Pilz PNOZmulti 2 User manual

Communicationinterfaces
OperatingManual1002971EN03
ConfigurablecontrolsystemsPNOZmulti2

Preface
Thisdocumentis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.
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

Content
OperatingManualCommunicationinterfaces
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Section1 Introduction 7
1.1 Definitionofsymbols 7
Section2 OverviewCommunicationoptions 8
2.1 Communicationviathefieldbusmodules 8
2.2 Communicationviathecommunicationmodules 9
2.3 CommunicationviaModbusTCP 10
Section3 Safety 11
3.1 Intendeduse 11
3.2 Safetyregulations 11
3.2.1 Useofqualifiedpersonnel 11
3.2.2 Warrantyandliability 11
3.2.3 Disposal 12
Section4 FieldbusModules 13
4.1 Basics 13
4.1.1 Inputdata(tothePNOZmulti2) 13
4.1.2 Outputdata(fromthePNOZmulti2) 14
4.1.3 Overviewoftables 15
4.1.4 Accesstotablesegments 15
4.1.4.1 Example1Accesssuccessful 16
4.1.4.2 Example2Accessfailed 17
4.2 PNOZmESProfibus 18
4.2.1 Cyclicalinputandoutputdata 18
4.2.2 Accesstotablesegments 19
4.2.3 LEDstatus 19
4.2.4 Servicedata 19
4.2.5 DiagnosticdataPNOZmESProfibus 20
4.3 PNOZmESCANopen 22
4.3.1 ServiceDataObjects(SDOs) 22
4.3.2 Servicedata 22
4.3.3 ProcessDataObjects(PDOs) 23
4.4 PNOZmESEtherCAT 25
4.4.1 ServiceDataObjects(SDOs) 25
4.4.2 Servicedata 25
4.4.3 ProcessDataObjects(PDOs) 25
4.5 PNOZmESPowerlink 26
4.5.1 ServiceDataObjects(SDOs) 26
4.5.2 Servicedata 26
4.5.3 ProcessDataObjects(PDOs) 26
4.6 PNOZmESProfinet 26
4.6.1 Cyclicalinputandoutputdata 26
4.6.2 Accesstotablesegments 27
4.6.3 LEDstatus 27
4.6.4 Servicedata 28
4.6.5 DiagnosticdataPNOZmESProfinet 28

Content
OperatingManualCommunicationinterfaces
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4.7 PNOZmESEthernet/IP 30
4.7.1 Cyclicalinputandoutputdata 30
4.7.2 Servicedata 31
Section5 Communicationmodules 32
5.1 Overview 32
5.2 PNOZmESRS232 32
5.3 PNOZmESETH 32
5.3.1 Introduction 32
5.3.2 Overview 32
5.3.3 Modulefeatures 33
5.3.4 Modbus/TCP 33
5.3.5 RJ45interfaces("Ethernet") 33
5.3.6 Requirementsoftheconnectioncableandconnector 33
5.3.7 Interfaceconfiguration 34
5.3.8 RJ45connectioncable 34
5.3.9 Processdataexchange 34
5.4 Communicationprocedure 35
5.5 Telegramstructure 36
5.5.1 Header 36
5.5.2 Usabledata 37
5.5.3 Footer 37
5.6 Usabledata 38
5.6.1 Virtualinputs(InputByte0...InputByte15) 38
5.6.2 Watchdog 38
5.6.3 Virtualoutputs(OutputByte0...OutputByte15) 38
5.6.4 LEDstatus 38
5.6.5 Tables 39
5.7 Requests 39
5.7.1 Mask(MaskByte0...MaskByte15) 39
5.7.2 SendvirtualinputstothePNOZmulti 39
5.7.3 SendvirtualinputstothePNOZmulti,requeststateofthevirtualoutputs
andLEDstatusfromthePNOZmulti
41
5.7.3.1 ControlByte(Byte40) 42
5.7.4 RequeststateofvirtualinputsandoutputsfromPNOZmulti 44
5.7.5 RequestdatafromthePNOZmultiintableform 44
5.7.6 Sendinputandoutputdata(cf.fieldbuscommunication) 45
5.7.6.1 Inputdata(tothePNOZmulti) 46
5.7.6.2 Outputdata(fromthePNOZmulti) 47
5.7.6.3 ControlByte(Byte5) 48
5.8 Troubleshooting 49
5.8.1 Requestformatdoesnotmeetspecifications 49
5.8.2 Errorwhileexecutingarequest 50
Section6 Modbus/TCP 51
6.1 Systemrequirements 51
6.2 Modbus/TCPBasics 51

Content
OperatingManualCommunicationinterfaces
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6.3 Modbus/TCPwithPNOZmulti2 52
6.4 Dataareas 53
6.4.1 Overview 53
6.4.2 Functioncodes 54
6.4.3 Datatransferlimits 55
6.4.4 Inputandoutputdata,watchdog 55
6.4.5 Allocationtableofthevirtualinputsandoutputs 58
6.4.6 Servicedata 58
6.4.7 LEDs 59
6.4.8 Updatingthedataareas 59
6.5 ExamplesofClientsandServers 60
Section7 Diagnosticword 61
7.1 Introduction 61
7.2 Elementswithdiagnosticword 61
7.3 Structureofthediagnosticword 61
7.4 Evaluatediagnosticword 62
7.5 ExampleEvaluatediagnosticwordofasafetygate 64
Section8 Servicedata 65
8.1 Processdata:Baseunitandexpansionmodules 66
8.1.1 Stateofinputsi0…i31 67
8.1.2 Stateofoutputso0…o31 67
8.1.3 StatusofsystemLEDs 67
8.1.4 StatusofIOLEDs 68
8.1.5 AssignmentofsystemandI/OLEDs 69
8.1.6 Processdataaddressing 70
8.1.6.1 Processdataaddressingonbaseunit 70
8.1.6.2 Processdataaddressing,1strighthandexpansionmodule 71
8.1.6.3 Processdataaddressing,2ndrighthandexpansionmodule 73
8.1.6.4 Processdataaddressing,3rdrighthandexpansionmodule 74
8.1.6.5 Processdataaddressing,4thrighthandexpansionmodule 75
8.1.6.6 Processdataaddressing,5thrighthandexpansionmodule 77
8.1.6.7 Processdataaddressing,6thrighthandexpansionmodule 78
8.1.6.8 Processdataaddressing,1stlefthandexpansionmodule 80
8.1.6.9 Processdataaddressing,2ndlefthandexpansionmodule 81
8.1.6.10 Processdataaddressing,3rdlefthandexpansionmodule 82
8.1.6.11 Processdataaddressing,4thlefthandexpansionmodule 84
8.2 Processdata:Fieldbusandcommunicationmodule 85
8.2.1 Stateofvirtualinputsi0…i127 85
8.2.2 Stateofvirtualoutputso0…o127 86
8.2.3 StatusofsystemLEDs 87
8.2.3.1 AssignmentofsystemLEDs 87
8.2.4 Processdataaddressing 88
8.2.4.1 Processdataaddressing,fieldbusmodule 88
8.2.4.2 Processdataaddressing,communicationmodule 89
8.3 Diagnosticwords 90

Content
OperatingManualCommunicationinterfaces
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8.3.1 Diagnostics 90
8.3.2 Diagnosticwordaddressing 91
8.4 Enableelements 92
8.4.1 ElementIDs 92
8.4.2 Enableelementaddressing 92
8.5 Projectdata 93
8.5.1 Checksums 93
8.5.2 Date 94
8.5.3 Projectname 94
8.5.4 Projectdataaddressing 95
8.6 Devicedata 96
8.6.1 Product 96
8.6.2 Firmware 97
8.6.3 Operatinghours 97
8.6.4 Devicedataaddressing 98
8.6.4.1 Devicedataaddressingonbaseunit 98
8.6.4.2 Devicedataaddressing,1strighthandexpansionmodule 99
8.6.4.3 Devicedataaddressing,2ndrighthandexpansionmodule 100
8.6.4.4 Devicedataaddressing,3rdrighthandexpansionmodule 101
8.6.4.5 Devicedataaddressing,4thrighthandexpansionmodule 102
8.6.4.6 Devicedataaddressing,5thrighthandexpansionmodule 103
8.6.4.7 Devicedataaddressing,6thrighthandexpansionmodule 104
8.6.4.8 Devicedataaddressing,1stlefthandexpansionmodule 105
8.6.4.9 Devicedataaddressing,2ndlefthandexpansionmodule 106
8.6.4.10 Devicedataaddressing,3rdlefthandexpansionmodule 107
8.6.4.11 Devicedataaddressing,4thlefthandexpansionmodule 108
8.6.4.12 Devicedataaddressing,fieldbusmodule 109
8.6.4.13 Devicedataaddressing,communicationmodule 110

Introduction
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1 Introduction
1.1 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.
INFORMATION
Thisgivesadviceonapplicationsandprovidesinformationonspecialfea
tures.

OverviewCommunicationoptions
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2 OverviewCommunicationoptions
2.1 Communicationviathefieldbusmodules
Thefieldbusmodulesprovidebothcyclicalandacyclicaldata.ThechapterentitledFieldbus
Modules[ 13]describesthestructureofthecyclicaldata.ThechapterentitledService
data[ 65]describestheacyclicaldata,itsstructureandaddressing.
Thefollowingdevicecombinationsarepossible:
Fieldbusmodules Baseunits
PNOZmESProfibus
PNOZmB0
PNOZmESCANopen
PNOZmESEtherCAT
PNOZmESPowerlink
PNOZmESEthernet/IP
PNOZmESProfinet
INFORMATION
Amaximumofonefieldbusmodulecanbeconnectedtoabaseunit.

OverviewCommunicationoptions
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2.2 Communicationviathecommunicationmodules
Whencommunicationtakesplaceviaacommunicationmodule,dataexchangeisdefined
viaaPilzspecificprotocol.Thisprotocolisdescribedinmoredetailinthechapterentitled
Communicationmodules[ 32].
Thefollowingdevicecombinationsarepossible:
CommunicationModule Baseunits
PNOZmESRS232
PNOZmB0
PNOZmESETH
INFORMATION
Ifvirtualinputs/outputsaretobedownloadedviathecommunicationmodule
(withoutusingafieldbusmodule),theinterface"Inputs/outputsthatare
downloadedviatheintegratedinterface"mustbeconfiguredinthehard
wareconfigurationinthePNOZmultiConfigurator.

OverviewCommunicationoptions
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2.3 CommunicationviaModbusTCP
FordataexchangewithModbus/TCP,thePNOZmulti2istheconnectionserver.Allthe
servicedataisdefinedinonedatarecord,towhichtheclienthasdirectaccess.
CommunicationwithModbus/TCPisdescribedindetailinthechapterentitledModbus/
TCP[ 51].
Thefollowingdevicecombinationsarepossible:
CommunicationModule Baseunit
PNOZmESETH[ 32] PNOZmB0
INFORMATION
Ifvirtualinputs/outputsaretobedownloadedviathecommunicationmodule
(withoutusingafieldbusmodule),theinterface"Inputs/outputsthatare
downloadedviatheintegratedinterface"mustbeconfiguredinthehard
wareconfigurationinthePNOZmultiConfigurator.

Safety
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3 Safety
3.1 Intendeduse
ThecommunicationinterfaceontheconfigurablecontrolsystemPNOZmulti2isusedto
transferdiagnosticdatatoanapplicationprogram.Thisdatamayonlybeusedfornon
safetypurposes,e.g.visualisation.
NOTICE
Fordetailsoftheintendeduseandapplicationoftheconfigurablecontrol
systemPNOZmulti2pleaserefertotheoperatinginstructionsforthere
spectiveunit.
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chapterentitled"TechnicalDe
tails").
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.
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.).

Safety
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3.2.3 Disposal
}Whendecommissioning,pleasecomplywithlocalregulationsregardingthedisposalof
electronicdevices(e.g.ElectricalandElectronicEquipmentAct).

FieldbusModules
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4 FieldbusModules
4.1 Basics
Theinputandoutputrangeiseachreservedanareaof32Bytesforcommunicationvia
fieldbuses;thisisupdatedapprox.every15ms.TheMaster(PC,PLC)cansend32Bytes
tothePNOZmulti2andreceive32BytesfromthePNOZmulti2.TheMastercanprocess
theinformationinbytes,wordsorindoublewords.
4.1.1 Inputdata(tothePNOZmulti2)
DoubleWord Word Byte Content
0 0 0 StateofvirtualinputsonthePNOZmulti2
fieldbusmodule.
TheinputsaredefinedinthePNOZmulti
Configurator.Eachinputthatisusedis
givenanumberthere,e.g.i0,i5...
Thestateofinputi0isstoredinbit0of
byte0;thestateofinputi5isstoredinbit5
ofbyte0etc.
1
1 2
3
1 2 4
5
3 6
7
2 4 8
9
5 10
11
3 6 12
13
7 14
15
4 8 16 Reserved
17 Tablenumber
9 18 Segmentnumber
19 PayloadByte0
5 10 20 PayloadByte1
21 PayloadByte2
11 22 PayloadByte3
23 PayloadByte4
6 12 24 PayloadByte5
25 PayloadByte6
13 26 PayloadByte7
27 PayloadByte8

FieldbusModules
OperatingManualCommunicationinterfaces
1002971EN03 14
DoubleWord Word Byte Content
7 14 28 PayloadByte9
29 PayloadByte10
15 30 PayloadByte11
31 PayloadByte12
4.1.2 Outputdata(fromthePNOZmulti2)
DoubleWord Word Byte Content
0 0 0 StateofvirtualoutputsonthePNOZmulti2
fieldbusmodule.
TheoutputsaredefinedinthePNOZmulti
Configurator.Eachoutputthatisusedis
givenanumberthere,e.g.o0,o5...
Thestatusofoutputo0isstoredinbit0of
byte0;thestatusofoutputo5isstoredin
bit5ofbyte0etc.
1
1 2
3
1 2 4
5
3 6
7
2 4 8
9
5 10
11
3 6 12
13
7 14
15
4 8 16 LEDstatus
17 Tablenumber
9 18 Segmentnumber
19 PayloadByte0
5 10 20 PayloadByte1
21 PayloadByte2
11 22 PayloadByte3
23 PayloadByte4
6 12 24 PayloadByte5
25 PayloadByte6
13 26 PayloadByte7
27 PayloadByte8

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OperatingManualCommunicationinterfaces
1002971EN03 15
DoubleWord Word Byte Content
7 14 28 PayloadByte9
29 PayloadByte10
15 30 PayloadByte11
31 PayloadByte12
4.1.3 Overviewoftables
Thereareatotalof11tables,withthefollowingcontents:
Table20: Processdata,baseunit
Table21: Processdata,righthandexpansionmodules
Table22 Processdata,lefthandexpansionmodules
Table23: Processdata,fieldbusmodule/communicationmodule
Table70: Diagnosticwords
Table71: Enableelements
Table80: Projectinformation
Table90: Devicedata,baseunit
Table91: Devicedata,righthandexpansionmodules
Table92 Devicedata,lefthandexpansionmodules
Table93: Devicedata,fieldbusmodule/communicationmodule
ThecontentofthetablesisdescribedindetailinthechapterentitledService
data[ 65].
4.1.4 Accesstotablesegments
Eachtableconsistsofoneormoresegments.Eachsegmentismadeupof13Bytes.The
tableshaveafixedassignment.TheMasterrequeststherequireddatausingthetable
numberandsegmentnumber.TheSlaverepeatsthetwonumbersandsendsthereques
teddata.Ifdataisrequestedthatisnotavailable,theSlavesendstheerrormessageFF
(hex)or255(dec)insteadofthesegmentnumber.Thesegmentsmayberequestedinany
sequence.

FieldbusModules
OperatingManualCommunicationinterfaces
1002971EN03 16
4.1.4.1 Example1Accesssuccessful
Accesstoexistingsegments
TheMasterrequestssegment1fromtable23.Thefieldbusmoduleconfirmsboththesede
tailsandsendssegment1.Thenthedatafromsegment5table21isrequested.
23
1
0
0
17
18
19
31
17
18
19
31
17
18
19
31
17
18
19
31
23
1
21
5
X
X
21
5
X
X
0
0
Master Fieldbusmodule

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OperatingManualCommunicationinterfaces
1002971EN03 17
4.1.4.2 Example2Accessfailed
Accesstononexistentsegment
TheMasterrequestssegment1fromtable23.Thefieldbusmoduleconfirmsboththesede
tailsandsendssegment1.ThentheMasterrequestssegment111fromtable23.Asthis
tabledoesnotcontainasegment111,theSlaveregistersanerrorbysendingback"255".
Master Fieldbusmodule
23
1
0
17
18
19
31
17
18
19
31
23
1
17
18
19
31
23
111
23
255
0
0
X
X
X
X
0

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OperatingManualCommunicationinterfaces
1002971EN03 18
Accesstononexistenttable
TheMasterrequestssegment1fromtable24.Asthereisnotable24,theSlaveregisters
anerrorbysendingback"255".
Master Fieldbusmodule
24
1
0
17
18
19
31
17
18
19
31
255
0
X
X
24
4.2 PNOZmESProfibus
4.2.1 Cyclicalinputandoutputdata
Virtualinputsandoutputscanberequestedorsetdirectlyviathefollowingmodules.Each
elementcanbeselectedindividuallyinthemastercontrolsystem,e.g.virtualinputsi031.
Thedatawidthisalsoestablishedthisway.
Inputdata
TheMasterwritestothevirtualinputsofthePNOZmulti2.
Description InputdatafromPNOZmulti2
Virtualinputsi0–i31 4InputBytes
Virtualinputsi32–i63 4InputBytes
Virtualinputsi64–i95 4InputBytes
Virtualinputsi96–i127 4InputBytes
Outputdata
TheMasterreadsthevirtualoutputsofthePNOZmulti2.
Description OutputdatafromPNOZmulti2
Virtualoutputso0–o31 4OutputBytes
Virtualoutputso32–o63 4OutputBytes
Virtualoutputso64–o95 4OutputBytes
Virtualoutputso96–o127 4OutputBytes

FieldbusModules
OperatingManualCommunicationinterfaces
1002971EN03 19
4.2.2 Accesstotablesegments
Thedatainthetables(seeServicedata[ 65])canberequestedviathefollowingmod
ules.
Inputdata
TheMasterrequestsatablesegmentintheform:
Description InputdatafromPNOZmulti2
Tableandsegmentnumber 2InputBytes
Outputdata
ThePNOZmulti2repliesintheform:
Description OutputdatafromPNOZmulti2
Tableandsegmentnumber+13Bytepayload 15OutputBytes
AdetaileddescriptionisavailableinthechapterentitledAccesstotablesegments[ 15].
4.2.3 LEDstatus
TheLEDstatusofthePNOZmulti2canberequesteddirectlyviathefollowingmodule.
Description OutputdatafromPNOZmulti2
LEDstatus 1OutputByte
}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islit
}Bit57:Reserved
4.2.4 Servicedata
TheservicedataforPROFIBUSDPisdividedintothefollowingdataareas:
}ProcessdataBaseunitandexpansionmodules
}ProcessdataFieldbusmoduleandcommunicationmodule
}Diagnosticwords
}Enableelements
}Projectdata
}Devicedata
ThecontentoftheservicedataandaddressingaredescribedinthechapterentitledSer
vicedata[ 65].

FieldbusModules
OperatingManualCommunicationinterfaces
1002971EN03 20
4.2.5 DiagnosticdataPNOZmESProfibus
Thesebitscontainthediagnosticdata
Unit_Diag_
Bit Content
00 RUN,baseunitisinRUNcondition
01 STOP,baseunitisinSTOPcondition
02 BaseunitwasstoppedbytheConfigurator
03 Reserved
04 Externalerror
05 Internalerror
06 Externalerrorontheinputs
07 Internalerrorontheinputs
08 Externalerrorontheoutputs
09 Internalerrorontheoutputs
10 Noconnectiontobaseunit
11
…
21
Reserved
22 Erroronthebaseunit
23 Reserved
24 Erroronthe1stexpansionmodule,right
25 Erroronthe2ndexpansionmodule,right
26 Erroronthe3rdexpansionmodule,right
27 Erroronthe4thexpansionmodule,right
28 Faultonthe5thexpansionmodule,right
29 Faultonthe6thexpansionmodule,right
30
…
39
Reserved
40 Faulton1stexpansionmodule,left
41 Faulton2ndexpansionmodule,left
42 Faulton3rdexpansionmodule,left
43 Faulton4thexpansionmodule,left
44
...
45
Reserved
46 Erroronthecommunicationmodule