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
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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
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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
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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
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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
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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

Overview
Operating instructions PMCprimo C
1002242-EN-03 11
2.4 Scope of supply
Order reference Description Order number
PMCprimo C Expansion card for motion con-
troller (for function range see
"Type code")
See "Type code"
CD-ROM "Documentation Mo-
tion Control"
Operating manual PMCprimo C,
Manuals for Pilz products from
the PMC product area
---

Security
Operating instructions PMCprimo C
1002242-EN-03 12
3 Security
3.1 Intended use
The motion controller PMCprimo C is suitable for use in logic and motion control applica-
tions.
Examples of typical application areas for the product are
}Clocked production machinery
}Continuous manufacturing processes (winding, flying saw, cross cutter)
}Machine tools
}Packaging machines
}Pick and place applications
The motion controller is installed in the servo amplifier PMCprotegoD. Once installed, the
environmental conditions of the servo amplifier PMCprotego D apply, e.g. the lower storage
temperature (see "Technical Details" in the operating manual for the servo amplifier).
Please note that the PMCprimo C has no internal electrical connection to the servo ampli-
fier PMCprotego D. When installing and operating the device, you must refer to the operat-
ing manuals for the servo amplifiers, in particular the safety guidelines.
The following is deemed improper use in particular:
}Any component, technical or electrical modification to the product
}Use of the product outside the areas described in this manual
}Use of the product outside the technical details (see Technical details).
NOTICE
EMC-compliant electrical installation
The product is designed for use in an industrial environment. The product
may cause interference if installed in other environments. If installed in other
environments, measures should be taken to comply with the applicable
standards and directives for the respective installation site with regard to in-
terference.
3.2 Safety regulations
3.2.1 Use of qualified personnel
The products may only be assembled, installed, programmed, commissioned, operated,
maintained and decommissioned by competent persons.
A competent person is someone who, because of their training, experience and current pro-
fessional activity, has the specialist knowledge required to test, assess and operate the
work equipment, devices, systems, plant and machinery in accordance with the general
standards and guidelines for safety technology.

Security
Operating instructions PMCprimo C
1002242-EN-03 13
It is the company’s responsibility only to employ personnel who:
}Are familiar with the basic regulations concerning health and safety / accident preven-
tion
}Have read and understood the information provided in this description under "Safety"
}And have a good knowledge of the generic and specialist standards applicable to the
specific application.
3.2.2 Warranty and liability
All claims to warranty and liability will be rendered invalid if
}The product was used contrary to the purpose for which it is intended
}Damage can be attributed to not having followed the guidelines in the manual
}Operating personnel are not suitably qualified
}Any type of modification has been made (e.g. exchanging components on the PCB
boards, soldering work etc.).
3.2.3 Disposal
}When decommissioning, please comply with local regulations regarding the disposal of
electronic devices (e.g. Electrical and Electronic Equipment Act).
3.3 Standards
To use the device correctly you will need to have a good knowledge of the relevant stand-
ards and directives. The following standards are relevant:
}EN 61131-1: Programmable controllers – Part 1: General information
}EN 61131-2: Programmable controllers – Part 2: Equipment requirements and tests
}EN 61131-3: Programmable controllers – Part 3: Programming languages
Please note this is not an exhaustive list of safety standards and directives.
Where standards are undated, the 2010-12 latest editions shall apply.

Function description
Operating instructions PMCprimo C
1002242-EN-03 14
4 Function description
4.1 Device properties
4.1.1 Controller
The PMCprimo C is a drive-integrated programmable logic controller with motion control
functionalities. The controller has volatile and non-volatile memory for the operating system,
the data and the device project with the user program.
It can be used for logic and motion control of intelligent drives.
User programs can be programmed in the main IEC61131-3 languages. The software
CoDeSys is used to program the PLC functionality. The controller runs as an independent
task.
The motion controller has 6 digital inputs and 6 single-pole digital outputs. The inputs and
outputs are read cyclically. The cycle times are 1ms. It can also access inputs and outputs
on networked servo amplifiers from the PMC product area.
The motion controller has fieldbus interfaces for communication with the periphery.
An additional encoder can be connected (incremental encoder with TTL signal or absolute
encoder with SSI interface).
An LED provides information about the controller's operating states.
X45
X44
X43
X42
7 15
Power
=
~
X40
1 2 3
Inputs
SafetyNET p
Ethernet
CANopen
PROFIBUS
9 10 11
4 5 6 12 13 14
Outputs
8 16
Power
Encoder
Logic
Motion Control
Encoder
X40 X41 STAT RESET
Fig.: Block diagram PMCprimo C
The motion controller PMCprimoC (1) is installed in a servo amplifier PMCprotegoD (3). A
fieldbus junction box PMCprotego D.CAN-CANbus Adapter or PMCprotego D.CAN-
PROFIBUS Adapter (2) is used for networking (CANopen, PROFIBUS DP).

Function description
Operating instructions PMCprimo C
1002242-EN-03 15
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
START
RESET
680050 12
100001
X45
X44
X43
X42
X41
X40
X42
X6B CANopen 1
CANopen 2
PROFIBUS DP
X6C
1
1
Ethernet X43
3
2
Fig.: Installation of the motion controller in a servo amplifier PMCprotego D
The motion controller PMCprimoC (1) is installed in a servo amplifier PMCprotegoD (2).
Networking can be via SafetyNET p RTFL.
X44
Ethernet X43
2
SafetyNET p RTFL
X7A
X7B
Fig.: Installation of the motion controller in a servo amplifier PMCprotego D
4.1.2 Supply voltage
The PMCprimo C has two supply voltages:
}X40/7,15
Supply voltage for the device and the digital outputs (24VDC)
}X40/8,16
Supply voltage for the encoder (5V, 24VDC)
The voltage is connected directly to the female 9-pin D-Sub connector X41/4,9.

Function description
Operating instructions PMCprimo C
1002242-EN-03 16
Internally the two supply voltages are galvanically isolated. The two earths can be connec-
ted externally.
4.1.3 Digital inputs
The device has 6 digital inputs.
The inputs are compatible with EN61131-2, Type 1.
The time behaviour of the digital inputs depends on the method of use:
}With normal use, the inputs have a filter time of ≤ 600 μs.
}If the inputs are used as reference inputs, the reaction time to 0/1 or 1/0 pulse edges is
< 5μs.
The inputs can be used as reference inputs, to poll the position of the encoder for ex-
ample.
4.1.4 Digital outputs
The device has 6 single-pole digital outputs.
Signals at the output
}"0" signal (0 V) at the output:
– Output is high impedance
– No current to the load
}"1" signal (+24 V) at the output:
– Output is low impedance
– Current is supplied to the load
– The maximum current strength per output is 0.5 A.
All digital outputs are protected against short circuit and overload.
The outputs can be used to connect relays, valves or inputs from another controller, for ex-
ample.
4.1.5 Interfaces
4.1.5.1 Overview
The motion controller PMCprimoC has various fieldbuses for communication with the peri-
phery. These are available on four RJ45 sockets on the front of the device. The interfaces
are suitable for the following applications:
}CANopen
– Real-time capable networking between CAN devices and the motion controller
– Suitable for applications
– with ≤ 16 subscribers
– with cycle time of ≥1ms
– Connection to the servo amplifier PMCprotegoD via the fieldbus junction box PMC-
protegoD.CAN-CANbus Adapter (supplied with the device)

Function description
Operating instructions PMCprimo C
1002242-EN-03 17
}PROFIBUS DP Slave
– Networking between the motion controller and a PROFIBUS Master.
– Suitable for data exchange with a third party controller.
– Connection to the servo amplifier PMCprotegoD via the fieldbus junction box PMC-
protegoD.CAN-PROFIBUS Adapter (supplied with the device)
}Ethernet
–Ethernet TCP/IP
– Communication between the programming device and the motion controller
– Suitable for configuration, programming, commissioning
–Modbus/TCP
– Communications protocol based on Industrial Ethernet (TCP/IP over Ethernet).
– Suitable for networking between the motion controller and a visualisation device
or a PSS4000, for example.
}SafetyNET p RTFL
– SafetyNET p is an Ethernet-based multi-master bus system suitable for industrial
use. It is suitable for real-time capable networking between the motion controller
PMCprimo C and the servo amplifier PMCprotegoD.
– The PMCprimo C acts as Master
– The RTFL transport layer enables the system to be used in extremely time-critical
applications.
– Suitable for applications
– with ≤ 16 subscribers
– with cycle time of1ms
– Standard communication
– Basic topology: Linear
4.1.5.2 CANopen
The CANopen interface is suitable for networking drive components at field level. It meets
the requirements defined in the communications protocol DS-301.
The following device classes with CANopen device profiles are supported:
}I/O modules DS-401
}Electrical drives DS-402
}Encoder DS-406
The CAN network is designed as a linear structure. The CANopen communication protocol
is based on CAN.
}CAN networking with the motion controller is suitable for applications with a maximum
subscriber number of ≤ 16 and a cycle time ≥ 1ms.
}Only CAN devices that are known to the controller or support a corresponding device
profile can be operated in the motion controller's CAN network.

Function description
Operating instructions PMCprimo C
1002242-EN-03 18
}CAN devices detected by the motion controller are ready for operation immediately
after the initial network run-up. No complex configuration of the CAN devices is re-
quired.
}The overall cable length and the length of the stub lines depend on the transmission
rate.
}Process data objects (PDO) are defined for each CAN device type and cannot be cus-
tomised by the user.
}For servo amplifiers, the "FS" command can be used to set which process data is to be
exchanged between the motion controller and the servo amplifier (see "PMCprimo Pro-
gramming Manual").
}The signal lines must be terminated with resistors (120 Ohm) on the first and last sub-
scriber. The resistors are generally integrated within the connected devices and can be
activated there. For a PMCprimoC, a terminating resistor can be activated in the field-
bus junction box PMCprotegoD.CAN-CANbus Adapter or PMCprotegoD.CAN-
PFOFIBUS Adapter.
4.1.5.3 PROFIBUS DP
PROFIBUS is an open fieldbus standard. Communication is defined in IEC 61158 and IEC
61784. Further provisions have been defined in specifications published by the PROFIBUS
User Group. These specifications are available from PROFIBUS International.
On a certain unit type, the PROFIBUS interface is available together with a CANopen inter-
face on an RJ45 socket (X42).
Properties:
}The PROFIBUS is configured using the CD command: Slave address, address range,
see PMCprimo Programming Manual.
}A total of up to 108 bus variables can be read and written (see PMCprimo Programming
Manual):
– Address space of bus variables: $B1 to $Bx108 (can be set using the CD com-
mand).
– Data width: 16 Bit including sign
– Value range: -32768 to 32767 (Hex: 0x0000 to 0x7FFF).
}When changing the variable content, any programs can be started if the bus variables
have been defined as trigger variables.
INFORMATION
The GSD file is available on the supplied CD-ROM. The name of the de-
scription file can be found in the "Technical Details".
INFORMATION
Please also refer to the installation guidelines published by the PROFIBUS
User Group.

Function description
Operating instructions PMCprimo C
1002242-EN-03 19
4.1.5.4 Ethernet
The Gigabit Ethernet interface (X43) connects the PMCprimo C to a programming device
for configuration, programming and commissioning. The interface can also be used to con-
nect a visualisation device.
The Gigabit Ethernet interface is compatible with 1000Base-T (Standard Gigabit Ethernet).
Data exchange is possible via Modbus/TCP.
4.1.5.5 SafetyNET p RTFL
The SafetyNETp RTFL interface is suitable for networking drive components at field level.
Communication is based on Ethernet, on which the CANopen device profile DS-402 is im-
plemented for electrical drives.
One interface is available for connection to a SafetyNETp network (X45).
Properties:
}The SafetyNETp interface used on the PMCprimo C is exclusively suitable for the
transfer of non-safety-related data.
}The SafetyNET p RTFL network is designed as a linear structure. SafetyNETp RTFL
networking with the motion controller is suitable for applications with a maximum sub-
scriber number of ≤ 16. The cycle time is 1ms.
}Only CAN devices that are known to the controller or support a corresponding device
profile can be operated in the motion controller's SafetyNETp RTFL network. This is
currently limited to the servo amplifier PMCprotego D.
}SafetyNETp RTFL devices detected by the motion controller are ready for operation
immediately after the initial network run-up. No complex configuration of the
SafetyNETp RTFL devices is required.
}The overall line length is not dependent on the transmission rate and is 100 metres.
}Process data objects (PDO) are defined for each SafetyNETp RTFL device type. They
cannot be adapted by the user.
}On the servo amplifier, the "FS" command can be used to set which process data is to
be exchanged between the motion controller and the servo amplifier (see "PMCprimo
Programming Manual").
}Terminating resistors are not required.
}The PMCprimo C assigns the device addresses automatically. A setting on the device
is not required.
– The address range begins from address 51 and is limited by the maximum number
of active subscribers (16). As a result, the address range extends up to 67.
– The address is assigned in the order of the physical connections.
– The addresses can be stored in thePMCprimo C. If a device is exchanged automat-
ically, the stored parameters are copied to the new device.
}If a device should fail, all motors in the SafetyNETp RTFL network are switched off.

Function description
Operating instructions PMCprimo C
1002242-EN-03 20
INFORMATION
Further information is available in the "System Description PSS 4000".
4.1.6 Encoder
An encoder can be connected to the 9-pin D-Sub socket X41.
The following encoders are supported:
}Incremental encoder with TTL signal
}Absolute encoder with SSI interface
The encoder's supply voltage is connected to separate terminals on the device (X40/8,16).
The size of the voltage depends on the encoder (e.g. 5V, 10 - 30VDC).
INFORMATION
Refer to the chapter entitled "Wiring" for details of how to connect the sup-
ply voltage.
4.1.7 Reset button
The "RESET" button is mounted in a recess on the front of the unit. It can only be accessed
using an appropriate tool (e.g. a pin).
The following actions can be triggered by pressing the "RESET" button:
}Change from "Startup" operating status to "Boot Menu"
}Hardware reset (cold start): Change from operating states "RUN" or "STOP" to "Star-
tup" (if a USB stick is inserted, any device data present will be copied, see Functions of
the reset button.)
}Change from "RUN" operating status to "STOP"
}Change from "STOP" operating status to "RUN"
INFORMATION
For further information on the reset button see Operation.