Siemens SINUMERIK 840Di Manual page 222

7 PROFIBUS DP Communication
7.3 SIMATIC S7 project
Message frame
type
7-222
The ADI4 DP slave is operated with the specific message frame type: Four axes
each with an encoder (standard message frame 3) and I/O data:
Message frame type
4 axes each with an encoder, standard mes-
sage frame 3 + IO, PDA-5/9 O/I 1/1
PDA x/y number of process data words, x: Setpoint, y: Actual value
ADI4 message frame structure
Axis1 Axis2 Axis3
STD 3 STD 3 STD 3
Low
Axis1 Axis2 Axis3
STD 3 STD 3 STD 3
STD 3: Standard message frame 3 acc. to PROFIDrive specification V3.0
O 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
PDA1 PDA2 PDA3
STW1 NSOLL_B
Low
PDA1 PDA2 PDA3
ZSW1 NIST_B
O word (dig. output data 16 bits)
High byte
15 12 11 8 7
I word (dig. input data 16 bits)
High byte
15 14 13 12 11 8 7
1) Note:
To use the I/O words within the NC: See Section 10.6, page 10-379
4 x standard message frame 3 and 1 PDA
word each for digital I/O data
Axis4 I/O
STD 3 O word
High
Axis4 I/O
STD 3 I word
PDA4 PDA5
STW2 G1_STW
High
PDA4 PDA5 PDA6
ZSW2 G1_ZSW
PDA8 PDA9
G1_XIST2
1)
Low byte
4 3 0
Zero mark / BERO as a reference
signal 1–4 in 611U conformant mode
not used
Dig. output 1–4
–> X6–1: Pins 2–5
Dig. outputs 5–8 / direction signal
1–4 for unip. spindle
–> X6–1: Pins 6–9
1)
Low byte
2 1 0
Dig. inputs 9–10 / Drv_Rdy 3–4
–> X6–2: Pins 10–11
not used
Dig. input 1–4 / BERO 1–4
–> X6–2: Pins 2–5
Dig. inputs 5–6 / probes 1–2
–> X6–2: Pins 6–7
Dig. inputs 7–8 / Drv_Rdy 1–2
–> X6–2: Pins 8–9
 Siemens AG, 2003. All rights reserved
SINUMERIK 840Di Manual (HBI) – 06.03 Edition
06.03
Description
Setpoints (master –> slave)
Actual values
(slave –> master)
Setpoint (master –> slave)
PDA7
G1_XIST1
Actual value
(slave –> master)