Pilz PMCprimo C User manual

PMCprimo C
Operating instructions 1002242-EN-03
}Control systems

Preface
This document is a translation of the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for internal purposes. Suggestions and comments for improving this documentation will be
gratefully received.
Source code from third-party manufacturers or open source software has been used for
some components. The relevant licence information is available on the Internet on the Pilz
homepage.
Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®,
SafetyEYE®, SafetyNET p®, the spirit of safety® are registered and protected trademarks
of Pilz GmbH & Co. KG in some countries.
SD means Secure Digital

Contents
Operating instructions PMCprimo C
1002242-EN-03 3
Section 1 Introduction 6
1.1 Validity of the documentation 6
1.1.1 Retaining the documentation 6
1.2 Definition of symbols 6
Section 2 Overview 8
2.1 Unit features 8
2.2 Front view 9
2.3 Type code 10
2.4 Scope of supply 11
Section 3 Security 12
3.1 Intended use 12
3.2 Safety regulations 12
3.2.1 Use of qualified personnel 12
3.2.2 Warranty and liability 13
3.2.3 Disposal 13
3.3 Standards 13
Section 4 Function description 14
4.1 Device properties 14
4.1.1 Controller 14
4.1.2 Supply voltage 15
4.1.3 Digital inputs 16
4.1.4 Digital outputs 16
4.1.5 Interfaces 16
4.1.5.1 Overview 16
4.1.5.2 CANopen 17
4.1.5.3 PROFIBUS DP 18
4.1.5.4 Ethernet 19
4.1.5.5 SafetyNET p RTFL 19
4.1.6 Encoder 20
4.1.7 Reset button 20
4.2 Software 21
Section 5 Installation 22
5.1 General requirements 22
5.2 Dimensions 22
5.3 Installing the unit 23
5.4 Installing the fieldbus junction box 23
Section 6 Wiring 25
6.1 Wiring guidelines 25
6.2 Connector pin assignment X40 26
6.3 Supply voltage 26
6.4 Digital inputs 27
6.5 Digital outputs 28

Contents
Operating instructions PMCprimo C
1002242-EN-03 4
6.6 Interfaces 29
6.6.1 Overview 29
6.6.2 CANopen, PROFIBUS DP 30
6.6.2.1 Wiring guidelines for the CANopen interface 30
6.6.2.2 Two CANopen interfaces 31
6.6.2.3 CANopen/PROFIBUS DP interface 32
6.6.3 Ethernet 32
6.6.4 SafetyNET p RTFL 33
6.7 Encoder 33
6.7.1 Supply voltage 33
6.7.2 Incremental encoder with TTL signal 35
6.7.3 Absolute encoder with SSI interface 36
Section 7 Commissioning 37
7.1 Safety guidelines 37
7.2 Commissioning the PMCprimo C 38
7.2.1 Preparing for commissioning 38
7.2.2 Establish communication PMCprimo C with PC 40
7.2.3 Adapt basic configuration of PMCprimo 43
7.2.4 Configure servo amplifier 44
7.2.5 Operate PMCprimo C 44
7.3 Install CoDeSys 46
Section 8 Operation 47
8.1 Operating states and changes in operating status 47
8.1.1 Status graph 47
8.1.2 Operating states 48
8.1.2.1 "Power Off" operating status 48
8.1.2.2 "Startup" operating status 48
8.1.2.3 "Boot Menu" operating status 48
8.1.2.4 "RUN" operating status 48
8.1.2.5 "STOP" operating status 49
8.1.2.6 "Fatal Error" operating status 49
8.1.3 Change in operating status 49
8.2 Reset, restart, start and stop options 51
8.2.1 Overview 51
8.2.2 Cold start, "Startup" 52
8.2.3 Reset commands 52
8.2.3.1 Warm reset 52
8.2.3.2 Cold reset 52
8.2.3.3 Original Reset 52
8.2.4 Start and stop commands 53
8.3 Functions of the reset button 53
8.4 Messages 54
8.5 Display elements 56

Contents
Operating instructions PMCprimo C
1002242-EN-03 5
Section 9 Technical details PMCprimo C X/A/X/X 0.6 GHz CPU 58
Section 10 Technical details PMCprimo C X/C/X/X 1.3 GHz CPU 62
Section 11 Order reference 66
11.1 Product 66
11.2 Accessories 66

Introduction
Operating instructions PMCprimo C
1002242-EN-03 6
1 Introduction
1.1 Validity of the documentation
This documentation is valid for the product PMCprimo C. It is valid until new documentation
is published.
This operating manual explains the function and operation, describes the installation and
provides guidelines on how to connect the product PMCprimo C.
Please also refer to the following documents from the motion control range:
}The online help for the PASmotion commissioning software describes how to set the
parameters for the servo amplifiers from the PMC product area.
}Guidelines regarding installation and environmental conditions can be found in the op-
erating manual for the servo amplifier PMCprotegoD.
}The configuration and programming software for motion control devices (e.g. CoDeSys,
PASmotion) can be found on the Internet at www.pilz.com.
}The manuals for Pilz products from the PMC product area are available on the supplied
CD-ROM "Documentation Motion Control".
You will need to be conversant with the information in these documents in order to fully un-
derstand this manual.
1.1.1 Retaining the documentation
This documentation is intended for instruction and should be retained for future reference.
1.2 Definition of symbols
Information that is particularly important is identified as follows:
DANGER!
This warning must be heeded! It warns of a hazardous situation that poses
an immediate threat of serious injury and death and indicates preventive
measures that can be taken.
WARNING!
This warning must be heeded! It warns of a hazardous situation that could
lead to serious injury and death and indicates preventive measures that can
be taken.

Introduction
Operating instructions PMCprimo C
1002242-EN-03 7
CAUTION!
This refers to a hazard that can lead to a less serious or minor injury plus
material damage, and also provides information on preventive measures
that can be taken.
NOTICE
This describes a situation in which the product or devices could be dam-
aged and also provides information on preventive measures that can be
taken. It also highlights areas within the text that are of particular import-
ance.
INFORMATION
This gives advice on applications and provides information on special fea-
tures.

Overview
Operating instructions PMCprimo C
1002242-EN-03 8
2 Overview
2.1 Unit features
PMCprimo C is a motion controller used to automate multi-axis motion sequences. The
device contains a PLC with the functionality of a logic and motion controller.
}Logic controller universally programmable in accordance with IEC61131-3
}Motion controller
– Speed axes
– Positioning axes
– Synchronisation axes (electrical cam disk)
– Path axes (interpolation)
– Technology functions
}Digital inputs and outputs
– 6 digital inputs, each one can be used as a quick reference input
– 6 single-pole digital outputs
}Encoder
– Incremental encoder with TTL signal
– Absolute encoder with SSI interface
}Interfaces
– Ethernet TCP/IP
– SafetyNETp RTFL
– Modbus TCP
Depends on device type
– 2 CANopen interfaces
– 1 CANopen/ 1 PROFIBUS DP interface
}Supply voltages for
– Device plus digital outputs
– Encoder
}Memory for
– Operating system
– Data
– Device project with user program
}Reset button
– To change between operating states
– For a hardware reset (cold start)
}LED display for device's operating status

Overview
Operating instructions PMCprimo C
1002242-EN-03 9
2.2 Front view
11
Legend:
}1: Screw for attachment to the servo amplifier
}2: Reset button
}3: LED to display operating states
}4: SafetyNETp interface RTFL "IN"
}5: SafetyNETp interface RTFL "OUT"
}6: Ethernet TCP/IP interface
}7: CANopen/PROFIBUS DP interface
}8: Connection for encoder
}9: Digital inputs/outputs and supply voltages
}10: 2D code
}11: Labelling strip
– Order number
– Serial number
– Number of device version

Overview
Operating instructions PMCprimo C
1002242-EN-03 10
2.3 Type code
C
1.3 GHz
Always state when ordering
Order number
Type
PMCprimo C. _ / _ / _ / _
Supply voltage
Servo amplifier
Without
Without
Dynamic curve calculation
IEC 61131-3 programming
Path interpolation
Fig.: Type code for PMCprimo C
Explanation of type code
}Servo amplifier
Type of servo amplifier in which the PMCprimoC is installed
}CPU
Clock frequency of processor
}Hardware
–A: Two CANopen interfaces
–B: One CANopen and one PROFIBUS DP Slave interface
}Software
–2: Software options not enabled
–3, 5, 7: Dynamic curve calculation enabled
The dynamic curve calculation is a calculation program for allocation tables. The al-
location table is defined through variables and scaling. The dynamic curve calcula-
tion reads in the variables and calculates an allocation table.
–4-7: IEC 61231-3 programming enabled
PLC functionality is programmed with CoDeSys.
–6, 7: Path interpolation enabled
PLC functionality and path interpolation