Pilz PSSu E S INC 24V se User manual

PSSu E S INC 24V se(-T)
Operating Manual 1001380-EN-04
}Decentralised system PSSuniversal I/O

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 Manual PSSu E S INC 24V se(-T)
1001380-EN-04 3
Section 1 Introduction 5
1.1 Validity of documentation 5
1.1.1 Retaining the documentation 5
1.1.2 Terminology: System environment A and B 5
1.2 Definition of symbols 6
Section 2 Overview 7
2.1 Module structure 7
2.2 Module features 7
2.3 Front view 8
Section 3 Safety 10
3.1 Intended use 10
3.2 Safety regulations 11
3.2.1 Use of qualified personnel 11
3.2.2 Warranty and liability 11
3.2.3 Disposal 11
Section 4 Function description 12
4.1 Block diagram 12
4.2 Module features 12
4.2.1 Integrated protection mechanisms 12
4.2.2 Function description 12
4.2.2.1 Functional inputs (G, L, S) 13
4.2.2.2 Supply voltage for encoder 13
4.2.2.3 Overflow 14
4.2.3 Incremental encoder operating mode 14
4.2.4 Counter operating mode 15
4.2.5 Functions 16
4.2.5.1 Measure period length 16
4.2.5.2 Transfer counter status via latch pulse 17
4.2.5.3 Transfer counter status via zero pulse 18
4.2.5.4 Set counter status 19
4.2.5.5 Monitor limit value 20
4.3 Configuration 21
4.3.1 Operating modes and parameters 21
4.3.2 Input/output data 22
4.3.2.1 PSSu assignment in system environment A 22
4.3.2.2 PSSu assignment in system environment B 24
Section 5 Installation 26
5.1 General installation guidelines 26
5.1.1 Dimensions 26
5.2 Installing the base module 26
5.3 Inserting and removing an electronic module 27
5.3.1 Inserting an electronic module 28
5.3.2 Removing an electronic module 29

Contents
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 4
5.3.3 Changing an electronic module during operation 29
Section 6 Wiring 30
6.1 General wiring guidelines 30
6.1.1 Mechanical connection of the base modules 30
6.2 Terminal configuration 32
6.3 Connecting the module 34
Section 7 Operation 36
7.1 Messages 36
7.2 Display elements 36
7.2.1 Display elements for module diagnostics 36
7.2.2 Display elements for counter status 37
7.2.3 Display elements for status of the functional inputs 37
7.3 Status information 37
Section 8 Technical details 38
Section 9 Order reference 41
9.1 Product 41
9.2 Accessories 41

Introduction
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 5
1 Introduction
1.1 Validity of documentation
This documentation is valid for the products PSSu E S INC 24V se and PSSu E S INC 24V
se-T. 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.
The module PSSu E S INC 24V se-T is suitable for use where there are increased environ-
mental requirements (see Technical Details).
1.1.1 Retaining the documentation
This documentation is intended for instruction and should be retained for future reference.
1.1.2 Terminology: System environment A and B
The PSSu system can be used in two different system environments. The module's applic-
ation area is described in the chapter "Intended Use" of the manual.
The distinction is made between
}PSSu in system environment A
}PSSu in system environment B
The distinction is based on the application area of the PSSu system.
PSSu in system environment A may be used in the
}Decentralised system PSSu I/O
}Not in the automation system PSS 4000
PSSu in system environment B may be used in the
}Automation system PSS 4000, e.g. with
– Decentralised system PSSu I/O with SafetyNET p
– Control system PSSu PLC
– Control system PSSu multi

Introduction
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 6
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.
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 Manual PSSu E S INC 24V se(-T)
1001380-EN-04 7
2 Overview
2.1 Module structure
A module consists of
}Electronic module and
}Base module with
– Screw terminals or
– Cage clamp terminals
The base modules are the carrier units for the electronic modules and are used to connect
the field wiring. The electronic modules are inserted on to the base modules and determine
the module's function.
Details of the base modules that can be used are available in the chapter entitled “Intended
Use”.
2.2 Module features
The product has the following features:
}Connection of a rotary encoder with HTL output signal
}Inputs for
– Counter pulses (inputs A, B), single-pole, referenced to earth (single-ended)
– Zero pulse (inputs C), single-pole, referenced to earth (single-ended)
– Stopping the counter (inputG, Gate)
– Memory function (Input L, Latch)
– Rotary encoder status (Input S, Status)
}Outputs:
– 24 VDC supply voltage for encoder
– 1 semiconductor output (switches depending on the counter status)
}Resolution of the counter and latch memory: 32 Bit
}Operating modes:
– Incremental encoder
– Counter
}Pulse multiplication (up to four times)
}No potential isolation between periphery supply and inputs/outputs
}LEDs for:
– Data transfer per input A, B, C
– Status per functional input (Gate, Latch, Status)
– Module error
}For standard applications in system environment A and B
}T-type:
PSSu E S INC 24V se-T: for increased environmental requirements

Overview
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 8
2.3 Front view
2111
2212
2414
4131
4232
4434
2313 4333
Err
11
A
12
0V
22
0V
13
(C)
23
(C)
PSSu E S
INC 24V se
32
S
42
S
33
(C)
43
(C)
G
S
A
B
C
L
21
B
14
S1
24
S1
41
C
41
G
34
O0
44
L
PSSu E S
INC 24V se
312486
000000
001
10
1
3
4
9
8
5
6
7
11
2
12
A
B
Legend:
}A: Electronic module
}B: Base module
}1: LEDs for
– Module diagnostics
– Status of the input channels A, B, C
}2: Labelling strip with:
– Name of electronic module
– Order number
– Serial number
– Hardware version number
– 2D code
}3: Labelling strip for the terminal configuration on the base module
}4: LEDs for
– Status of function inputs G, L, S
}5: Name of electronic module

Overview
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 9
}6: Connection level 1 (terminals 11, 21, 31, 41)
}7: Connection level 2 (terminals 12, 22, 32, 42)
}8: Connection level 3 (terminals 13, 23, 33, 43)
}9: Connection level 4 (terminals 14, 24, 34, 44)
}10: Square mounting holes (connection levels 1, 2, 3 and 4)
– With screw to loosen/tighten the screw terminal on base modules with screw termin-
als
– With mechanism to operate the cage clamp on base modules with cage clamp ter-
minals
}11: Round connection holes (connection levels 1, 2, 3 and 4) for connecting the signal
lines
}12: Mounting slot for colour marker to label the connection level (connection levels 1, 2,
3 and 4)

Safety
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 10
3 Safety
3.1 Intended use
The module can be used to connect an incremental encoder with HTL output signal for
standard functions.
The module may be used for standard applications in system environment A and B.
The modules PSSu E S INC 24V se and PSSu E S INC 24V se-T may be used as a safety
component in accordance with the Lifts Directive 95/16/EC, EN81-1, EN81-2 and
EN115-1.
The programmable safety system should be installed in a protected environment that meets
at least the requirements of pollution degree 2. Example: Protected inside space or control
cabinet with protection class IP54 and corresponding air conditioning.
The module PSSu E S INC 24V se-T is suitable for use where there are increased environ-
mental requirements (see Technical Details).
Intended use includes making the electrical installation EMC-compliant. Please refer to the
guidelines stated in the "PSSuniversal Installation Manual". The module is designed for use
in an industrial environment. It is not suitable for use in a domestic environment, as this can
lead to interference.
The following is deemed improper use in particular:
}Any component, technical or electrical modification to the module
}Use of the module outside the areas described in this manual
}Any use of the module that is not in accordance with the technical details.
INFORMATION
The module is supported by:
}PSSuniversal Configurator and PSSuniversal Assistant from Version
1.9.0.
}PAS4000 from version 1.7.0
– We recommend that you always use the latest version (download
from www.pilz.de).
The PSSu E S INC 24V se module may be used in conjunction with the following base
modules:
}PSSu BP 2/16 S
}PSSu BP 2/16 C
}PSSu BP-C 2/16 S
}PSSu BP-C 2/16 C

Safety
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 11
The module PSSu E S INC 24V se-T may be used in conjunction with the following base
modules:
}PSSu BP 2/16 S-T
}PSSu BP 2/16 C-T
}PSSu BP-C 2/16 S-T
}PSSu BP-C 2/16 C-T
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.).
3.2.3 Disposal
}In safety-related applications, please comply with the mission time TM in the safety-re-
lated characteristic data.
}When decommissioning, please comply with local regulations regarding the disposal of
electronic devices (e.g. Electrical and Electronic Equipment Act).

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 12
4 Function description
4.1 Block diagram
Module Bus
Periphery
Supply
+ 24 V DC
Module
Supply
+ 5 V DC
Data
(ST)
Input A
11
Input B
21
Input C
31 41 42 44
Inputs
G, S, L
13 23
C-Rail
33 43
C-Rail
14 24
24 V
12 22
0V Output
34
Output
4.2 Module features
4.2.1 Integrated protection mechanisms
When the PSSuEFPS1(-T) or PSSu E F PS2(-T)(-R) is used to supply the system, the
module supply is buffered for 20ms if the supply voltage is interrupted.
The module detects the following errors:
}Start-up error
}Configuration error
}ST communication error
}Bus termination error
}Supply voltage overload for the encoder
4.2.2 Function description
Module supply
}The module supply provides the module with voltage.
Inputs
}3 single-pole inputs referenced to earth: A, B, C, for connecting an incremental encoder
or an encoder that provides rising edges as counter pulses.
}3 single-pole inputs referenced to earth: G, L, S, for special functions

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 13
Outputs:
}Supply voltage for encoder, 24 VDC, 100 mA
}Semiconductor output (switches depending on the counter status)
“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
Operating modes
}Incremental encoder
}Counter
Functions
}Period length measurement
or
}Storing the counter status in latch memory after a latch pulse or zero pulse
}Setting the counter status
The electronic module transfers the data and status information to the head module via the
module bus. The choice of function and the function's configuration are defined via the sys-
tem software.
4.2.2.1 Functional inputs (G, L, S)
The single-pole inputs (G, L, S) are used for special functions. Inputs G and L may be con-
nected to external signal sources, e.g. to a higher order control system.
}Input G (gate input)
The counter is stopped with a 1 signal. The module ignores the counter pulses at the in-
puts until a 0 signal returns.
}Input L (input for latch pulse)
At a rising edge, the module stores the current counter value in the latch memory. The
counter continues counting; it is not stopped by the latch pulse. The module transmits
the stored value to the head module. The period length measurement may be con-
figured as an alternative to the latch function.
}Input S (status input)
The encoder's fault signal output can be connected to the status input. The module
transmits the input state to the head module with the status information.
4.2.2.2 Supply voltage for encoder
The module provides a supply voltage of 24VDC / 100mA to supply the rotary encoder.
The output is short circuit-proof. In the event of an overload, the supply voltage is switched
off and a warning is issued on the bus. The supply voltage is re-established when the
cause of the overload has been rectified.

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 14
4.2.2.3 Overflow
In both operating modes the counter can accept values from 00000000H to FFFFFFFFH.
}With an underflow the value drops below 00000000H and the counter continues from
FFFFFFFFH.
}With an overflow the value FFFFFFFFH is exceeded and the counter continues from
00000000H.
The overflow or underflow is signalled to the head module as status information.
The status information overflow is reset:
}if the value again falls below 00000000H (underflow).
}if 55550000H is exceeded (the lower third of the value range).
The status information underflow is reset:
}if FFFFFFFFH is exceeded again (overflow).
}if AAAAFFFFH is exceeded (the upper third of the value range).
4.2.3 Incremental encoder operating mode
The counter outputs and the output for the incremental encoder's zero pulse are connected
to the single-pole inputs (A, B, C).
}Inputs A, B
The first channel of the encoder is connected to input A, the second to input B. The
second channel is 90° out of phase. If channel A is leading, the module counts for-
wards. If channel A is lagging, the module counts backwards (see timing diagram).
}InputC
The output for the incremental encoder's zero pulse is connected to input C. An incre-
mental encoder typically supplies one zero pulse per rotation. If the zero pulse function
is activated, the module copies the last value prior to the zero pulse into the latch
memory and passes it to the process image of inputs (see chapter entitled "Transfer
counter status via latch pulse").
G
L
a b c d e
C
A
B
Legend:
}a: The counter counts backwards because the signal at channel A is lagging.
}b: The module has received a zero pulse. Provided the function is activated, the
counter value is copied into the latch memory with a rising edge at input C.
}c: The counter counts forwards because the signal at channel A is leading.
}d: The module has received a latch pulse. Provided the function is activated, the
counter value is copied into the latch memory with a rising edge at input L.

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 15
}e: The counter is disabled because there is a 1 signal at input G.
The module can evaluate the counter pulses once, twice or four times (configuration in the
PSSu Configurator or PAS4000).
B
A
2x
4x
}Single evaluation:
Each rising edge at channel A increases the counter status.
}Double evaluation:
Each rising and each falling edge at channel A increases the counter status.
}Quadruple evaluation (default):
Each rising and each falling edge at channel A and channel B increases the counter
status.
4.2.4 Counter operating mode
In counter operating mode, the module's single-pole inputsA, B, C have the following func-
tions:
}InputA (Count)
Input A is the input for the encoder's counter pulses. The module counts each rising
edge.
}InputB (Up/down)
At a 0 signal the module counts forwards. At a 1 signal the module counts backwards.
}InputC (Gate/Latch)
The counter is stopped with a 1 signal. The module ignores the counter pulses at the in-
put until a 0 signal returns.
C
G
L
a b c d e
B
A
Legend:
}a: The counter counts forwards because there is 0 signal at channel B.

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 16
}b: At the next rising edge at channel A, the counter counts backwards because there is
a 1 signal at channel B.
}c: The counter is disabled because there is a 1 signal at input C.
}d: The module has received a latch pulse. Provided the function is activated, the
counter value is copied into the latch memory with a rising edge at input L.
}e: The counter is disabled because there is a 1 signal at input G.
4.2.5 Functions
4.2.5.1 Measure period length
The module can record the period length of the counter pulses on channelA. The period
length is the time between two rising edges at channelA. It is transferred to the process im-
age of inputs as multiple of 200 ns.
Prerequisite: This function is configured in the PSSu Configurator / PAS4000.
PIO
PII
Legend:
}PIO: Bit1 of the function call in the process image of outputs or I/O data Output-
Data.LatchOrMeasure
}PII: Bit1 of the status byte in the process image of inputs or I/O data InputData.Lat-
chOrMeasureDone
Key to timing diagram:
Section Function
Procedure for PSSu in sys-
tem environment A
Procedure for PSSu in sys-
tem environment B
a Start measure-
ment
In the user program, set Bit 1
of the function call
In the user program, set Out-
putData.LatchOrMeasure
b Output measured
value
Set status bit
Measured value is trans-
ferred into the process image
of inputs
The module sets Bit 1 of the
status byte
Measured value is written in
InputData.LatchOrPeriod
The module sets Input-
Data.LatchOrMeasureDone
c Finish measure-
ment
In the user program, reset Bit
1 of the function call
In the user program, reset
OutputData.LatchOrMeasure
d Ready for new
measurement
The module resets Bit 1 of
the status byte
The module resets Input-
Data.LatchOrMeasureDone
The result of the last period length measurement remains in the process image of inputs
until the module signals a new measurement result by setting the status information. Before
the initial measurement the process image of inputs contains 00000000H or FFFFFFFF H

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 17
The module issues the result of period length measurement in multiples of 200ns.
Example:
}The process image of inputs contains 32H/50D
}The period length is 200 ns x 50 = 10μs
4.2.5.2 Transfer counter status via latch pulse
A signal output can be connected to input L on the module for a latch pulse. The latch pulse
may come from a PLC or position switch, for example. Using the latch function it is possible
to record and transmit the counter status at the time of this latch pulse.
Prerequisite: This function is configured in the PSSu Configurator / PAS4000.
PIO
PII
Legend:
}PIO: Bit1 of the byte for function calls in the process image of outputs or I/O data Out-
putData.LatchOrMeasure
}L: Input L for external latch
}PII: Bit1 of the status byte in the process image of inputs or I/O data InputData.Lat-
chOrMeasureDone
Key to timing diagram:
Section Function
Procedure for PSSu in sys-
tem environment A
Procedure for PSSu in sys-
tem environment B
a Activate latch
function
In the user program, set Bit 1
of the function call
In the user program, set Out-
putData.LatchOrMeasure
b Fill latch memory Rising edge at input L:
Counter status is transferred
to the latch memory
Rising edge at input L:
Counter status is transferred
to the latch memory
c Output counter
status
Set status bit
Counter status is transferred
to the process image of in-
puts
The module sets Bit 1 of the
status byte
Counter status is written in
InputData.LatchOrPeriod
The module sets Input-
Data.LatchOrMeasureDone
d Finish latch func-
tion
In the user program, reset Bit
1 of the function call
In the user program, reset
OutputData.LatchOrMeasure
e Ready for new
latch function
The module resets Bit 1 of
the status byte
The module resets Input-
Data.LatchOrMeasureDone
The contents of the latch memory remains in the process image of inputs until the module
signals a new memory value by setting the status information. Before the initial transfer the
process image of inputs contains 00000000H or FFFFFFFF H

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 18
The module always transmits the counter status when the first latch pulse occurs after the
function has started. All subsequent latch pulses are ignored until the function is completed
and reset.
4.2.5.3 Transfer counter status via zero pulse
The output for the incremental encoder's zero pulse is connected to input C. An incremental
encoder typically supplies one zero pulse per rotation. Using the zero pulse function it is
possible to record the last counter status before the zero pulse and transmit it via the pro-
cess image of inputs.
INFORMATION
In Counter operating mode, a rising edge at input C stops the counter.
PIO
PII
Legend:
}PIO: Bit0 of the function call in the process image of outputs or I/O datum Output-
Data.ZeroPulseActive
}C: Input C
}PII: Bit0 of the status byte in the process image of inputs or I/O datum Input-
Data.ZeroPulse
Key to timing diagram:
Section Function
Procedure for PSSu in sys-
tem environment A
Procedure for PSSu in sys-
tem environment B
a Activate zero
pulse function
In the user program, set Bit 0
of the function call
In the user program, set Out-
putData.ZeroPulseActiv
b Fill latch memory Rising edge at input C:
Counter status is transferred
to the latch memory
Rising edge at input C:
Counter status is transferred
to the latch memory
c Output counter
status
Set status bit
Counter status is transferred
to the process image of in-
puts
The module sets Bit 0 of the
status byte
Counter status is written in
InputData.LatchOrPeriod
The module sets Input-
Data.ZeroPulse
d Finish zero pulse
function
In the user program, reset Bit
0 of the function call
In the user program, reset
OutputData.ZeroPulseActiv

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 19
Section Function
Procedure for PSSu in sys-
tem environment A
Procedure for PSSu in sys-
tem environment B
e Ready for new
latch function
The module resets Bit 0 of
the status byte
The module resets Input-
Data.ZeroPulse
The zero pulse function has priority over the latch function and the "Period length measure-
ment" function. If this function is activated, both the other functions are ignored, even if they
have been activated.
The module always transmits the counter status when the first zero pulse occurs after the
function has started. The counter statuses on all subsequent zero pulses are ignored until
the function has been completed and reset.
4.2.5.4 Set counter status
The "Set counter status" function sets the counter to any value. The value is stated in the
user program. The module transfers the value and continues counting from this counter
status.
PIO
PII
Legend:
}PIO: Bit2 of the function call in the process image of outputs or I/O data Output-
Data.SetCounter
}PII: Bit2 of the status byte in the process image of inputs or I/O data InputData.Set-
CounterDone
Key to timing diagram:
Section Function
Procedure for PSSu in sys-
tem environment A
Procedure for PSSu in sys-
tem environment B
a Enter counter
status
In the user program, write the
default counter status in the
process image of outputs
In the user program, assign
the default counter status to
OutputData.NewCounter-
Value
b Transfer counter
status
In the user program, set Bit 2
of the function call
In the user program, set Out-
putData.SetCounter
c Acknowledge
transfer
The module sets Bit 2 of the
status byte; the underflow
and overflow bits are reset
The module sets Input-
Data.SetCounterDone; Input-
Data.Underflow and Input-
Data.Overflow are reset
d Finish transfer In the user program, reset Bit
2 of the function call
In the user program, reset
OutputData.SetCounter
e Ready for new
function
The module resets Bit 2 of
the status byte
The module resets Input-
Data.SetCounterDone

Function description
Operating Manual PSSu E S INC 24V se(-T)
1001380-EN-04 20
4.2.5.5 Monitor limit value
The module's output O0 is switched when a limit value is reached. The status of the output
("0" or "1") is defined with a polarity bit.
The function must first be activated via an enable bit.
Limit value
Counter status &
24 V
PIO Bit 3: Enable
+
-
O0
PIO Bit 4:
Polarity
Timing diagram
a b
PIO (3)
PIO (4)
O0
c
Counter
d
Legend:
}Counter: Count
}PIO (3): Bit3 of the function call in the process image of outputs or I/O datum Output-
Data.LimitValueActive
}PIO (4): Bit4 of the function call in the process image of outputs or I/O datum Output-
Data.InvertOutput
}O0: Output O0