The following notices are intended 󹪝rstly for your personal safety and secondly to prevent
damage occurring to the product described or any connected devices and machines. Non-
observance of the warnings can result in severe personal injury or property damage.
DANGER
Repairs
Repairs to devices that have been supplied by our company may only be carried out by SIEMENS
customer service or by repair centers authorized by SIEMENS.
When replacing parts or components, only use those parts that are included in the spare parts
list.
EMERGENCY STOP devices EN 60204-1 (VDE 0113 Part 1) must remain active in all modes of
the automation equipment. Releasing the Emergency Stop/O󹪜 device must not cause an
uncontrolled or unde󹪝ned restart.
Anywhere in the automation equipment where faults might cause physical injury or major
material damage, in other words, where faults could be dangerous, additional external
precautions must be taken, or facilities must be provided, that guarantee or enforce a safe
operational state, even when there is a fault (e.g. using an independent limit value switch,
mechanical interlocks, EMERGENCY STOP devices)
Preface
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Preface
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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Table of contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions......................................................................................................... 11
1.1 General safety instructions................................................................................................. 11
1.1.1 Malfunctions of the machine as a result of incorrect or changed parameter settings............ 14
1.2 Safety instructions for electromagnetic 󹪝elds (EMF)............................................................ 15
1.3 Handling electrostatic sensitive devices (ESD)..................................................................... 15
1.4 Security information .......................................................................................................... 15
1.5 Note regarding the general data protection regulation........................................................ 16
1.6 Danger to life due to software manipulation when using removable storage media............. 16
1.7 Residual risks of power drive systems ................................................................................. 17
2 General ................................................................................................................................................ 19
2.1 Overview........................................................................................................................... 19
2.1.1 Properties .......................................................................................................................... 19
2.1.2 Essential features............................................................................................................... 19
2.1.3 Article No. and 󹪝rmware version ........................................................................................ 20
2.1.4 Boundary conditions.......................................................................................................... 20
3 Hardware description .......................................................................................................................... 21
3.1 Overview of connections.................................................................................................... 21
3.2 Interface description .......................................................................................................... 22
3.2.1 Interface overview ............................................................................................................. 22
3.2.2 Interface (X1): External power supply................................................................................. 22
3.2.3 Interface (X2): PROFIBUS DP............................................................................................... 23
3.2.4 Interface (S2): PROFIBUS address ....................................................................................... 24
3.2.5 Interface (X3): Analog setpoint interface ............................................................................ 24
3.2.6 Interfaces (X4-1/X4-2/X5-1/X5-2): Encoder interfaces ......................................................... 26
3.2.7 Interface (X6-1): Digital outputs......................................................................................... 29
3.2.8 Interface (X6-2): Digital inputs ........................................................................................... 32
3.2.9 Interface (H1/H2): Module status ....................................................................................... 35
3.3 Control cabinet installation ................................................................................................ 36
3.4 Power supply ..................................................................................................................... 36
3.5 Grounding ......................................................................................................................... 38
3.6 Dimension drawing............................................................................................................ 39
3.7 Technical data.................................................................................................................... 40
4 Parameter assignment......................................................................................................................... 41
4.1 Boundary conditions of ADI4 DP slave ................................................................................ 41
4.2 Requirements .................................................................................................................... 41
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4.3 PROFIBUS DP parameter assignment................................................................................... 42
4.3.1 Parameter assignment sequence ........................................................................................ 42
4.3.2 Inserting an ADI4 DP slave in the con󹪝guration................................................................... 42
4.4 PROFIBUS parameters ........................................................................................................ 43
4.4.1 Parameter components...................................................................................................... 43
4.4.2 PROFIBUS address .............................................................................................................. 44
4.4.3 Message frame type........................................................................................................... 45
4.4.4 I/O addresses ..................................................................................................................... 49
4.4.5 Consistency ....................................................................................................................... 50
4.5 Function parameters.......................................................................................................... 50
4.5.1 Encoder type ..................................................................................................................... 51
4.5.2 Unipolar spindle or unipolar motor..................................................................................... 53
4.5.3 Shutdown ramp................................................................................................................. 54
4.5.4 Shutdown delay................................................................................................................. 54
4.5.5 Tolerable sign-of-life failures .............................................................................................. 54
4.5.6 Reserved bits for 󹪝ne resolution ......................................................................................... 55
4.5.7 611U conformant mode..................................................................................................... 55
4.5.8 Homing using encoder zero mark....................................................................................... 57
4.5.9 Homing using external zero mark....................................................................................... 58
4.5.10 Homing using encoder zero mark and homing output cam ................................................. 59
4.5.11 Boundary conditions.......................................................................................................... 60
4.6 Parameter assignment of the DP communication................................................................ 60
4.6.1 Parameter assignment of the equidistant cyclic DP communication..................................... 60
4.6.2 Activation of the equidistant DP cycle................................................................................. 61
4.6.3 Equidistant master cyclic component TDX........................................................................... 62
4.6.4 Equidistant DP cycle TDP .................................................................................................... 64
4.6.5 DP cycle TDP ...................................................................................................................... 65
4.6.6 Master application cycle TMAPC ......................................................................................... 66
4.6.7 Actual value acquisition Ti.................................................................................................. 69
4.6.8 Setpoint acceptance To ...................................................................................................... 70
4.6.9 Alignment ......................................................................................................................... 72
4.6.10 Boundary conditions.......................................................................................................... 74
5 Commissioning .................................................................................................................................... 77
5.1 Wiring of drive ready signals .............................................................................................. 77
5.2 Absolute encoder (SSI), single-turn..................................................................................... 77
5.3 Absolute encoder (SSI), multiturn....................................................................................... 82
5.4 Incremental encoder (TTL) ................................................................................................. 86
A Standards and approvals ..................................................................................................................... 91
A.1 General rules ..................................................................................................................... 91
A.2 Residual risks of power drive systems ................................................................................. 92
B ESD guidelines ..................................................................................................................................... 95
B.1 ESD de󹪝nition .................................................................................................................... 95
B.2 Electrostatic charging of individuals ................................................................................... 95
B.3 Basic measures for protection against discharge of static electricity..................................... 96
Table of contents
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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Index .................................................................................................................................................... 97
Table of contents
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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Table of contents
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
10 Equipment Manual, 07/2017, A5E33446849B

Fundamental safety instructions 1
1.1 General safety instructions
WARNING
Electric shock and danger to life due to other energy sources
Touching live components can result in death or severe injury.
• Only work on electrical devices when you are quali󹪝ed for this job.
• Always observe the country-speci󹪝c safety rules.
Generally, the following six steps apply when establishing safety:
1. Prepare for disconnection. Notify all those who will be a󹪜ected by the procedure.
2. Isolate the drive system from the power supply and take measures to prevent it being
switched back on again.
3. Wait until the discharge time speci󹪝ed on the warning labels has elapsed.
4. Check that there is no voltage between any of the power connections, and between any of
the power connections and the protective conductor connection.
5. Check whether the existing auxiliary supply circuits are de-energized.
6. Ensure that the motors cannot move.
7. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or
water. Switch the energy sources to a safe state.
8. Check that the correct drive system is completely locked.
After you have completed the work, restore the operational readiness in the inverse sequence.
WARNING
Electric shock if there is no ground connection
For missing or incorrectly implemented protective conductor connection for devices with
protection class I, high voltages can be present at open, exposed parts, which when touched,
can result in death or severe injury.
• Ground the device in compliance with the applicable regulations.
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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WARNING
Electric shock due to connection to an unsuitable power supply
When equipment is connected to an unsuitable power supply, exposed components may carry
a hazardous voltage. Contact with hazardous voltage can result in severe injury or death.
• Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV- (Protective
Extra Low Voltage) output voltages for all connections and terminals of the electronics
modules.
WARNING
Electric shock due to equipment damage
Improper handling may cause damage to equipment. For damaged devices, hazardous
voltages can be present at the enclosure or at exposed components; if touched, this can result
in death or severe injury.
• Ensure compliance with the limit values speci󹪝ed in the technical data during transport,
storage and operation.
• Do not use any damaged devices.
WARNING
Electric shock due to unconnected cable shield
Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected
cable shields.
• As a minimum, connect cable shields and the conductors of power cables that are not used
(e.g. brake cores) at one end at the grounded housing potential.
WARNING
Spread of 󹪝re from built-in devices
In the event of 󹪝re outbreak, the enclosures of built-in devices cannot prevent the escape of
󹪝re and smoke. This can result in serious personal injury or property damage.
• Install built-in units in a suitable metal cabinet in such a way that personnel are protected
against 󹪝re and smoke, or take other appropriate measures to protect personnel.
• Ensure that smoke can only escape via controlled and monitored paths.
Fundamental safety instructions
1.1 General safety instructions
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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WARNING
Unexpected movement of machines caused by radio devices or mobile phones
The use of radio devices or mobile telephones in the immediate vicinity of the components can
result in equipment malfunction. Malfunctions may impair the functional safety of machines
and can therefore put people in danger or lead to property damage.
• If you come closer than around 2 m to such components, switch o󹪜 any radios or mobile
phones.
• Use the "SIEMENS Industry Online Support app" only on equipment that has already been
switched o󹪜.
WARNING
Fire due to inadequate ventilation clearances
Inadequate ventilation clearances can cause overheating of components with subsequent 󹪝re
and smoke. This can cause severe injury or even death. This can also result in increased
downtime and reduced service lives for devices/systems.
• Ensure compliance with the speci󹪝ed minimum clearance as ventilation clearance for the
respective component.
NOTICE
Overheating due to inadmissible mounting position
The device may overheat and therefore be damaged if mounted in an inadmissible position.
• Only operate the device in admissible mounting positions.
WARNING
Unrecognized dangers due to missing or illegible warning labels
Dangers might not be recognized if warning labels are missing or illegible. Unrecognized
dangers may cause accidents resulting in serious injury or death.
• Check that the warning labels are complete based on the documentation.
• Attach any missing warning labels to the components, where necessary in the national
language.
• Replace illegible warning labels.
Fundamental safety instructions
1.1 General safety instructions
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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WARNING
Unexpected movement of machines caused by inactive safety functions
Inactive or non-adapted safety functions can trigger unexpected machine movements that
may result in serious injury or death.
• Observe the information in the appropriate product documentation before commissioning.
• Carry out a safety inspection for functions relevant to safety on the entire system, including
all safety-related components.
• Ensure that the safety functions used in your drives and automation tasks are adjusted and
activated through appropriate parameterizing.
• Perform a function test.
• Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.
Note
Important safety notices for Safety Integrated functions
If you want to use Safety Integrated functions, you must observe the safety notices in the Safety
Integrated manuals.
1.1.1 Malfunctions of the machine as a result of incorrect or changed parameter
settings
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency o󹪜.
Fundamental safety instructions
1.1 General safety instructions
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
14 Equipment Manual, 07/2017, A5E33446849B

1.2 Safety instructions for electromagnetic 󹪝elds (EMF)
WARNING
Danger to life from electromagnetic 󹪝elds
Electromagnetic 󹪝elds (EMF) are generated by the operation of electrical power equipment
such as transformers, converters or motors.
People with pacemakers or implants are at a special risk in the immediate vicinity of these
devices/systems.
• Ensure that the persons involved are the necessary distance away (minimum 2 m).
1.3 Handling electrostatic sensitive devices (ESD)
Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules or
devices that may be damaged by either electric 󹪝elds or electrostatic discharge.
NOTICE
Damage through electric 󹪝elds or electrostatic discharge
Electric 󹪝elds or electrostatic discharge can cause malfunctions through damaged individual
components, integrated circuits, modules or devices.
• Only pack, store, transport and send electronic components, modules or devices in their
original packaging or in other suitable materials, e.g conductive foam rubber of aluminum
foil.
• Only touch components, modules and devices when you are grounded by one of the
following methods:
– Wearing an ESD wrist strap
– Wearing ESD shoes or ESD grounding straps in ESD areas with conductive 󹪞ooring
• Only place electronic components, modules or devices on conductive surfaces (table with
ESD surface, conductive ESD foam, ESD packaging, ESD transport container).
1.4 Security information
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is necessary
to implement – and continuously maintain – a holistic, state-of-the-art industrial security
concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected to
an enterprise network or the internet if and to the extent such a connection is necessary and only
when appropriate security measures (e.g. 󹪝rewalls and/or network segmentation) are in place.
Fundamental safety instructions
1.4 Security information
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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For additional information on industrial security measures that may be implemented, please
visit (https://www.siemens.com/industrialsecurity).
Siemens' products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they are available
and that the latest product versions are used. Use of product versions that are no longer
supported, and failure to apply the latest updates may increase customers' exposure to cyber
threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed
visit (https://www.siemens.com/industrialsecurity).
1.5 Note regarding the general data protection regulation
Siemens observes the principles of data protection, in particular the principle of data
minimization (privacy by design). For this product this means:
The product does not process / store any personal data, only technical functional data (e.g. time
stamp). If the user links this data with other data (e.g. shift plans) or stores personal data on the
same medium (e.g. hard disk) and thus establishes a personal reference, the user must ensure
compliance with data protection regulations.
1.6 Danger to life due to software manipulation when using
removable storage media
WARNING
Danger to life due to software manipulation when using removable storage media
The storage of 󹪝les on removable storage media involves a high risk of infection, e.g. via viruses
or malware. Incorrect parameter assignment can cause machines to malfunction, which can
lead to injuries or death.
• Protect the 󹪝les on removable storage media against harmful software through appropriate
protective measures, e.g. virus scanners.
Fundamental safety instructions
1.6 Danger to life due to software manipulation when using removable storage media
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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1.7 Residual risks of power drive systems
When performing the risk assessment for a machine or plant in accordance with the respective
local regulations (e.g. EC Machinery Directive), the machine manufacturer or plant constructor
must take into account the following residual risks associated with the control and drive
components of a drive system:
1. Unintentional movements of driven machine or system components during commissioning,
operation, maintenance and repairs caused by, for example:
– Hardware and/or software errors in the sensors, control system, actuators, and cables and
connections
– Response times of the control system and of the drive
– Operation and/or environmental conditions outside the speci󹪝cation
– Condensation/conductive contamination
– Parameterization, programming, cabling, and installation errors
– Use of wireless devices / mobile phones in the immediate vicinity of electronic
components
– External in󹪞uences/damage
– X-rays, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open 󹪞ames, as well as emissions of light, noise,
particles, gases, etc., can occur inside and outside the components under fault conditions
caused by, for example:
– Component failure
– Software errors
– Operation and/or environmental conditions outside the speci󹪝cation
– External in󹪞uences/damage
3. Hazardous shock voltages caused by, for example:
– Component failure
–In󹪞uence during electrostatic charging
– Induction of voltages in moving motors
– Operation and/or environmental conditions outside the speci󹪝cation
– Condensation/conductive contamination
– External in󹪞uences/damage
4. Electrical, magnetic and electromagnetic 󹪝elds generated in operation that can pose a risk to
people with a pacemaker, implants or metal replacement joints, etc., if they are too close
5. Release of environmental pollutants or emissions as a result of improper operation of the
system and/or failure to dispose of components safely and correctly
For more information about the residual risks of the drive system components, see the relevant
sections in the technical user documentation.
Fundamental safety instructions
1.7 Residual risks of power drive systems
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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Fundamental safety instructions
1.7 Residual risks of power drive systems
SIMOTION ADI4 - Analog Drive Interface for 4 Axes
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General 2
2.1 Overview
2.1.1 Properties
Properties of ADI4 module
An ADI4 module (Analog Drive Interface for 4 axes) is an interface module suitable for operating
up to four drives with an analog setpoint interface and TTL/SSI encoders on an equidistant
PROFIBUS-DP.
Communication between the controller and the ADI4 is performed via an ADI4-speci󹪝c message
frame type which, in addition to digital input/output data, also contains a message frame type
for each drive speci󹪝ed according to a PROFIDrive pro󹪝le (standard message frame 3, see
Chapter "AUTOHOTSPOT"). 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.
2.1.2 Essential features
Features of the ADI4 module
The module has the following essential features:
• PROFIBUS DP connection (maximum of 12 Mbits/s)
• 4 servo interfaces
– Inputs: TTL/SSI encoder for incremental and absolute measuring systems
– Bidirectional analog outputs: ±10 V
• General and drive-speci󹪝c digital input/output signals
• On-board status display via four diagnostic LEDs
To supply the module and digital outputs with power, an external voltage source (+24 VDC) is
needed.
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2.1.3 Article No. and 󹪝rmware version
Article number
Article number: 6FC5 211-0BA01-0AA4
Firmware version
The 󹪝rmware version is not displayed directly on the module. The article number and 󹪝rmware
version correlate as follows:
Article number Firmware version
6FC5 211-0BA01-0AA2 1.3.3
6FC5 211-0BA01-0AA4 1.4.8
2.1.4 Boundary conditions
The following supplementary conditions must be taken into account for the operation of an
ADI4 on the PROFIBUS DP:
• An ADI4 can only be operated on an equidistant PROFIBUS DP.
• An ADI4 is not a certi󹪝ed DP standard slave as de󹪝ned by the PROFIDrive pro󹪝le. For example,
an ADI4 does not permit acyclic communication.
General
2.1 Overview
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