Pepperl+Fuchs PXV100A Series Quick guide

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FACTORY AUTOMATION
MANUAL
Configuration Instructions for
PXV100A / PGV100A
Parameterization with SIEMENS
SIMATIC S7-1500 control system

With regard to the supply of products, the current issue of the following document is ap-
plicable: The General Terms of Delivery for Products and Services of the Electrical Indus-
try, published by the Central Association of the Electrical Industry (Zentralverband
Elektrotechnik und Elektroindustrie (ZVEI) e.V.) in its most recent version as well as the
supplementary clause: "Expanded reservation of proprietorship"
Configuration Instructions for PXV100A / PGV100A

Configuration Instructions for PXV100A / PGV100A
3
1 Introduction................................................................................. 5
1.1 Scope .................................................................................................... 5
1.2 Registered trademarks........................................................................ 5
1.3 Display conventions ............................................................................ 5
1.4 Symbols used....................................................................................... 6
1.5 List of Abbreviations............................................................................ 6
2 System Description .................................................................... 7
2.1 Structure of the configuration software ............................................ 7
2.2 Safety Function and Safe State .......................................................... 8
3 Modules ..................................................................................... 11
3.1 PXV100A* ............................................................................................ 11
3.1.1 Safety-related data .......................................................................... 11
3.1.2 Non-safety-related data .................................................................. 14
3.2 PGV100A*............................................................................................ 17
3.2.1 Safety-related data .......................................................................... 17
3.2.2 Non-safety-related data .................................................................. 20
4 Safety application..................................................................... 24
4.1 Prerequisites ...................................................................................... 24
4.2 Integrating hardware ......................................................................... 25
4.3 Configuring the hardware ................................................................. 25
4.3.1 Installing the GSDML file ................................................................. 26
4.3.2 Integrating a device into the project ................................................. 27
4.3.3 Integrating modules into the project ................................................. 28
4.3.4 Defining the properties of the control panel...................................... 28
4.3.5 Defining the device name................................................................. 30
4.4 Translating project data..................................................................... 36
4.5 Downloading project data ................................................................. 37
5 Programming ............................................................................ 39
5.1 Setting F-parameters......................................................................... 39

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Configuration Instructions for PXV100A / PGV100A
5.2 Programming F-blocks ......................................................................41
5.2.1 Creating variables ............................................................................ 41
5.2.2 User acknowledgment...................................................................... 43
5.2.3 Instruction for transferring data......................................................... 45
5.2.4 Translating project data .................................................................... 36
5.2.5 Downloading project data................................................................. 37
5.2.6 Testing the safety program ............................................................... 48
6 Access to safety-related communication .............................. 51
6.1 Passivation and reintegration ...........................................................51
6.2 F-I/O DB ...............................................................................................51
6.2.1 Variables of the F-I/O DB.................................................................. 52
6.2.2 Access to the variables of the F-I/O DB............................................ 54
6.3 Passivation and reintegration of F-I/O..............................................54

Configuration Instructions for PXV100A / PGV100A
Introduction
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1 Introduction
This guide leads you through the steps necessary to configure the sensors PXV100A* and
PGV100A* using the Siemens SIMATIC S7-1500 control system.
1.1 Scope
These Configuration Instructions only apply for the following devices with PROFINET IO
interface and PROFIsafe profile in conjunction with a SIEMENS SIMATIC S7 control panel
from the 1500 series:
■PXV100A*-B28
■PGV100A*-B28
The devices are marked with affixed nameplates and are an integral part of a plant.
In addition to the Configuration Instructions, the following documents apply. Observe the
instructions contained therein:
■SIEMENS manual: SIMATIC Safety – Configuring and Programming
■Plant-specific operator's documentation
■PXV100A*/ PGV100A* – Original Instructions
■PXV100A*/ PGV100A* - EU Declaration of Conformity
■Interface-specific manuals
Note on Figures in the Documentation
The figures in this documentation are provided for basic understanding and may deviate from
the actual design.
1.2 Registered trademarks
PROFINET®, PROFIBUS®, PROFIsafe: Brands of the PROFIBUS Nutzerorganisation e.V.
(PNO)
SIMATIC, TIA Portal: Brands of SIEMENS AG
1.3 Display conventions
Note!
Terms and conditions of use for the software examples
Pepperl+Fuchs GmbH assumes no liability and no warranty for error-free operation of the
safety program. Use is at the user's own risk.
Note!
The figures in this documentation are provided for basic understanding and may deviate from
the actual design.

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Configuration Instructions for PXV100A / PGV100A
Introduction
1.4 Symbols used
This document contains information that you must observe to prevent interference.
Warnings
Information messages
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
1.5 List of Abbreviations
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Note!
This symbol brings important information to your attention.
CRC Cyclic Redundancy Check
F-CPU Fail-safe CPU
F-device Safety device
F-host Safety device
F-parameters Safety-specific parameters
F-Par_CRC The F-Par_CRC is a signature across all F-parameters that is used to
ensure the correct delivery of the F-parameters.
F-I/O The F-I/O ensures safe processing of field information.
F-system Error-free system: Functional safety is implemented through targeted
safety functions in the software. For example, the plant is brought into
or maintains a safe state in the event of a dangerous event.
TIA portal Network and device editor (Totally Integrated Automation Portal)

Configuration Instructions for PXV100A / PGV100A
System Description
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2 System Description
2.1 Structure of the configuration software
Portal view
The portal view provides a task-oriented view of the installed tools. The portals for the various
tasks (1) are located on the left side of the window. The actions for the selected window range
are adjacent window range (2). The objects processed with the selected action are displayed in
the central part of the window range (3). If necessary, switch to the project view to edit the
selected object. From the portal view, navigate to the project view via the "Project view" (4) link
on the bottom left of the screen.
Figure 2.1 Layout of the portal view
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4

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Configuration Instructions for PXV100A / PGV100A
System Description
Project view
The project view provides an object-oriented view with several windows whose contents
change depending on the executed action. The working area (2) with the device to be
configured is in the central window range in the device configuration. You use the work window
to configure the hardware of the automation system, create the user program, or configure the
process images. The rack with the modules that have already been positioned is displayed in
the device view (1). Another window – the inspection window (4) – displays the properties of
the object selected in the work window. The task window (Task Card) (3) provides support
with the available modules via the hardware catalog. Certain content of an object selected in
the overview window or in project navigation is displayed in the detailed view (5).
The figures below show the project view windows in a sample project. Different window
contents are displayed depending on the type of editor used.
Figure 2.2 Layout of the project view
2.2 Safety Function and Safe State
Safety Function
The PXV100A* series device determines safe X position values for linear, guided
applications.
The PGV100A* series device determines safe X position values for automated guided
vehicles (AGV).
The position values for all device variants are determined using the stationary Data Matrix code
tape attached to the plant.
The safety-related customer application checks the plausibility of the received values against
expected values.
1
2
3
5
4
Note!
Note the Type of Code Tape!
The positioning system only works if the reader is used together with the 2-colored Data Matrix
code tape of the following type: PXV*-AA25-*.
The use of other code tapes is not permitted!

Configuration Instructions for PXV100A / PGV100A
System Description
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The plant designer assigns appropriate values when setting up the plant. After attaching the
Data Matrix code tape, the plant designer determines the corresponding expected values at the
positions relevant for the application. The values determined in this way are incorporated into
the safety-related application and then their plausibility can be assessed during the operation
of the plant using the data from the sensor. Depending on the result, the application responds
to ensure the safe operation of the plant.
For the safety function, the reader provides the following safety-related data:
The reader provides you with the following non-safety-related data:
The valid bit in safe status reflects the state of the safe position data. For processing of the
position data in the application, the state of the valid bit must be evaluated in terms of safety.
Depending on the state of the valid bit, the plant control software performs further processing.
The corresponding actions are triggered, to continue to ensure the safe state of the plant. The
response to the respective state is determined by the application and can only be displayed
here by way of example.
Valid bit = "logic 1": a valid position value is delivered in the safe X position data. This can be
used for further processing in the safety-related plant control software, where it is checked
against the expected values of the application for plausibility. The application responds,
depending on the result.
Valid bit = "logic 0": The device is unable to determine a position at this time. The content of the
safe X position data is "0." This state can be triggered by the following scenarios:
■Data Matrix code tape is missing
■Data Matrix code tape is not readable
■Reader is outside the sensing range
■Lens is dirty
■Reader is in the initialization phase
It is the task of the plant control software of the respective customer to evaluate and check the
plausibility of this state in each case. The result of this evaluation and the application determine
the steps necessary to ensure the safety of the plant.
When planning and setting up the plant control software, the evaluation of the valid bit must be
considered and incorporated in terms of safety.
The described state is not to be confused with the safe state of the positioning device.
PXV100A* PGV100A*
Safe X position data x x
Safe status x x
PXV100A* PGV100A*
X position data x x
Y deviation - x
Z distance - x
Angular deviation - x
Speed x x
Status x x
Warning x x

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Configuration Instructions for PXV100A / PGV100A
System Description
Additional requirements, which are described below, apply to the safe state of the positioning
device.
Safe State
The safe state of the reader means that it interrupts the PROFIsafe communication in defined
fault cases. If the reader switches to the safe state, PROFIsafe data is no longer transferred to
the control panel.
Fault cases that result in the safe state.
If the PROFIsafe connection from the reader to the control panel is interrupted, this generates a
communication error according to the PROFIsafe standard, which the plant designer must deal
with appropriately. After the reader is restarted, it goes back to the initialization phase (INIT). If
another error triggers the safe state again within 90 s, the startup lock is activated. See the
section "System startup lock in the case of a fault."
In this case, contact Pepperl+Fuchs support.
Reaction time
The reaction time for the safety function is 165 ms.
The reaction time does not include the PROFIsafe watchdog time.
System Startup Lock in the Case of a Fault
The positioning system has an internal error counter for the safe state. This is increased when
the safe state occurs. If the safe state is triggered twice within 90 seconds, a startup lock is
activated in the system. As a result, the safety-relevant part is no longer started, and
PROFIsafe communication can therefore no longer be established.
The user can identify this state by means of the disabled illumination unit. The non-safe
PROFINET communication part remains available. The camera is thus disabled. The
positioning system must be restarted (power reset) to exit this state. The counter is cleared 90
seconds after the positioning system is started, provided that no safety-critical errors occur
during this period, or upon the successful establishment of PROFIsafe communication.
The following errors result in the safe state:
■Internal safety system errors
■Device-specific errors (0x48) and suberrors (see original instructions)
■Abortion or termination of the PROFIsafe connection

Configuration Instructions for PXV100A / PGV100A
Modules
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3 Modules
The following modules enable reader data to be retrieved using PROFINET.
You receive modules that contain non-secure data for positioning, and one module that
contains secure data according to PROFIsafe.
3.1 PXV100A*
Overview of modules
Figure 3.1 PXV100A*
3.1.1 Safety-related data
The following modules enable safe reader data to be retrieved using PROFIsafe. The modules
are compatible with PROFIsafe V2.4 and each consist of 6 bytes.
Safety Module – Data Format 32 Bit DINT
This data is safe status data and safe X position data. STEP 7 Safety Advanced supports the
DINT data format.
Size Type Content Data Type
6 bytes Input Data 8 bit safe status data Bit
8 bit safe status data negated Bit
32 bit safe X position data DINT
Resolution: 10 mm

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Configuration Instructions for PXV100A / PGV100A
Modules
Input Data
Safety Module – Data Format 2 x 16 Bit INT
This data is safe status data and safe X position data. STEP 7 Distributed Safety supports the
data format INT.
Bits 7 6 5 4 3 2 1 0 Function
Bytes
1 0 0 0 OVD OT INIT 0 VAL Safe status
2 /VAL 1 /INIT /OT /OVD 1 1 1 Safe status negated
3 XS31 XS30 XS29 XS28 XS27 XS26 XS25 XS24 Safe X position data
4 XS23 XS22 XS21 XS20 XS19 XS18 XS17 XS16 Safe X position data
5 XS15 XS14 XS13 XS12 XS11 XS10 XS9 XS8 Safe X position data
6 XS7 XS6 XS5 XS4 XS3 XS2 XS1 XS0 Safe X position data
Table 3.1 Input data telegrams for the safety module (data format 32 bit DINT)
Bit Value Description
VAL 1 Safe X position data is valid
0 Invalid; safe X position data = 0x00000000
INIT 0 Initialization inactive
1 Initialization active
OT 0 No excess temperature detected on the
HiCore module.
The temperature is not safety-related.
1 Excess temperature detected on the HiCore
module.
The temperature is not safety-related.
OVD 0 No overvoltage detected on +UB
1 Overvoltage > 32 VDC detected on +UB
Table 3.2 Description of the individual bits in the safety module (data format 32 bit DINT)
Size Type Content Data Type
6 bytes Input Data 8 bit safe status data Bit
8 bit safe status data negated Bit
16 bit safe X position data (MSB) INT
16 bit safe X position data (LSB) INT
Resolution: 10 mm

Configuration Instructions for PXV100A / PGV100A
Modules
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Input Data
Functional Description of the Valid Bit
The valid bit reflects the state of the safe X position data. Only when the state of the valid bit =
"logic 1" may the safe X position data be used for the plausibility check and further processing
in the control program.
If the state of the valid bit = "logic 0", the reader cannot determine safe X position values at this
time. The plant control software has the task of carrying out further processing and triggering
the appropriate actions to ensure the safe state of the plant.
Bits 7 6 5 4 3 2 1 0 Function
Bytes
1 0 0 0 OVD OT INIT 0 VAL Safe status
2 /VAL 1 /INIT /OT /OVD 1 1 1 Safe status negated
3 XS31 XS30 XS29 XS28 XS27 XS26 XS25 XS24 Safe X position data
4 XS23 XS22 XS21 XS20 XS19 XS18 XS17 XS16 Safe X position data
5 XS15 XS14 XS13 XS12 XS11 XS10 XS9 XS8 Safe X position data
6 XS7 XS6 XS5 XS4 XS3 XS2 XS1 XS0 Safe X position data
Table 3.3 Input data telegrams for the safety module (data format 2 x 16 bit INT)
Bit Value Description
VAL 1 Safe X position data is valid
0 Invalid; safe X position data = 0x00000000
INIT 0 Initialization inactive
1 Initialization active
OT 0 No excess temperature detected on the HiCore module.
The temperature is not safety-related.
1 Excess temperature detected on the HiCore module.
The temperature is not safety-related.
OVD 0 No overvoltage detected on +UB
1 Overvoltage > 32 VDC detected on +UB
Table 3.4 Description of the individual bits in the safety module (data format 2 x 16 bit INT)

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Configuration Instructions for PXV100A / PGV100A
Modules
3.1.2 Non-safety-related data
The reader makes the following non-safety-related data available for the positioning:
Module 1
Module 2
Module 3
Module 4
Position Data X
This data is non-safe position data for positioning in the X direction.
Input Data
Bit no. Content
0 ... 31 X position data1
1.see "X position data"
Bit no. Content
0 ... 15 Speed1
1.see "Speed Data"
Bit no. Content
0 ... 15 Status1
1.see "Status"
Bit no. Content
0 ... 15 Warning1
1.see "Warning"
Size Type Content
4 byte Input Data 32 bit X position data
MSB1 first
Resolution: 0.1 mm
1.MSB = most significant byte
Bit 7 6 5 4 3 2 1 0 Function
Bytes
1 XS31 XS30 XS29 XS28 XS27 XS26 XS25 XS24 X position data
2 XS23 XS22 XS21 XS20 XS19 XS18 XS17 XS16 X position data
3 XS15 XS14 XS13 XS12 XS11 XS10 XS9 XS8 X position data
4 XS7 XS6 XS5 XS4 XS3 XS2 XS1 XS0 X position data
Table 3.5 Input data telegrams for X position data

Configuration Instructions for PXV100A / PGV100A
Modules
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Error Codes (in Position Data X)
Speed Data
Input Data
Status
Input Data
Warning
Code Fault Type Priority
1Reader tilted 180°2
2No clear position can be determined (difference between codes is too
great, code distance incorrect, etc.)
3
1000 Internal error 1
Table 3.6 Possible error codes
Size Type Content
1 word consistent Input Data 16 bit speed data
Resolution: 0.1 m/s
Bits 7 6 5 4 3 2 1 0 Function
Bytes
1 SP15 SP14 SP13 SP12 SP11 SP10 SP9 SP8 Speed
2 SP7 SP6 SP5 SP4 SP3 SP2 SP1 SP0 Speed
Table 3.7 Input data telegrams for speed
Size Type Content
1 word Input Data 16 bit status
Bits 7 6 5 4 3 2 1 0 Function
Bytes
1 0 0 0 0 0 0 0 0 Reserved
2 0 0 0 0 RES WRN NP ERR Reserved
Table 3.8 Input data telegrams for status
RES Reserved
WRN Warnings present. See information on warning.
NP No position information/OUT
(XP=0; SP=0)
ERR Error message present
see Error Codes.
Size Type Content
1 word consistent Input Data Last warnings
Last warning no.

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Configuration Instructions for PXV100A / PGV100A
Modules
Input Data
Warning Data Set
If no warnings are present, all bits in the warning data set are set to 0.
Bits 7 6 5 4 3 2 1 0 Function
Bytes
1 WRN16 WRN15 WRN14 WRN13 WRN12 WRN11 WRN10 WRN09 Warning,
see
Warning
Data Set
2 WRN08 WRN07 WRN06 WRN05 WRN04 WRN03 WRN02 WRN01 Warning,
see
Warning
Data Set
Table 3.9 Input data telegrams for warning
Number Warning
WRN01 Code with non-PXV content found
WRN02 Reader too close to code tape
WRN03 Reader too far from code tape
WRN04 Y position too large; the sensor is just before OUT
WRN05 Y position too small; the sensor is just before OUT
WRN06 The reader is rotated or tilted in relation to the code tape
WRN07 Low level of code contrast
WRN08 Repair tape detected
WRN09 Temperature too high
WRN10 ... WRN16 Reserved
Table 3.10 Existing warning data sets

Configuration Instructions for PXV100A / PGV100A
Modules
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3.2 PGV100A*
Overview of modules
Figure 3.2 PGV100A*
3.2.1 Safety-related data
The following modules enable safe reader data to be retrieved using PROFIsafe. The modules
are compatible with PROFIsafe V2.4 and each consist of 6 bytes.
Safety Module – Data Format 32 Bit DINT
This data is safe status data and safe X position data. STEP 7 Safety Advanced supports the
DINT data format.
Size Type Content Data Type
6 bytes Input Data 8 bit safe status data Bit
8 bit safe status data negated Bit
32 bit safe X position data DINT
Resolution: 10 mm

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Configuration Instructions for PXV100A / PGV100A
Modules
Input Data
Safety Module – Data Format 2 x 16 Bit INT
This data is safe status data and safe X position data. STEP 7 Distributed Safety supports the
data format INT.
Bits 7 6 5 4 3 2 1 0 Function
Bytes
1 0 0 0 OVD OT INIT 0 VAL Safe status
2 /VAL 1 /INIT /OT /OVD 1 1 1 Safe status negated
3 XS31 XS30 XS29 XS28 XS27 XS26 XS25 XS24 Safe X position data
4 XS23 XS22 XS21 XS20 XS19 XS18 XS17 XS16 Safe X position data
5 XS15 XS14 XS13 XS12 XS11 XS10 XS9 XS8 Safe X position data
6 XS7 XS6 XS5 XS4 XS3 XS2 XS1 XS0 Safe X position data
Table 3.11 Input data telegrams for the safety module (data format 32 bit DINT)
Bit Value Description
VAL 1 Safe X position data is valid
0 Invalid; safe X position data = 0x00000000
INIT 0 Initialization inactive
1 Initialization active
OT 0 No excess temperature detected on the
HiCore module.
The temperature is not safety-related.
1 Excess temperature detected on the HiCore
module.
The temperature is not safety-related.
OVD 0 No overvoltage detected on +UB
1 Overvoltage > 32 VDC detected on +UB
Table 3.12 Description of the individual bits in the safety module (data format 32 bit DINT)
Size Type Content Data Type
6 bytes Input Data 8 bit safe status data Bit
8 bit safe status data negated Bit
16 bit safe X position data (MSB) INT
16 bit safe X position data (LSB) INT
Resolution: 10 mm

Configuration Instructions for PXV100A / PGV100A
Modules
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Input Data
Functional Description of the Valid Bit
The valid bit reflects the state of the safe X position data. Only when the state of the valid bit =
"logic 1" may the safe X position data be used for the plausibility check and further processing
in the control program.
If the state of the valid bit = "logic 0", the reader cannot determine safe X position values at this
time. The plant control software has the task of carrying out further processing and triggering
the appropriate actions to ensure the safe state of the plant.
Bits 7 6 5 4 3 2 1 0 Function
Bytes
1 0 0 0 OVD OT INIT 0 VAL Safe status
2 /VAL 1 /INIT /OT /OVD 1 1 1 Safe status negated
3 XS31 XS30 XS29 XS28 XS27 XS26 XS25 XS24 Safe X position data
4 XS23 XS22 XS21 XS20 XS19 XS18 XS17 XS16 Safe X position data
5 XS15 XS14 XS13 XS12 XS11 XS10 XS9 XS8 Safe X position data
6 XS7 XS6 XS5 XS4 XS3 XS2 XS1 XS0 Safe X position data
Table 3.13 Input data telegrams for the safety module (data format 2 x 16 bit INT)
Bit Value Description
VAL 1 Safe X position data is valid
0 Invalid; safe X position data = 0x00000000
INIT 0 Initialization inactive
1 Initialization active
OT 0 No excess temperature detected on the HiCore module.
The temperature is not safety-related.
1 Excess temperature detected on the HiCore module.
The temperature is not safety-related.
OVD 0 No overvoltage detected on +UB
1 Overvoltage > 32 VDC detected on +UB
Table 3.14 Description of the individual bits in the safety module (data format 2 x 16 bit INT)

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Configuration Instructions for PXV100A / PGV100A
Modules
3.2.2 Non-safety-related data
For the navigation of automated guided vehicles, the reader makes the following non-safety-
related data available:
Module 1
Module 2
Position Data X
This data is non-safe position data for positioning in the X direction.
Bit no. Content
0 ... 15 Status1
1.see "Status"
16 ... 47 Position Data Y2
2.see "Position Data Y"
48 ... 63 Angle Data3
3.see "Angle Data"
Bit no. Content
0 ... 15 Status1
1.see "Status"
16 ... 47 Position Data Y2
2.see "Position Data Y"
48 ... 63 Angle Data3
3.see "Angle Data"
64 ... 95 Position Data X4
4.see "Position Data X"
96 ... 111 Speed5
5.see "Speed Data"
112 ... 127 Position Data Z6
6.see "Position Data Z"
Size Type Content
4 byte Input Data 32 bit X position data
MSB1 first
Resolution: 0.1 mm
1.MSB = most significant byte