Pilz PNOZ m ES CANopen User manual

PNOZ m ES CANopen
Operating Manual-1002699-EN-06
}Configurable control systems PNOZmulti 2

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
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Section 1 Introduction 5
1.1 Validity of documentation 5
1.2 Using the documentation 5
1.3 Definition of symbols 5
Section 2 Overview 7
2.1 Scope of supply 7
2.2 Unit features 7
2.3 Front view 8
Section 3 Safety 9
3.1 Intended use 9
3.2 System requirements 9
3.3 Safety regulations 10
3.3.1 Use of qualified personnel 10
3.3.2 Warranty and liability 10
3.3.3 Disposal 10
3.3.4 For your safety 10
Section 4 Function description 11
4.1 Operation 11
4.2 Data access 11
4.3 Block diagram 12
Section 5 Installation 13
5.1 General installation guidelines 13
5.2 Dimensions in mm 13
5.3 Connect the base unit and expansion modules 14
Section 6 Commissioning 15
6.1 Wiring 15
6.1.1 General wiring guidelines 15
6.1.2 Connecting the supply voltage 15
6.1.3 CANopen interface 16
6.2 Setting the transmission rate 16
6.3 Setting the station address 17
6.4 Connection example 18
6.5 Download modified project to the PNOZmulti safety system 18
Section 7 Operation 19
7.1 Messages 19
7.1.1 Display elements for device diagnostics 19
Section 8 Technical details 20

Contents
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Section 9 Order reference 22
9.1 Product 22
9.2 Accessories 22

Introduction
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1 Introduction
1.1 Validity of documentation
This documentation is valid for the product PNOZ m ES CANopen. It is valid until new doc-
umentation is published.
This operating manual explains the function and operation, describes the installation and
provides guidelines on how to connect the product.
1.2 Using the documentation
This document is intended for instruction. Only install and commission the product if you
have read and understood this document. The document should be retained for future ref-
erence.
1.3 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.
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.

Introduction
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INFORMATION
This gives advice on applications and provides information on special fea-
tures.

Overview
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2 Overview
2.1 Scope of supply
}Expansion module PNOZ m ES CANopen
}Jumper
2.2 Unit features
Using the product PNOZ m ES CANopen:
Expansion module for connection to a base unit from the configurable control system
PNOZmulti 2 .
The product has the following features:
}Can be configured in the PNOZmulti Configurator
}Connection for CANopen
}Station addresses from 0 ... 99, selected via rotary switch
}Transmission rate selected via rotary switch (1 MBit/s, 10 kbit/s, 125 kBit/s, 20 kbit/s,
250 kBit/s, 50 kbit/s, 500 kBit/s, 800 kbit/s)
}Status indicators for communication with CANopen and for errors
}128 virtual inputs and outputs on the control system PNOZmulti 2 can be defined in the
PNOZmulti Configurator for communication with the fieldbus CANopen.
}Max. 1 PNOZ m ES CANopen can be connected to the base unit
}Plug-in connection terminals:
either spring-loaded terminal or screw terminal available as an accessory (see order
reference)
}For details of the PNOZmulti 2 base units that can be connected, please refer to the
document "PNOZmulti System Expansion".

Overview
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2.3 Front view
[1]
[3]
[2]
[4]
Legend
[1] LED
- Power
- Run
- Error
[2] Rotary switch
- DR = Transmission rate
- X10 = Tens digit for the station address
- X1 = Units digit for the station address
[3] X1: CANopen interface (male 9-pin D-Sub connector)
[4] X4: 0 V, 24 V:
Supply connections
Functional earth

Safety
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3 Safety
3.1 Intended use
The fieldbus module PNOZ m ES CANopen is an expansion module of the configurable
control system PNOZmulti 2. It is used for communication between the configurable control
system PNOZmulti 2 and CANopen.
CANopen is designed for fast data exchange at field level. The expansion module PNOZ m
ES CANopen is a passive CANopen subscriber (Slave). The basic communication func-
tions with CANopen conform to the guidelines of the CANopen User Group CiA DS-301
V4.2.0. The central controller (master) reads input information from the slaves and writes
output information to the slaves as part of each cycle. As well as the cyclical transfer of us-
able data, the expansion module PNOZ m ES CANopen also has diagnostic and commis-
sioning functions. Data traffic is monitored on the Master/Slave side.
The expansion module may only be connected to a base unit from the configurable system
PNOZmulti 2 (please refer to the document "PNOZmulti System Expansion" for details of
the base units that can be connected).
The configurable system PNOZmulti 2 is used for the safety-related interruption of safety
circuits and is designed for use in:
}Emergency stop equipment
}Safety circuits in accordance with VDE0113 Part 1 and EN60204-1
The expansion module may not be used for safety-related functions.
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 [ 20]).
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 System requirements
Please refer to the "Product Modifications PNOZmulti" document in the "Version overview"
section for details of which versions of the base unit and PNOZmulti Configurator can be
used for this product.

Safety
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3.3 Safety regulations
3.3.1 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.
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.
3.3.2 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.).
3.3.3 Disposal
}When decommissioning, please comply with local regulations regarding the disposal of
electronic devices (e.g. Electrical and Electronic Equipment Act).
3.3.4 For your safety
The unit meets all the necessary conditions for safe operation. However, you should always
ensure that the following safety requirements are met:
}This operating manual only describes the basic functions of the unit. The expanded
functions are described in the PNOZmulti Configurator's online help. Only use these
functions once you have read and understood the documentations.
}Do not open the housing or make any unauthorised modifications.
}Please make sure you shut down the supply voltage when performing maintenance
work (e.g. exchanging contactors).

Function description
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4 Function description
4.1 Operation
The virtual inputs and outputs that are to be transferred via CANopen are selected and con-
figured in the PNOZmulti Configurator. The base unit and the expansion module PNOZ m
ES CANopen are connected via a jumper. The station address and the transmission rate
are set using rotary switches. After the supply voltage is switched on or the control system
PNOZmulti2 is reset, the expansion module PNOZ m ES CANopen is configured and star-
ted automatically.
LEDs indicate the status of the expansion module on CANopen.
The configuration is described in detail in the PNOZmulti Configurator's online help.
4.2 Data access
The data is structured as follows:
}Virtual data
– Input area PNOZ m ES CANopen
The values for the inputs are set as an output in the Master and transferred to the
PNOZmulti2.
– Output range PNOZ m ES CANopen
The outputs are configured in the PNOZmulti Configurator and transferred to the
Master.
}Status of LEDs:
LED status 1 Output Byte
The LED status of the base unit can be requested directly as follows
– Bit 0 = 1: LED OFAULT is lit or flashes
– Bit 1 = 1: LED IFAULT is lit or flashes
– Bit 2 = 1: LED FAULT is lit or flashes
– Bit 3 = 1: LED DIAG is lit or flashes
– Bit 4 = 1: LED RUN FS is lit
– Bit 5: Reserved
– Bit 6 = 1: LED RUN ST is lit (not for PNOZ m B0)
– Bit 7: Reserved
}Data exchange is displayed in Bit 5.
}Polling the payload data: 2 Bytes with the table number and segment number are sent
by the Master for access to the payload data table (15 Bytes are returned to the Mas-
ter).
The document "Communication Interfaces" contains detailed information
}on data exchange (tables, segments) in the section entitled "Fieldbus modules",
}on the virtual data in chapter "Service Data Objects (SDOs)" for PNOZ m ES CANopen.

Function description
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4.3 Block diagram
Interface
to next module
Data
(ST)
CANopen
Interface
to previous
module
24 V
0 V
Module
Supply

Installation
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5 Installation
5.1 General installation guidelines
}The unit should be installed in a control cabinet with a protection type of at least IP54.
}Fit the safety system to a horizontal mounting rail. The venting slots must face upward
and downward. Other mounting positions could damage the safety system.
}Use the locking elements on the rear of the unit to attach it to a mounting rail.
}In environments exposed to heavy vibration, the unit should be secured using a fixing
element (e.g. retaining bracket or end angle).
}Open the locking slide before lifting the unit from the mounting rail.
}To comply with EMC requirements, the mounting rail must have a low impedance con-
nection to the control cabinet housing.
}The ambient temperature of the PNOZmulti units in the control cabinet must not exceed
the figure stated in the technical details, otherwise air conditioning will be required.
NOTICE
Damage due to electrostatic discharge!
Electrostatic discharge can damage components. Ensure against discharge
before touching the product, e.g. by touching an earthed, conductive sur-
face or by wearing an earthed armband.
5.2 Dimensions in mm
101,4 (4,11“)
115,0 (4,53“)
22,5
(0,88“)

Installation
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5.3 Connect the base unit and expansion modules
Connect the base unit and the expansion module as described in the operating instructions
for the base units.
}Connect the black/yellow terminator to the expansion module.
}Install the expansion module in the position in which it is configured in the PNOZmulti
Configurator.
The position of the expansion modules is defined in the PNOZmulti Configurator. The ex-
pansion modules are connected to the left or right of the base unit, depending on the type.
Please refer to the document "PNOZmulti System Expansion" for details of the number of
modules that can be connected to the base unit and the module types.

Commissioning
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6 Commissioning
6.1 Wiring
6.1.1 General wiring guidelines
The wiring is defined in the circuit diagram of the PNOZmulti Configurator.
Please note:
}Information given in the Technical details [ 20] must be followed.
}The position of the expansion module is specified in the Hardware configuration of the
PNOZmulti Configurator.
}Use copper wire that can withstand 75°C.
}External measures must be used to connect the terminal to the functional earth,
when the mounting rail is not connected to the functional earth.
}Always connect the mounting rail to the protective earth via an earthing terminal. This
will be used to dissipate hazardous voltages in the case of a fault.
}The power supply must meet the regulations for extra low voltages with protective sep-
aration.
CAUTION!
Only connect and disconnect the expansion module when the supply
voltage is switched off.
NOTICE
When installing, you must refer to the guidelines of the CANopenUser
Group.
6.1.2 Connecting the supply voltage
Connect the supply voltage to the fieldbus module:
}24 V terminal: + 24 VDC
}0 V terminal: 0 V
}Protect the supply voltage as follows:
– Circuit breaker, characteristic C - 6 A
or
– Blow-out fuse, slow, 6A

Commissioning
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6.1.3 CANopen interface
The connection to CANopen is made via a male 9-pin D-Sub connector.
5
1
6
9
1: n.c.
2: CAN_L
3: CAN_GND
4: n.c.
5: CAN_SHLD
6: n.c.
7: CAN_H
8: n.c.
9: n.c.
n.c. = not connected
Please note the following when connecting to CANopen:
}Only use metal plugs or metallised plastic plugs
}Twisted pair, screened cable must be used to connect the interfaces
Termination CANopen
To minimise cable reflection and to guarantee a defined rest signal on the transmission line,
CANopenmust be terminated at both ends.
6.2 Setting the transmission rate
1
2
3
4
9
8
7
6
0
5
DR
}On the upper rotary switch DR, use a small screwdriver to set the transmission rate (in
the example, "3" corresponds to 50 kBit/s).
Switch setting 0 1 2 3 4 5 6 7 8 9
Transmission rate - 10
kBit/s
20
kBit/s
50
kBit/s
125
kBit/s
250
kBit/s
500
kBit/s
800
kBit/s
1
MBit/s
-
INFORMATION
The transmission rate cannot be changed during operation.

Commissioning
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6.3 Setting the station address
The station address of the expansion module PNOZ m ES CANopen is set between 0 ... 99
(decimal) via two rotary switches x1 and x10.
1
2
3
4
9
8
7
6
0
5
x10
}On the middle rotary switch x10, use a small screwdriver to set the tens digit for the ad-
dress (“3” in the example).
1
2
3
4
9
8
7
6
0
5
x1
}On the lower rotary switch x1, set the ones digit for the address (“6” in the example).
Station address 36 is set in the diagrams as an example.

Commissioning
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6.4 Connection example
CANopen
Slave 3
CANopen
Slave 1
CANopen
Master
CANopen
Slave n
6.5 Download modified project to the PNOZmulti safety system
As soon as an additional expansion module has been connected to the system, the project
must be amended using the PNOZmulti Configurator. Proceed as described in the operat-
ing instructions for the base unit.
NOTICE
For the commissioning and after every program change, you must check
whether the safety devices are functioning correctly.

Operation
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7 Operation
7.1 Messages
When the supply voltage is switched on, the PNOZmulti safety system copies the configur-
ation from the chip card.
The LEDs “POWER”, “DIAG”, “FAULT”, “IFAULT” and “OFAULT” will light up on the base
unit.
The expansion module PNOZ m ES CANopen is configured and started automatically. The
LEDs “RUN” and “ERR” display the status of the PNOZ m ES CANopen on CANopen.
If the expansion module PNOZ m ES CANopen does not receive a configuration from the
base unit for a period of 30 s, the expansion module PNOZ m ES CANopen connects to
CANopen and "RUN" status is displayed on CANopen. The error message "External Error"
is sent to the Master.
7.1.1 Display elements for device diagnostics
Legend
LED off
LED flashes
1
LED flashes once
2
LED flashes twice
3
LED flashes three times
LED on
LED Meaning
PWR Supply voltage is present.
Supply voltage is not present
RUN PNOZ m ES CANopen In "Operational" status
1
PNOZ m ES CANopen In "Stopped" status
PNOZ m ES CANopen In "Pre-Operational" status
No supply voltage, CAN connection or module error detected
ERR CAN controller is in "Bus off" status
1
Error threshold value has been reached, the CAN controller has re-
ceived too many error telegrams
2
Monitoring error, activation of master-slave monitoring error, e.g.
heartbeat monitoring
3
Error in "Synchronisation" operating status, a synchronisation tele-
gram, e.g. with simultaneous writing on several devices, did not occur
within the configured time
No error

Technical details
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8 Technical details
General
Approvals CE, EAC (Eurasian), cULus Listed
Electrical data
Supply voltage
for Module supply
Voltage 24 V
Kind DC
Voltage tolerance -20 %/+25 %
Max. continuous current that the external power
supply must provide 35 mA
Output of external power supply (DC) 0,9 W
Potential isolation yes
Supply voltage
for Module supply
internal Via base unit
Voltage 3,3 V
Kind DC
Current consumption 60 mA
Power consumption 0,2 W
Max. power dissipation of module 1,5 W
Status indicator LED
Fieldbus interface
Fieldbus interface CANopen
Device type Slave
Log CiA 301 V4.2.0
Station address 0 - 99d
Transmission rates 1 MBit/s, 10 kbit/s, 125 kBit/s, 20 kbit/s, 250 kBit/s,
50 kbit/s, 500 kBit/s, 800 kbit/s
Connection 9-pin D-Sub male connector
Galvanic isolation yes
Test voltage 500 V AC
Environmental data
Ambient temperature
In accordance with the standard EN 60068-2-14
Temperature range 0 - 60 °C
Forced convection in control cabinet off 55 °C
Storage temperature
In accordance with the standard EN 60068-2-1/-2
Temperature range -25 - 70 °C
Climatic suitability
In accordance with the standard EN 60068-2-30, EN 60068-2-78
Condensation during operation Not permitted
Max. operating height above sea level 2000 m