Pilz PSSu E S 2AO U User manual

PSSu E S 2AO U(-T)
Operating Manual 21423-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 2AO U(-T)
21423-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 Functions 12
4.2.2 Integrated protection mechanisms 13
4.3 Configuration 13
4.3.1 Scaling 14
4.3.1.1 DAC raw value 15
4.3.1.2 Hardware calibration 15
4.3.1.3 Manufacturer scaling 16
4.3.1.4 User scaling 17
4.3.1.5 Example calculation 17
4.3.2 Data formats 17
4.3.3 Switch-on value 19
4.3.4 Summary and overview 19
4.3.5 PSSu assignment in system environment A 20
4.3.5.1 Addresses in the process image 20
4.3.6 PSSu assignment in system environment B 20
Section 5 Installation 21
5.1 General installation guidelines 21
5.1.1 Dimensions 21
5.2 Installing the base module 22
5.3 Inserting and removing an electronic module 23
5.3.1 Inserting an electronic module 24
5.3.2 Removing an electronic module 25
5.3.3 Changing an electronic module during operation 25

Contents
Operating Manual PSSu E S 2AO U(-T)
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Section 6 Wiring 26
6.1 General wiring guidelines 26
6.1.1 Mechanical connection of the base modules 26
6.2 Terminal configuration 28
6.3 Connecting the module 29
Section 7 Operation 30
7.1 Messages 30
7.2 Display elements 30
7.2.1 Display elements for module diagnostics 30
7.2.2 Display elements for output status 31
Section 8 Technical details 32
Section 9 Order reference 35
9.1 Product 35
9.2 Accessories 35

Introduction
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1 Introduction
1.1 Validity of documentation
This documentation is valid for the products PSSu E S 2AO U and PSSu E S 2AO U-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.
Electronic module with analogue outputs for standard applications
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 2AO U(-T)
21423-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
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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:
}2 analogue voltage outputs
}Configurable voltage ranges:
– 0 ... +10V single-pole, referenced to earth (single-ended)
– -10V ... +10V single-pole, referenced to earth (single-ended)
}Resolution: 12bit plus sign bit
}LEDs for:
– Operating status per output
– Module error
}For standard applications in system environment A and B
}T-type:
PSSu E S 2AO U-T: for increased environmental requirements

Overview
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2.3 Front view
2111
2212
2313
2414
11
O0
21
O1
12
0V
22
0V
13
(C)
23
(C)
14 24
Err
PSSu E S
2AO U
O 0 O1
PSSu E S
2AOU
312460
000000
001
1
3
8
7
4
5
6
9
10
2
11
A
B
Legend:
}A: Electronic module
}B: Base module
}1: LEDs for
– Module diagnostics
– Status indicator
}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: Name of electronic module
}5: Connection level 1
}6: Connection level 2

Overview
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}7: Connection level 3
}8: Connection level 4
}9: 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
}10: Round connection holes (connection levels 1, 2, 3 and 4) for connecting the signal
lines
}11: Mounting slot for colour marker to label the connection level (connection levels 1, 2,
3 and 4)

Safety
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3 Safety
3.1 Intended use
The module may be used for standard applications in system environment A and B.
The module provides analogue outputs. It may be used as an output module for standard
functions.
The modules PSSu E S 2AO U and PSSu E S 2AO U-T may be used as a safety compon-
ent 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 2AO U-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
1.4.0
}PAS4000 from Version 1.0.0
– We recommend that you always use the latest version (download
from www.pilz.de).
The PSSu E S 2AO U module may be used in conjunction with the following base modules:
}PSSu BP 1/8 S
}PSSu BP 1/8 C
}PSSu BP 1/12 S
}PSSu BP 1/12 C
}PSSu BP-C 1/8 S
}PSSu BP-C 1/8 C
}PSSu BP-C 1/12 S
}PSSu BP-C 1/12 C

Safety
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The module PSSu E S 2AO U-T may be used in conjunction with the following base mod-
ules:
}PSSu BP 1/8 S-T
}PSSu BP 1/8 C-T
}PSSu BP 1/12 S-T
}PSSu BP 1/12 C-T
}PSSu BP-C 1/8 S-T
}PSSu BP-C 1/8 C-T
}PSSu BP-C 1/12 S-T
}PSSu BP-C 1/12 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
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4 Function description
4.1 Block diagram
Module Bus
Periphery
Supply
+ 24 V DC
Module
Supply
+ 5 V DC
Data
(ST)
11 12 21 22
DAC
13 23
C-Rail
4.2 Module features
4.2.1 Functions
Module supply
}The module supply provides the module with voltage.
Periphery supply
}The supply for the outputs is generated from the periphery supply.
}The periphery supply and the outputs are galvanically isolated.
The output signals for each output are transmitted to the output module via the ST module
bus. The resolution is 12bits (4095 steps). Additional signal processing can be defined us-
ing the system software (see schematic representation of signal processing). The individual
steps are described in the "Configuration" section.
All the configuration data is stored in the head module and is assigned to the output module
on restart. This way the configuration data is retained even if you change the output mod-
ule.
Schematic representation of signal processing:
OUTDAC
Data
format
ST
module
bus
User
scaling
Manufact.
scaling

Function description
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4.2.2 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
4.3 Configuration
The module can be configured using the system software.

Function description
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4.3.1 Scaling
Scaling is a multi-stage process to adapt the values to the DA converter. The straight path
in the diagram indicates the default configuration.
Raw value
output?
Manuf.
scaling
active?
Hardware
calibration
Manufacturer
scaling
User
scaling
active?
User
scaling
Input
formats
N
Y
Y
YN
N
DAC
raw value

Function description
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Analogue value and typical digital value with a voltage range of 0 ... +10 V and de-
fault values:
Analogue value of voltage Decimal digital value
0 V 0
5 V 16 384
10 V 32 767
5 V 6 V 7 V 8 V 9 V4 V3 V2 V1 V0 V 10 V
32 76729 49026 21422 93719 66016 38413 1079 8306 5533 2770
Analogue value and typical digital value with a voltage range of -10 V ... +10 V and
default values:
Analogue value of voltage Decimal digital value
-10 V -32 767
-5 V -16 384
0 V 0
5 V 16 384
10 V 32 767
0 V 2 V 4 V 6 V 8 V-2 V-4 V-6 V-8 V-10 V 10 V
32 76726 21419 66013 1076 5530-6 553-13 107-19 660-26 214-32 767
4.3.1.1 DAC raw value
You can configure each channel so that the raw value is transferred directly to the DA con-
verter, without calibration or scaling.
4.3.1.2 Hardware calibration
Each channel is calibrated ex-works in order to correct component dispersion and other in-
fluences.
The range is divided so that zero is assigned the value 0 and the end point is assigned the
value 4095D (0FFFH).

Function description
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4.3.1.3 Manufacturer scaling
Scaling is used to define the offset (zero point compensation) and gain (amplification) of the
digital signal. Offset and gain are entered in the PSSuniversal Configurator as decimal
vaues. The relationship between the signal before manufacturer scaling (x), the signal after
manufacturer scaling (y), offset (b1) and gain (a1) is a linear equation as follows:
y = (a1 / 256D * x) + b1 or
y = (a1 / 100H * x) + b1
The term a1 / 256D corresponds to the amplification factor. With the stated amplification
factor, a1 is calculated as follows:
a1 = Amplification factor * 256D
Amplification by 5% is therefore:
1.05 * 256D = 269D
Arithmetic examples using decimal values:
Digital value
before manufac-
turer scaling
Gain
Manufacturer scal-
ing
Offset
Manufacturer scal-
ing Amplification
Value after
manufacturer
scaling
x a1b1a1 / 256Dy
1 000 256 0 1 1 000
1 000 512 0 2 2 000
1 000 32 0 0.125 125
1 000 269 500 1.05 1 550
1 000 128 -50 0.5 450
The module always uses two's complement representation for internal processing, irre-
spective of the configured data format. The values from 0000H to FFFFH form a number
circle in the two's complement representation. 8000H follows 7FFFH (=32767D) and is inter-
preted as the lowest negative number (=-32768D). 32767D is never exceeded; the value
never falls below -32767D.
INFORMATION
If 7FFFH is exceeded as a result of scaling, unintended values may be set
on the output.
Manufacturer scaling is activated in the default setting. The default value for offset is 0. The
default value for gain is 32D (20H). That corresponds to amplification factor0.125 (1/8). This
means that the signal is converted from 15 to 12 Bit for the converter.

Function description
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4.3.1.4 User scaling
User scaling is an additional scaling level prior to manufacturer scaling. You can use this
scaling to correct local influences. The function is the same as that of manufacturer scaling:
y = (a2 / 256D * x) + b2 or
y = (a2 / 100H * x) + b2
a2 = Amplification factor * 256D
User scaling is deactivated in the default setting. The default value for offset is 0. The de-
fault value for gain is 256D (100H). That corresponds to amplification factor1.
4.3.1.5 Example calculation
Task:
If the PIO shows a decimal value of 10000, there should be 10V at the output. User scal-
ing should be used in this case (Gain a2). Manufacturer scaling should not be changed. All
numbers are decimals.
Solution:
User scaling
y = (a2 / 256 * x) + b2
and manufacturer scaling
y = (a1 / 256 * x) + b1
act consecutively, giving:
y = (a1 / 256 * ((a2 / 256 * x) + b2)) + b1 or:
y = (a1 * a2 * x / 65536) + (a1 * b2 / 256) + b1
With default values for a1 = 32, b1 = 0 and the default value b2 = 0:
y = a2 * x / 2048
a2 = y * 2048 / x
Due to the hardware calibration the converter's output range is divided so that the 10V end
point is assigned the value x=4095. With the default values y= 4095 and x= 10 000 the
result is:
Gain a2 = 838
4.3.2 Data formats
The way in which the analogue value is displayed depends on the voltage range, on scaling
and on the data format. The following examples show the relationship between the values
with default scaling.
You can configure the following data formats:
}Two's complement (default)
The digital values are transferred with 15bits plus a sign bit (MSB). The MSB is "1" with
negative values and "0" with positive values.
}Sign and magnitude representation
The digital values are transferred with 15bits plus a sign bit (MSB). The MSB is "1" with
negative values and "0" with positive values. With negative values there is a distinction
between sign and magnitude representation and two's complement representation.

Function description
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}Formation of magnitude option
Negative digital values are converted into positive values of equal magnitude.
As the module's resolution is 12bits plus sign bit, the three least significant bits have no
significance for the analogue value.
Analogue value and typical digital value with a voltage range of 0 ... +10 V, two's
complement or sign and magnitude representation:
Analogue value of
voltage Decimal digital value Binary digital value
Hexadecimal digital
value
0 V 0 0000 0000 0000 0000 0000H
5 V 16 384 0100 0000 0000 0000 4000H
10 V 32 767 0111 1111 1111 1111 7FFFH
Analogue value and typical digital value with a voltage range of -10 V ... +10 V, two's
complement:
Analogue value of
voltage Decimal digital value Binary digital value
Hexadecimal digital
value
-10 V -32 768 1000 0000 0000 0001 8001H
-5 V -16 383 1100 0000 0000 0001 C001H
-2.4 mV -1 1111 1111 1111 1111 FFFFH
0 V 0 0000 0000 0000 0000 0000H
10 V 32 767 0111 1111 1111 1111 7FFFH
Analogue value and typical digital value with a voltage range of -10 V ... +10 V, sign
and magnitude representation:
Analogue value of
voltage Decimal digital value Binary digital value
Hexadecimal digital
value
-10 V -32 768 1111 1111 1111 1111 FFFFH
-5 V -16 383 1011 1111 1111 1111 BFFFH
-2.4 mV -1 1000 0000 0000 0001 8001H
0 V 0 0000 0000 0000 0000 0000H
10 V 32 767 0111 1111 1111 1111 7FFFH

Function description
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4.3.3 Switch-on value
When the PSSuniversal is switched on, the output assumes the switch-on value until the
module receives data for the value of the output. You can configure the outputs per channel
with the manufacturer switch-on value (default) or you can use a freely definable user
switch-on value. The manufacturer switch-on value is 0V.
If the module does not receive any data from the module bus for 50 ms, the outputs are re-
set to the switch-on value.
Switch-on values are entered in the system software as decimal vaues. With default scal-
ing, the decimal value (n) is calculated from the analogue value at the output (UStart) as fol-
lows:
n = 32 767 * UStart / 10 V
example:
}Switch-on values as an analogue value at the output (UStart):
– Switch-on value for channel 1 is to be -8 V.
– Switch-on value for channel 2 is to be 5 V.
}Entry in the system software:
– Switch-on value 1 corresponds to -26 214
– Switch-on value 2 corresponds to 16 384
The relationship between the switch-on value and the actual voltage at the output is not de-
pendent on the data format, but is dependent on the scaling. The module sets the voltage,
which corresponds to the switch-on voltage after scaling. Please refer to the "Scaling" sec-
tion in this manual.
4.3.4 Summary and overview
The module has the following configuration options:
Configurable properties
Default
value Meaning
Output range 0 0 V ... 10 V
(1 = -10 V ... 10 V)
Manufacturer scaling active 1/TRUE Activated
Manufacturer scaling offset 0 Offset: Magnitude 0
Manufacturer scaling gain 32DAmplification by 1/8, displaced three bit places
User scaling active 0/FALSE Deactivated
User scaling offset 0 Offset: Magnitude 0
User scaling gain 256D1x amplification, signal unchanged
Switch-on value active 0 Manufacturer switch-on value active
(1/TRUE = User switch-on value active)
Manufacturer switch-on value 0 0 V on switch-on
User switch-on value 0 0 V on switch-on
Sign and magnitude representa-
tion active
0/FALSE Deactivated; two's complement is activated

Function description
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Configurable properties
Default
value Meaning
Formation of magnitude active 0/FALSE Deactivated
(1/TRUE = Activated, not with output range -10 V ... 10 V)
Output DAC raw value only 0/FALSE Deactivated
4.3.5 PSSu assignment in system environment A
4.3.5.1 Addresses in the process image
Each output channel occupies 16 consecutive bit addresses for the output data.
Configuration Standard bus system
ST-PII ST-PIO
None - - - 32 Bit
Bit sequence in the PIO:
Input PIO Assignment
Output O0 1 LSB
... ...
16 MSB
Output O1 17 LSB
... ...
32 MSB
4.3.6 PSSu assignment in system environment B
Data access is via pre-defined I/O data types:
I/O data name I/O data type I/O data element Meaning
O0(11), O1(21) ST_O_AO Data: WORD Output data O0, O1