Pilz PMCprimo C2 User manual

PMCprimo C2
Operating Manual-1004683-EN-02
}Control systems

Preface
This document is the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for the user's internal purposes. Suggestions and comments for improving this documenta-
tion will be gratefully received.
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 Manual PMCprimo C2
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1 Introduction ............................................................................................................................ 6
1.1 Validity of the documentation.................................................................................................... 6
1.1.1 Retaining the documentation .................................................................................................... 6
1.2 Definition of symbols................................................................................................................. 6
2 Overview ................................................................................................................................. 8
2.1 Unit features ............................................................................................................................. 8
2.2 Front view plug-in card PMCprimo C2.0................................................................................... 9
2.3 Front view housing version PMCprimo C2.1 ............................................................................ 10
2.4 Type code ................................................................................................................................. 12
2.5 Scope of supply ........................................................................................................................ 13
3 Security ................................................................................................................................... 14
3.1 Intended use ............................................................................................................................. 14
3.2 Safety regulations ..................................................................................................................... 15
3.2.1 Use of qualified personnel ........................................................................................................ 15
3.2.2 Warranty and liability ................................................................................................................ 15
3.2.3 Disposal .................................................................................................................................... 15
3.3 Standards ................................................................................................................................. 15
4 Security ................................................................................................................................... 16
4.1 Required security measures ..................................................................................................... 16
5 Function description ............................................................................................................. 18
5.1 Device properties...................................................................................................................... 18
5.1.1 Controller .................................................................................................................................. 18
5.1.2 Supply voltage .......................................................................................................................... 21
5.1.3 Digital inputs ............................................................................................................................. 21
5.1.4 Digital outputs ........................................................................................................................... 21
5.1.5 Interfaces .................................................................................................................................. 22
5.1.5.1 Overview................................................................................................................................... 22
5.1.5.2 CANopen .................................................................................................................................. 23
5.1.5.3 PROFIBUS DP ......................................................................................................................... 23
5.1.5.4 Ethernet .................................................................................................................................... 24
5.1.5.5 EtherCAT .................................................................................................................................. 24
5.1.5.6 USB .......................................................................................................................................... 25
5.1.6 Encoder .................................................................................................................................... 25
5.1.7 Reset button ............................................................................................................................. 25
5.2 Software.................................................................................................................................... 26
5.2.1 Software PMCprimo C2 ............................................................................................................ 26
6 Installation .............................................................................................................................. 27
6.1 Installation plug-in card PMCprimo C2.0 .................................................................................. 27
6.1.1 General requirements ............................................................................................................... 27
6.1.2 Dimensions ............................................................................................................................... 28
6.1.3 Installing the unit....................................................................................................................... 29
6.1.4 Installing the fieldbus junction box ............................................................................................ 30
6.2 Dimensions housing version PMCprimo C2.1 .......................................................................... 31

Contents
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6.2.1 Dimensions ............................................................................................................................... 31
6.2.2 Installating PMCprimo C2.1 in the control cabinet.................................................................... 31
7 Wiring ...................................................................................................................................... 32
7.1 Wiring guidelines ...................................................................................................................... 32
7.2 Connector pin assignment X40b............................................................................................... 33
7.3 Supply voltage .......................................................................................................................... 33
7.4 Digital inputs ............................................................................................................................. 34
7.5 Digital outputs ........................................................................................................................... 35
7.6 Interfaces .................................................................................................................................. 36
7.6.1 Overview................................................................................................................................... 36
7.6.2 CANopen, PROFIBUS DP........................................................................................................ 36
7.6.2.1 Wiring guidelines for the CANopen interface............................................................................ 36
7.6.2.2 Two CANopen interfaces.......................................................................................................... 38
7.6.2.3 CANopen/PROFIBUS DP interface .......................................................................................... 38
7.6.3 Ethernet .................................................................................................................................... 39
7.6.4 EtherCAT .................................................................................................................................. 39
7.7 Encoder .................................................................................................................................... 40
7.7.1 Supply voltage .......................................................................................................................... 40
7.7.2 Incremental encoder with TTL signal........................................................................................ 41
7.7.3 Absolute encoder with SSI interface......................................................................................... 42
8 Commissioning ...................................................................................................................... 43
8.1 Safety guidelines ...................................................................................................................... 43
8.2 Commissioning the PMCprimo C2............................................................................................ 44
8.2.1 Prepare commissioning PMCprimo C2.0 with PMCprotego D ................................................. 44
8.2.2 Prepare commissioning PMCprimo C2.1 with PMCSC6/PMCSI6.......................................... 47
8.2.3 Establish communication between PMCprimo C2 and PC....................................................... 48
8.2.4 Configure servo amplifier PMCprotego D ................................................................................. 51
8.2.5 Configure drive controller PMC SC6/PMCSI6 ......................................................................... 51
8.2.6 Adapt basic configuration of PMCprimo ................................................................................... 52
8.2.7 Operate PMCprimo C2 ............................................................................................................. 53
8.3 Install CODESYS...................................................................................................................... 55
9 Operation ................................................................................................................................ 56
9.1 Operating states and changes in operating status ................................................................... 56
9.1.1 Status graph ............................................................................................................................. 56
9.1.2 Operating states ....................................................................................................................... 57
9.1.2.1 "Power Off" operating status..................................................................................................... 57
9.1.2.2 "Startup" operating status ......................................................................................................... 57
9.1.2.3 "Boot Menu" operating status ................................................................................................... 57
9.1.2.4 "RUN" operating status............................................................................................................. 57
9.1.2.5 "STOP" operating status........................................................................................................... 58
9.1.2.6 "Fatal Error" operating status.................................................................................................... 58
9.1.3 Change in operating status....................................................................................................... 58
9.2 Reset, restart, start and stop options........................................................................................ 60
9.2.1 Overview................................................................................................................................... 60
9.2.2 Cold start, "Startup" .................................................................................................................. 61
9.2.3 Reset commands...................................................................................................................... 61

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9.2.3.1 Warm reset ............................................................................................................................... 61
9.2.3.2 Cold reset ................................................................................................................................. 61
9.2.3.3 Original Reset ........................................................................................................................... 61
9.2.4 Start and stop commands......................................................................................................... 62
9.3 Functions of the reset button .................................................................................................... 62
9.4 Messages ................................................................................................................................. 63
9.5 Display elements ...................................................................................................................... 65
10 Technical details .................................................................................................................... 67
11 EC declaration of conformity ................................................................................................ 71
12 Order reference ...................................................................................................................... 72
12.1 Product ..................................................................................................................................... 72
12.2 Accessories .............................................................................................................................. 73

Introduction
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1 Introduction
1.1 Validity of the documentation
This documentation is valid for the product PMCprimo C2. It is valid until new documenta-
tion is published.
This operating manual explains the function and operation, describes the installation and
provides guidelines on how to connect the product PMCprimo C2.
Please 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.
}The online help for the DriveControlSuite commissioning software describes how to set
the parameters for the drive controllers from the PMC product area.
}Guidelines regarding installation and environmental conditions can be found in the oper-
ating manual for the servo amplifier PMCprotegoD.
}Guidelines regarding the handling and the environmental conditions can be found in the
operating manual of the drive controller PMCSC6/PMCSI6.
}The configuration and programming software for motion control devices (e.g. CODESYS,
PASmotion) can be found on the Internet.
You can find all the documents in the Internet at www.pilz.com.
You will need to be conversant with the information in these documents in order to fully un-
derstand this operating 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
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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
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2 Overview
2.1 Unit features
PMCprimo C2is 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 control
– Speed axes
– Positioning axes
– Synchronisation axes (electrical cam disk)
– Path axes (interpolation)
– Technology functions
}Digital inputs and outputs
– 8 digital inputs, I1:1 … I1:6 can be used as quick reference inputs
– 8 single-pole digital outputs
}Encoder
– Incremental encoder with TTL signal
– Absolute encoder with SSI interface
}Interfaces
– Ethernet TCP/IP
– Modbus TCP
– EtherCAT (requires IEC61131-3)
– 2 CANopen interfaces or 1 CANopen/1 PROFIBUS DP interface
(can be configured via the software)
}Supply voltages for
– Device plus digital outputs
– Encoder
}Memory for
– Operating system
– Data
– Device project with user program
}USB port
}Reset button
– To change between operating states
– For a hardware reset (cold start)
– For importing project data when devices are exchanged
}LED display for device's operating status

Overview
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2.2 Front view plug-in card PMCprimo C2.0
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
Fig.: Front view plug-in card PMCprimo C2.0
Legend
[1] Screw for attachment to the servo amplifier
[2] Reset button and LEDs to display operating states
[3] X46, USB interface
[4] X45, unused
[5] X44, EtherCAT interface
[6] X43, Ethernet TCP/IP interface
[7] X42, CANopen/PROFIBUS interface
[8] X41, connection for encoder 1
[9] X40b, digital inputs and outputs
[10] X40a, supply voltage for device, digital outputs X40b and interfaces X42 …
X45

Overview
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[11] Labelling strip
– Order number
– Serial number
– Number of device version
2.3 Front view housing version PMCprimo C2.1
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[1]
Fig.: Front view housing version PMCprimo C2.1
Legend
[1] Screw for attachment to the front plate of the housing
[2] Reset button and LEDs to display operating states
[3] X46, USB interface
[4] X45, unused

Overview
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[5] X44, EtherCAT interface
[6] X43, Ethernet TCP/IP interface
[7] X42, CANopen/PROFIBUS interface
[8] X41, connection to encoder 1
[9] X40b, digital inputs and outputs
[10] X40a, supply voltage for device, digital outputs X40b and interfaces X42 … X45
[11] Labelling strip
– Order number
– Serial number
– Number of device version

Overview
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2.4 Type code
Order number
Must be specified when ordering
PMCprimo C2. _ / C / C / _
Housing
Without
With
1
0
CPU C
C
Type
1.3 GHz
Hardware
Configurable
CAN/PROFIBUS
Software options
Without
Dynamic curve calculation
IEC 61131-3 programming
Path interpolation
Fig.: Type code for PMCprimo C2
Legend
Explanation of type code
Software
2 Software option 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. The dynamic curve calculation reads in
the variables and calculates an allocation table.
4-7 IEC 61131-3 programming enabled
PLC functionality is programmed with CODESYS
6.7 Path interpolation enabled
PLC functionality and path interpolation

Overview
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2.5 Scope of supply
Order reference Description Order number
PMCprimo C2.0 Expansion card (plug-in card)
for motion controller (for function
range see "Type code")
See "Type code"
PMCprimo C2.1 Housing version motion con-
troller (for function range see
"Type code")
See "Type code"

Security
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3 Security
3.1 Intended use
The motion controller PMCprimo C2 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 as a plug-in card (PMCprimoC2.0) is installed in the servo amplifier
PMCprotegoD. Once installed, the environmental conditions of the servo amplifier PMC-
protego D apply, e.g. the lower storage temperature (see "Technical Details" in the operat-
ing manual for the servo amplifier).
Please note that the PMCprimo C2 as a plug-in card (PMCprimoC2.0) has no internal elec-
trical connection to the servo amplifier PMCprotego D. When installing and operating the
device, you must refer to the operating 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.

Security
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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 persons who are competent to do so.
A competent person is a qualified and knowledgeable person who, because of their train-
ing, experience and current professional activity, has the specialist knowledge required. To
be able to inspect, assess and operate devices, systems and machines, the person has to
be informed of the state of the art and the applicable national, European and international
laws, directives and standards.
It is the company’s responsibility only to employ personnel who
}Are familiar with the basic regulations concerning health and safety / accident prevention,
}Have read and understood the information provided in the section entitled Safety
}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 2021-03 latest editions shall apply.

Security
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4 Security
To secure plants, systems, machines and networks against cyberthreats it is necessary to
implement (and continuously maintain) an overall industrial security concept that is state of
the art.
Perform a risk assessment in accordance with VDI/VDE 2182 or IEC 62443-3-2 and plan
the security measures with care. If necessary, seek advice from Pilz Customer Support.
4.1 Required security measures
}The product is not protected from physical manipulation or from reading of memory con-
tents during physical access. We therefore recommend that you install the product in a
lockable control cabinet.
}The configuration computer that accesses the product has to be protected from attacks
by a firewall or other suitable measures. We recommend that a virus scanner is used on
this configuration computer and updated regularly.
}If necessary, protect the configuration computer and the product from unauthorised use
by assigning passwords and taking further measures if required. We also recommend
that the user logged on to this configuration computer does not have administrator rights.
}Ensure that the product is separated by a router (layer 3 switch or firewall) from the com-
pany network.
}Assign only safe passwords. When assigning passwords, please note:
– The password should have at least 8 characters.
– The password should contain upper and lower case characters, as well as special
characters and numbers.
– If possible, the password should not be available in dictionaries.
– The password should not be made up of standard variants and repetitions or key-
board patterns (so not: 1234abcd).
– Use a password manager for optimum management of complex passwords.
– Language-dependent characters are not available in every keyboard language.
– Make sure you regularly change the passwords of the user accounts on the system or
ask the users to change their passwords themselves.
– Make the users aware of the responsible use of their access data.
}Modbus/TCP has no security mechanisms. Use a firewall to protect the product from un-
authorised access.
}As soon as possible, install firmware updates that Pilz provides for the product.
}The product permits firmware downgrades. Before you downgrade, you should check
what firmware version you install to prevent re-opening up safety gaps that are already
known and that were closed by a firmware update.
}Check the log of the product for security-relevant entries on a regular basis.
}Log data may contain personal data. Only store exported logs on a storage medium that
is adequately protected.
}Use only one USB memory from a secure source. A manipulated USB memory could
compromise the system.

Security
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}Before disposal, the product must be securely decommissioned. To do this, all the data
must be deleted from the device.
– Set the configuration back to its default settings or delete the configuration.
– Switch off the product.
– If the product includes a removable data medium, remove it and format it at the com-
puter. Do not carry out a quick formatting. Alternatively, you can use a program to se-
curely delete data or destroy the memory mechanically.
Company firewall Machine firewall
Company network Machine network
Internet
Configuration computer
Product
Fig.: Example network topology
}Protect the configuration and log data from unauthorised changes. Configure the display
device so as to prevent unauthorised access to the file system.

Function description
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5 Function description
5.1 Device properties
5.1.1 Controller
The PMCprimo C2 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 8 digital inputs and 8 single-pole digital outputs. The inputs are
read cyclically. The outputs are written cyclically. The cycle times are ≥ 1ms. It can also ac-
cess 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).
Two LEDs provide information on the operating states of the controller and indicate any er-
rors.
X40b
1 ... 16
X41
(1...4, 9...12)
(5...8, 13...16)
X40a
X46
Logic
Motion Control
USB
X40a
Profibus
EtherCAT
STAT RESET
FUNC
Ethernet
CANopen
Fig.: Block diagram PMCprimo C2

Function description
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The motion controller PMCprimoC2.0 plug-in card (1) is installed in a servo amplifier PMC-
protegoD (3). A fieldbus junction box PMCprotego D.CAN-CANbus Adapter or PMCprot-
ego D.CAN-PROFIBUS Adapter (2) is used for networking (CANopen, PROFIBUS DP).
Fig.: Installation of the motion controller in a servo amplifier PMCprotego D
The motion controller PMCprimoC2.0 plug-in card (1) is installed in a servo amplifier PMC-
protegoD (2). Networking can be via EtherCAT.
X44
Ethernet X43
2
EtherCAT
X7A
X7B
Fig.: Installation of the motion controller in a servo amplifier PMCprotego D

Function description
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The Motion controller PMCprimo C2.1 in the housing networked via EtherCAT to the drive
controller PMCSC6/PMCSI6.
Ethernet X43
EtherCAT out (X201)
EtherCAT in (X200)
X44
PMCprimo C2
PMC SC6
Fig.: PMCprimo C2.1 in the housing networked via EtherCAT with PMCSC6