Festo PVGA Series User manual

PGVA Manual
Festo SE & Co. KG Page 1 of 20
PGVA Manual
Version 5.
(2021.03.15)
Festo SE & Co. KG
Ruiter Straße 82
72734 Esslingen
Germany
Internet: www.festo.com

PGVA Manual
Festo SE & Co. KG Page 2 of 20
Table of contents
PGVA Manual ..................................................................................................................................1
Table of contents.........................................................................................................................2
Specifications overview...............................................................................................................3
1 Complete System..................................................................................................................3
1.1 Brief Description ............................................................................................................3
1.2.8 Using Pressure over Liquid......................................................................................4
1.2.9 Using as Open Loop Pipette ....................................................................................4
1.3.1 Customer interface..................................................................................................5
2 Communications...................................................................................................................6
2.1 Getting Started using the GUI ........................................................................................6
2.2 Modbus Settings............................................................................................................8
2.3 Modbus Register Map ....................................................................................................8
2.4 Modbus Communication ..............................................................................................20
2.5 PLC Settings.................................................................................................................20
2.4.1basic settings......................................................................................................20

PGVA Manual
Festo SE & Co. KG Page 3 of 20
Specifications overview
1 Complete System
The decentralized Pressure & Vacuum Box "PVGA-..." is designed to supply Festo pipetting system with
compressed air and vacuum.
Communication can be accomplished via Modbus TCP (Ethernet), or Modbus ASCII (serial RS232).
This makes it possible to use I / O signals to coordinate pipetting actions. What enables the suction
and delivery of liquids as well as the programming of various setpoints.
P&V Box may also be paired with common LifeTech products such as pressure-driven dispense
heads (VTOE, VTOI, VTOF)
1.1 Brief Description
Description:
The Pressure Vacuum Generator PGVA-CS can create compressed air and vacuum (not at the same time).
The intended use is in liquid handling applications in the life sciences, but the usage can be extended to
other areas as well. In combination with a pipette module or a dispense head as a front end, PGVA-CS may
be used to aspirate and dispense liquids by applying the principle of “pressure over liquid“. The amount of
liquid dispensed/aspirated is a function of the pressure/vacuum level generated by PGVA-CS as well as the
time, these values are applied.
The Pressure Vacuum Generator needs a 24VDC power supply and may be operated either with a computer
by using a graphical user interface or over a PLC using Modbus protocol. Since the proportional pressure
regulator (Festo product, including piezo-valves) is integrated into the PGVA-CS, appropriate measures have
been taken into account to avoid the over-aspiration of liquids and damage to the system.

PGVA Manual
Festo SE & Co. KG Page 4 of 20
1.2.8 Using Pressure over Liquid
Description (Draft):
1.2.9 Using as Open Loop Pipette
Description (Draft):
NOTE: The VTOE in the picture should have a Tip adapter and Disposable tip connected

PGVA Manual
Festo SE & Co. KG Page 5 of 20
1.3.1 Customer interface
Description:

PGVA Manual
Festo SE & Co. KG Page 6 of 20
2 Communications
2.1 Getting Started using the GUI
There are two ways to establish communication with the GUI. Both are shown in the following table below. If
a connection hasn’t been established, many of the GUI elements will remain grayed out.
1. Select the COM port that will be used for ASCII Modbus communication with the PGVA
2. Select the IP address of the PGVA
3. Refreshes the COM ports. Can be used when the serial cable is plugged into the PC after the GUI
application is started.
4. Chamber panel.
1. "Desired" textbox - user enters pressure in millibars and presses the "Set" button. Once
the pressure for the selected chamber (pressure or vacuum) is reached.
1. The individual pressure range is between 200 and 1000 [mbar].
2. The individual vacuum range is between -160 and -640 [mbar].
2. pump stops pressurizing that chamber. Note: Firmware implements hysteresis:
1. The pump will start pressurizing the pressure chamber if the pressure in it falls
below "Desired" - 100 mbar.
2. The pump will start pressurizing the vacuum chamber if the pressure in it goes
above "Desired" + 40 mbar.
3. "Actual" textbox - displays the current pressure in the corresponding chamber (pressure or
vacuum) in millibars
5. Output pressure panel
1. "Desired" textbox - user enters the desired pressure in millibars and presses the "Set"
button. The device will command via DAC the VEAB to regulate the pressure set by the
user.
2. "Actual" textbox - displays the current pressure regulated by the VEAB via ADC in millibars
3. The additional output trigger can either be used as a time-dependent actuation or as a
manual on / off switch.
Note:
In case the connection will be made over ethernet, please consider the following note. The PC must be on
the same network as the Box. The Ethernet cable must be plugged in before starting the box. If the
Ethernet cable is plugged in after the PGVA has started Ethernet connection will not be possible.

PGVA Manual
Festo SE & Co. KG Page 7 of 20
6. Dispense and aspirate panels
1. "Pressure" - user enters in millibars the desired pressure to regulated.
2. "Time" - user enters in milliseconds the duration for which the PGVA output will be
activated (output valve opened)
3. "Cycles" - user enters the number of cycles for which the operation will be repeated
4. "Dispense"/"Aspirate" buttons - after users presses that button the following actions are
taken:
1. Regulation of the "Desired" pressure.
2. PGVA output is activated for the "Time".
3. Repeat from step 1. "Cycles" number of times.
4.
7. Displays whether the last Modbus command was successful or not.
8. "Static IP" textbox displays the current IP address to be used as a fallback if DHCP fails. Users can
alter that address and press the "Set" button. The IP address will be persistently stored on the
device and the user will be notified to reset the device in order for the new setting to effect. In case
of individual adjustments:
the IP address should not be 0.x.x.x, 127.x.x.x and neither a value >=240.x.x.x.
MAC address should be in Festo range (00:0E:F0:00:00:00 - 00:0E:F0:FF:FF:FF).
Modbus unit ID should be in the range [1, 247].

PGVA Manual
Festo SE & Co. KG Page 8 of 20
2.2 Modbus Settings
Description:
1Modbus ASCII over RS232 (USB Serial)
Baudrate: 115200 bps
Databits: 8
Parity: NONE
Stop bits: 1
Modbus TCP over Ethernet
Modbus TCP
Media: Ethernet
Node-address: 0x10
Port: 8502
Default static IP address: 192.168.10.102
(address can be changed if needed)
2.3 Modbus Register Map
his version Ethernet TCP/IP is configured with default coded address: 192.168.10.102, which can be
changed if needed.
Implemented Modbus ASCII commands:
Modbus Function Code 03
Maximum number of registers to read 4
Modbus Function Code 04
Maximum number of registers to read 4
Modbus Function Code 06
Modbus Function Code 10
Maximum number of registers to write 4
Limitations: none

PGVA Manual
Festo SE & Co. KG Page 9 of 20
Modbus registers address spaces
Register name
and address Type Offset Scaling Action when read Action when written
Vacuum actual
ADDR: 0x100
Input register
Dimension:
mbar
-
1498.334 1.332
Acquires actual
pressure in the
vacuum tank and
returns it as
Modbus slave
FC04 reply
N/A
Pressure actual
ADDR: 0x101
Input register
Dimension:
mbar
-
1498.334 1.332
Acquire actual
pressure in the
pressure tank
N/A
Output
pressure actual
ADDR: 0x102
Input register
Dimension:
mbar
-500 0.244
Acquire actual
pressure and
vacuum box
output pressure
N/A
Firmware
version.version
ADDR: 0x103
Input register
Dimension: <
version>.
<sub_version>
.<build>
0 1
Returns firmware
version
(hardcoded value
in code flash)
N/A
Firmware
version.sub_ver
sion
ADDR: 0x104
Input register
Dimension:
<version>.
<
sub_version>.
<build>
0 1
Returns firmware
sub_version
(hardcoded value
in code flash)
N/A
Firmware
version.build
ADDR: 0x105
Input register
Dimension:
<version>.
<sub_version>
.< build>
0 1
Returns firmware
build (hardcoded
value in code
flash)
N/A
PGVA status
word
ADDR: 0x106
Input register
Bitfield.
Please refer
to Table 1.
below.
0 1
Reads the status
of the PGVA N/A
Dispense valve
opening times
(MSH):
ADDR: 0x107
Input register
Dimension:
Upper 16 bits
of a 32-bit
integer
0 1
Reads the most-
significant
halfword of the
32-bit counter for
the total number
N/A

PGVA Manual
Festo SE & Co. KG Page 10 of 20
of dispense valve
openings.
Dispense valve
opening times
(LSH):
ADDR: 0x108
Input register
Dimension:
Lower 16 bits
of a 32-bit
integer
0 1
Reads the least-
significant
halfword of the
32-bit counter for
the total number
of dispense valve
openings
N/A
Pump life
counter (MSH):
ADDR: 0x109
Input register
Dimension:
Seconds.
Upper 16 bits
of a 32-bit
integer.
0 1
Reads the most-
significant
halfword of the
32-bit pump life
counter
(resolution is 1
sec).
N/A
Pump life
counter (LSH):
ADDR: 0x10A
Input register
Dimension:
Seconds.
Lower 16 bits
of a 32-bit
integer.
0 1
Reads the least-
significant
halfword of the
32-bit pump life
counter
(resolution is 1
sec).
N/A
PGVA life
counter (MSH):
ADDR: 0x10B
Input register
Dimension:
Minutes.
Upper 16 bits
of a 32-bit
integer.
0 1
Reads the most-
significant
halfword of the
32-bit PGVA life
counter
(resolution is 1
min).
N/A
PGVA life
counter (LSH):
ADDR: 0x10C
Input register
Dimension:
Minutes.
Upper 16 bits
of a 32-bit
integer.
0 1
Reads the least-
significant
halfword of the
32-bit PGVA life
counter
(resolution is 1
min).
N/A
Vacuum actual
(in mbar)
ADDR: 0x10D
Input register
Dimension:
mbar
0 1
Same reading as
register 0x100,
however, the
conversion
between

PGVA Manual
Festo SE & Co. KG Page 11 of 20
increments and
millibar is done
in the firmware.
Pressure actual
(in mbar)
ADDR: 0x10E
Input register
Dimension:
mbar
0 1
Same reading as
register 0x101,
however, the
conversion
between
increments and
millibar is done
in the firmware.
Output
pressure actual
(in mbar)
ADDR: 0x10F
Input register
Dimension:
mbar
0 1
Same reading as
register 0x102,
however, the
conversion
between
increments and
millibar is done
in the firmware.
Min DAC
increments
ADDR: 0x110
Input register
0 1
Reads the DAC
increments at
min. calibration
setpoint (see
register 0x1004)
Zero DAC
increments
ADDR: 0x111
Input register
0 1
Reads the DAC
increments at
zero calibration
setpoint (see
register 0x1005)
Max DAC
increments
ADDR: 0x112
Input register
0 1
Reads the DAC
increments at
max. calibration
setpoint (see
register 0x1006)
Last Modbus
error
ADDR: 0x113
Input register
0 1
Reads the last
Modbus
command error.
See table 2.
below
Seed
ADDR: 0x114
Input register 0 1
Reads the seed
generated by the
device

PGVA Manual
Festo SE & Co. KG Page 12 of 20
Man mode
ADDR: 0x115
Input register 0 1
0: Device is not
in manufacturing
mode
1: Device is in
manufacturing
mode
Valve actuation
time
ADDR: 0x1000
Holding
register
Dimension:
ms
0 1
Reading this
register will
always return:
0xFFFF.
Actuate output
electromagnetic valve with a
period matching value to
write in Modbus frame
Note: output
electromagnetic valve is an
option for the product - it
might be installed on devices
used to demonstrations
Vacuum
threshold*
ADDR: 0x1001
(lowest
pressure at
which vacuum
pump is
deactivated
after regulating
vacuum tank
pressure)
Holding
register
Dimension:
mbar
When
writing:
1124.5
When
reading: -
1498.334
When
writing:
0.7505
When
reading:
1.332
Returns vacuum
threshold
Sets vacuum threshold.
Note: the SW implements
hysteresis in vacuum
regulator - the value from
Modbus command is applied
immediately but, in some
cases, if the change is in
lower than hysteresis the
device will react at the
moment pressure reached
the vacuum threshold
Pressure
threshold*
ADDR: 0x1002
(highest
pressure at
which air pump
is deactivated
after filling up
pressure tank)
Holding
register
Dimension:
mbar
When
writing:
1124.5
When
reading: -
1498.334
When
writing:
0.7505
When
reading:
1.332
Returns pressure
threshold
Sets pressure threshold.
Note: the SW implements
hysteresis in pressure
regulator - the value from
Modbus command is applied
immediately but, in some
cases, if the change is in
lower than hysteresis the
device will react at the
moment pressure reached
the threshold
Output
pressure
ADDR: 0x1003
(output
pressure set
point value)
Holding
register
Dimension:
mbar
When
writing:
2047.5
When
reading: -
500
When
writing:
4.095
When
reading:
0.244
Returns output
pressure set
point value
Sets output pressure set
point value.
Note: The set point value is
applied for less than 2.5ms
after the Modbus command
is received. However, the
output pressure regulator
will need some time to
regulate the output value.
This time depends on the
difference between new and

PGVA Manual
Festo SE & Co. KG Page 13 of 20
old set point values, the
output flow rate and how
full/empty are pressure tank
and vacuum tank
Min calib.
setpoint*
ADDR: 0x1004
Holding
register
Dimension:
LSB
0 1
Read externally
measured
pressure for
minimum
calibration
setpoint.
Set externally measured
pressure for minimum
calibration setpoint. Also
stores the increments
corresponding to that
pressure.
Writes the value to internal
memory
Zero calib.
setpoint*
ADDR: 0x1005
Holding
register
Dimension:
LSB
0 1
Read externally
measured
pressure for zero
calibration
setpoint
Set externally measured
pressure for zero calibration
setpoint. Also stores the
increments corresponding to
that pressure.
Writes the value to internal
memory
Max calib.
setpoint*
ADDR: 0x1006
Holding
register
Dimension:
LSB
0 1
Read externally
measured
pressure for zero
calibration
setpoint
Set externally measured
pressure for maximum
calibration setpoint. Also
stores the increments
corresponding to that
pressure.
Writes the value to internal
memory
Reserved
ADDR: 0x1007
Holding
register
Dimension:
LSB
N/A N/A
Reserved
ADDR: 0x1008
Holding
register
Dimension:
LSB
N/A N/A .
Reserved *
ADDR: 0x1009
Holding
register N/A N/A
Jump to first
bootloader
ADDR: 0x100A
Holding
register
Dimension:
LSB
0 1 N/A
Value: 9999
->Reboots the device in
bootloader mode.

PGVA Manual
Festo SE & Co. KG Page 14 of 20
Jump to second
bootloader
ADDR: 0x100B
Holding
register
Dimension:
LSB
0 1 N/A
Value: number of the
downloaded firmware
records
->Reboots the device to
second bootloader.
Automatic jump back to the
application if the firmware
update is successful.
Modbus TCP
Port**
ADDR: 0x100C
Holding
register
Dimension:
LSB
0 1
Reads the TCP
port for Modbus
communication
Sets the TCP port for Modbus
communication.
Modbus unit ID
ADDR: 0x100D
Holding
register
Dimension:
LSB
0 1
Read the
Modbus unit ID
of the PGVA
Sets the Modbus unit ID of
the PGVA
Vacuum
threshold (in
mbar) *
ADDR: 0x100E
(lowest
pressure at
which vacuum
pump is
deactivated
after regulating
vacuum tank
pressure)
Holding
register
Dimension:
mbar
0 1
Reading the
register is the
same as register
0x1001,
however,
conversion
between
increments and
millibars is done
in the firmware.
Writing to this register has
the same effect as writing to
register 0x1001, however,
value written will be
interpreted as millibars
instead of increments.
Pressure
threshold (in
mbar) *
ADDR: 0x100F
(highest
pressure at
which air pump
is deactivated
after filling up
pressure tank)
Holding
register
Dimension:
mbar
0 1
Reading the
register is the
same as register
0x1002,
however,
conversion
between
increments and
millibars is done
in the firmware.
Writing to this register has
the same effect as writing to
register 0x1002, however,
value written will be
interpreted as millibars
instead of increments.
Output
pressure (in
mbar)
ADDR: 0x1010
(output
pressure set
point value)
Holding
register
Dimension:
mbar
0 1
Reading the
register is the
same as register
0x1003,
however,
conversion
between
increments and
millibars is done
in the firmware.
Writing to this register has
the same effect as writing to
register 0x1003, however,
value written will be
interpreted as millibars
instead of increments.

PGVA Manual
Festo SE & Co. KG Page 15 of 20
Manual trigger
ADDR: 0x1011
Holding
register
Dimension: 0
or 1
0 1
Reads the
current state of
the output.
Writing 1 to this register
opens the output valve, 0 –
closes it
Store to
EEPROM
ADDR: 0x1064
Holding
register
Dimension:
don’t care
N/A N/A N/A
Stores the configuration
registers (marked with *and
**) to the EEPROM. Value
written to this register is
meaningless.
Reset pump life
counter
ADDR: 0x1065
Holding
register
Dimension:
don’t care
N/A N/A N/A Resets the life counter for
the pump.
Start pre-
calibration
ADDR: 0x1066
Holding
register
Dimension:
don’t care
N/A N/A N/A
Starts device’s pre-
calibration procedure in
order to precisely determine
the voltage range.
Adjust
calibration
setpoints
ADDR: 0x1067
Holding
register
Dimension:
LSB
0 1 N/А
Sets the output pressure
depending on the value
written:
0: close to the minimum
setpoint
1: close to the zero setpoint
2: close to the maximum
setpoint
Authorization
start
ADDR: 0x10C8
Holding
register
Dimension:
9999
0 1 N/A
Starts authentication
procedure for Manufactoring
mode
Key write
ADDR: 0x10C9
Holding
register
Dimension:
LSB
0 1 N/A Writes the generated key
from the seed
Config ongoing
ADDR: 0x10CA
Holding
register
Dimension:
9999
0 1 N/A Keeps the manufacturing
mode ongoing

PGVA Manual
Festo SE & Co. KG Page 16 of 20
Firmware
download
address
ADDR: 0x2000
… 0x2001
Multiple
registers
Dimension:
LSB
0 1 N/A
Value: Record address of the
new firmware data on device
(UINT32)
Firmware
download data
ADDR: 0x2002
… 0x2009
Multiple
registers
Dimension:
LSB
0 1 N/A
Value: Record data of the
new firmware to download
(16 bytes)
Byte size of the
new firmware
ADDR: 0x200A
… 0x200B
Multiple
registers
Dimension:
LSB
0 1 N/A Value: byte quantity of the
new firmware (UINT32)
IP Address
(MSH)**, ***
ADDR: 0x3000
Multiple
registers
Dimension:
LSB
0 1
Read the most-
significant 16-
bits if the PGVA
static IP address
Set the most-significant 16-
bits if the PGVA static IP
address.
IP Address
(LSH)**, ***
ADDR: 0x3001
Multiple
registers
Dimension:
LSB
0 1
Read the least-
significant 16-
bits if the PGVA
static IP address
Set the least -significant 16-
bits if the PGVA static IP
address.
GW Address
(MSH)**, ***
ADDR: 0x3002
Multiple
registers
Dimension:
LSB
0 1
Read the most-
significant 16-
bits if the PGVA
static gateway
address
Set the most-significant 16-
bits if the PGVA static
gateway address.
GW Address
(LSH)**, ***
ADDR: 0x3003
Multiple
registers
Dimension:
LSB
0 1
Read the least-
significant 16-
bits if the PGVA
static gateway
address
Set the least -significant 16-
bits if the PGVA static
gateway address.
Netmask
(MSH)**, ***
ADDR: 0x3004
Multiple
registers
Dimension:
LSB
0 1
Read the most-
significant 16-
bits if the PGVA
static netmask
Set the most-significant 16-
bits if the PGVA static
netmask.
Netmask
(LSH)**, ***
ADDR: 0x3005
Multiple
registers
Dimension:
LSB
0 1
Read the least-
significant 16-
bits if the PGVA
static netmask
Set the least -significant 16-
bits if the PGVA static
netmask.
MAC Address
(A)**, ***
ADDR: 0x3006
Multiple
registers
Dimension:
LSB
0 1
Read the most-
significant 16-
bits if the PGVA
MAC address
Set the most-significant 16-
bits if the PGVA MAC address

PGVA Manual
Festo SE & Co. KG Page 17 of 20
AA:AA:xx:xx:x
x:xx
MAC
Address(B)**, ***
ADDR: 0x3007
Multiple
registers
Dimension:
LSB
xx:xx:BB:BB:x
x:xx
0 1
Read the middle
16-bits if the
PGVA MAC
address
Set the middle 16-bits if the
PGVA MAC address
MAC
Address(C)**, ***
ADDR: 0x3008
Multiple
registers
Dimension:
LSB
xx:xx:xx:xx:CC
:CC
0 1
Read the least-
significant 16-
bits if the PGVA
MAC
Set the least-significant 16-
bits if the PGVA MAC address
Production
year*
ADDR: 0x3009
Multiple
registers
Dimension:
year
0 1
Read the
production year
of the device
Set the production year of
the device
Production
date/month*
ADDR: 0x300A
Multiple
registers
Dimension:
year
MSB – month
LSB - day
0 1
Read the
production
month and date
of the device
Set the production month
and date of the device
Production
number (MSH)*
ADDR: 0x300B
Multiple
registers
Dimension:
LSB
0 1
Read the most-
significant 16
bits of the
device’s
production
number
Set the most-significant 16
bits of the device’s
production number
Production
number (LSH)*
ADDR: 0x300C
Multiple
registers
Dimension:
LSB
0 1
Read the least-
significant 16
bits of the
device’s
production
number
Set the least-significant 16
bits of the device’s
production number
Serial number
(MSH)*
ADDR: 0x300D
Multiple
registers
Dimension:
LSB
0 1
Read the most-
significant 16
bits of the
device’s serial
number
Set the most-significant 16
bits of the device’s serial
number

PGVA Manual
Festo SE & Co. KG Page 18 of 20
* Register value can be stored persistently to the EEPROM with by writing to “Store to EEPROM” register.
** To have an effect, register value must be stored to the EEPROM, wait for ~1 second and perform a power
reset.
*** Register values must be written at once only with function code 0x10 (Write multiple registers). For
example, write_multiple_registers(0x3006, [0xAAAA, 0xBBBB, 0xCCCC]). In case register value does not
match the number size of parameter represented by the register (for example,
write_multiple_registers(0x3006, [0xAAAA, 0xBBBB])), a ILLEGAL_DATA_ADDRESS Modbus exception is
returned.
Table 1. PGVA status word
PGVA status word (16 bits)
Bits Meaning
16:9 Reserved
8 0: No EEPROM write pending
1: EEPROM write pending
7 0: No overtemperature
1: Overtemperature
6:5 0: Supply voltage is nominal
1: Supply voltage low
2: Supply voltage high
4 0: Vacuum in the vacuum tank is nominal
1: Vacuum in the vacuum tank is above than the higher threshold
3 0: Pressure in the pressure tank is nominal
1: Pressure in the pressure tank is below the lower threshold
2:1 0: Pump is of
f
1: Pump is building up pressure
2: Pump is building up vacuum
3: Reserved
0 0: Idle
1: Busy
Serial number
(LSH)*
ADDR: 0x300E
Multiple
registers
Dimension:
LSB
0 1
Read the least-
significant 16
bits of the
device’s serial
number
Set the least -significant 16
bits of the device’s serial
number

PGVA Manual
Festo SE & Co. KG Page 19 of 20
Table 2. Modbus command error
Modbus command error
Error number Meaning
0 No error
1 OutputActuationTime is out of range
2 PressureThreshold is out of range
3 VacuumThreshold is out of range
4 OutputPressureSet is out of range
5 ModbusUnitId is out of range
6 IP address does not comply with the restrictions
7 ManualTrigger is invalid
8 Incorrect number of registers written with function code 0x10
9 Register is cannot be written to

PGVA Manual
Festo SE & Co. KG Page 20 of 20
2.4 Modbus Communication
2.5 PLC Settings
The following example is based on Codesys.
2.4.1 basic settings
It’s important to change the Unit-ID and the Port.
2.4.2 I/O Mapping and Channels
To get the system running it’s important to set up an holding, input, and write register.
To get live data from the PGVA box it is important to enabling the Modbus each cycle.