Pilz 01-AA0-4-0-0-208-480VAC User Manual

Operating Manual PMCprimo C

Operating Manual PMCprimo C

PMCprimo C

Motion Controller

Operating Manual — No. 1002242-EN-01

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.

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.

Preface

Contents

Contents

Contents Page

Chapter 1 Introduction

1.1 Validity of the documentation 1-1

1.1.1 Retaining the documentation 1-1

1.2 Overview of documentation 1-2

1.3 Definition of symbols 1-3

Chapter 2 Overview

2.1 Unit features 2-1

2.2 Front view 2-2

2.3 Type code 2-3

2.4 Scope of supply 2-4

Chapter 3 Security

3.1 Intended use 3-1

3.2 Safety regulations 3-2

3.2.1 Use of qualified personnel 3-2

3.2.2 Warranty and liability 3-2

3.2.3 Disposal 3-2

3.3 Standards 3-3

Chapter 4 Function description

4.1 Device properties 4-1

4.1.1 Controller 4-1

4.1.2 Supply voltage 4-2

4.1.3 Digital inputs 4-3

4.1.4 Digital outputs 4-3

4.1.5 Interfaces 4-3

4.1.5.1 Overview 4-3

4.1.5.2 CANopen 4-5

4.1.5.3 PROFIBUS DP 4-6

4.1.5.4 Ethernet 4-6

4.1.5.5 SafetyNET p (in preparation) 4-7

4.1.6 Encoder 4-7

4.1.7 Reset button 4-8

4.2 Software 4-9

Chapter 5 Installation

5.1 General requirements 5-1

5.2 Dimensions 5-2

5.3 Installing the unit 5-3

5.4 Installing the fieldbus junction box 5-4

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1

Contents

Chapter 6 Wiring

6.1 Wiring guidelines 6-1

6.2 Connector pin assignment X40 6-2

6.3 Supply voltage 6-3

6.4 Digital inputs 6-4

6.5 Digital outputs 6-5

6.6 Interfaces 6-6

6.6.1 Overview 6-6

6.6.2 CANopen, PROFIBUS DP 6-6

6.6.2.1 Wiring guidelines for the CANopen inter-

6.6.2.2 Two CANopen interfaces 6-8

6.6.2.3 CANopen/PROFIBUS DP interface 6-8

6.6.3 Ethernet 6-9

6.6.4 SafetyNET p (in preparation) 6-9

6.7 Encoder 6-10

6.7.1 Supply voltage 6-10

6.7.2 Incremental encoder with TTL signal 6-11

6.7.3 Absolute encoder with SSI interface 6-12

6-6

face

Chapter 7 Commissioning

7.1 Safety guidelines 7-1

7.2 Commissioning the PMCprimo C 7-2

7.2.1 Preparing for commissioning 7-2

7.2.2 Establish communication PMCprimo C <­> PC

7.2.3 Adapt basic configuration of PMCprimo 7-7

7.2.4 Configure servo amplifier 7-8

7.2.5 Operate PMCprimo C 7-9

7.3 Install CoDeSys 7-12

Chapter 8 Operation

8.1 Operating states and changes in operating
status

8.1.1 Status graph 8-1

8.1.2 Operating states 8-2

8.1.2.1 "Power Off" operating status 8-2

8.1.2.2 "Startup" operating status 8-2

8.1.2.3 "Boot Menu" operating status 8-2

8.1.2.4 "RUN" operating status 8-3

8.1.2.5 "STOP" operating status 8-3

8.1.2.6 "Fatal Error" operating status 8-3

8.1.3 Change in operating status 8-4

8.2 Reset, restart, start and stop options 8-7

8.2.1 Overview 8-7

7-3

8-1

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2

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Contents

8.2.2 Cold start, "Startup" 8-7

8.2.3 Reset commands 8-8

8.2.3.1 Warm reset 8-8

8.2.3.2 Cold reset 8-8

8.2.3.3 Original Reset 8-8

8.2.4 Start and stop commands 8-9

8.3 Functions of the reset button 8-10

8.4 Messages 8-11

8.5 Display elements 8-12

Chapter 9 Technical details

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Contents

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4

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1 Introduction

1.1 Validity of the documentation

11000IntroductionIntroduction1-1.1Validity of the documentation1100Validity of th e documentation1-Einf Gltigkeit der Dokumentation

This documentation is valid for the product PMCprimo C. It is valid until

][BA_Einfhrung_Einleitung

Einf_Dokumente

new documentation is published.

This operating manual explains the function and operation, describes
the installation and provides guidelines on how to connect the product
PMCprimo C.

Please also refer to the following documents from the motion control
range:

 The online help for the PDrive commissioning software describes how

to set the parameters for the servo amplifiers from the PMC product
area.

 Guidelines regarding installation and environmental conditions can be

found in the operating manual for the servo amplifier PMCprotego D.

 The configuration and programming software for motion control de-

vices (e.g. CoDeSys, PTerm, PScope, PMotion) can be found on the
CD-ROM "Motion Control Tools".

 The manuals for Pilz products from the PMC product area are availa-

ble on the supplied CD-ROM "Documentation Motion Control".

You will need to be conversant with the information in these documents
in order to fully understand this manual.

1.1.1 Retaining the documentation

Retaining the documentation1-Einf Aufbewahren

This documentation is intended for instruction and should be retained
for future reference.

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1-1

1 Introduction

1.2 Overview of documentation

1.2Overview of documentation1200Overview of documentation1-Einf_Uebersicht_Doku

1 Introduction

The introduction is designed to familiarise you with the contents, struc­ture and specific order of this manual.

2 Overview

This chapter provides information on the product's most important fea­tures.

3 Safety

This chapter must be read as it contains important information on safety
and intended use.

4 Function Description

This chapter describes the product's individual functions.

5 Installation

This chapter explains how to install the product.

6 Wiring

This chapter describes the product's wiring.

7 Commissioning

This chapter describes how to commission the product.

8 Operation

This chapter describes the display elements, explaining their operation
and diagnostics.

1-2

9 Technical Details

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1 Introduction

1.3 Definition of symbols

1.3Definition of symbols1300Definition of symbols1-Einfhrung Zeichen

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 unit(s) could be damaged
and also provides information on preventive measures that can
be taken. It also highlights areas within the text that are of partic­ular importance.

INFORMATION

This gives advice on applications and provides information on
special features.

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1-3

1 Introduction

1-4

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2 Overview

2.1 Unit features

22000OverviewOverview2-2.1Unit features2100Unit features2-Uebersicht_System_PMCprimo_C

PMCprimo C is 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 controller

– Speed axes
– Positioning axes
– Synchronisation axes (electrical cam disk)
– Path axes (interpolation)
– Technological functions

 Digital inputs and outputs

– 6 digital inputs, each one can be used as a quick reference input
– 6 single-pole digital outputs

 Encoder

– Incremental encoder with TTL signal
– Absolute encoder with SSI interface

 Interfaces

– Ethernet TCP/IP
– SafetyNET p RTFN (in preparation)
– SafetyNET p RTFL (in preparation)

Depends on unit type
– 2 CANopen interfaces
– 1 CANopen/ 1 PROFIBUS DP interface

 Supply voltages for

– Device plus digital outputs
–Encoder

 Memory for

– Operating system
–Data
– Device project with user program

 Reset button

– To change between operating states
– For a hardware reset (cold start)

 LED display for device's operating status

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2-1

2 Overview

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

STAT

RESET

680050 12
100001

X45

X44

X43

X42

X41

X40

1
3

4

5

6

2

7

10

1

4

8

9

2.2 Front view

2.2Front view2200Front view2-Übersicht_Front

Uebersicht_Front_Legende

Legend:

 1: Screw for attachment to the servo amplifier
 2: Reset button
 3: LED to display operating states
 4: SafetyNET p RTFL interface
 5: SafetyNET p RTFN/Ethernet TCP/IP interface
 6: CANopen/PROFIBUS DP interface
 7: Connection for encoder
 8: Digital inputs/outputs and supply voltages
 9: 2D code
 10: Labelling strip with:

– Order number

2-2

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– Serial number
– Number of device version

2 Overview

Always state when ordering Type

Supply voltage

Order number PMCprimo C. _ / _ / _ / _ 24 VDC

Hardware

CANopen/CANopen

CANopen/PROFIBUS DP

A B

CPU

0.6 GHz

A

Software

None

Dynamic curve calculation
IEC 61131-3 programming

Path interpolation

2 34567

Servo amplifier

None

PMCprotego D.01-24
PMCprotego D.48-72

012

2.3 Type code

2.3Type code2300Type code2-Typenschlüssel

Fig. 2-1: Type code for PMCprimo C

Explanation of type code

 Servo amplifier

Type of servo amplifier in which the PMCprimo C is installed

 CPU

Clock frequency of processor

 Hardware

– A: Two CANopen interfaces
– B: One CANopen and one PROFIBUS DP Slave interface

 Software

– 2: Software options not enabled
– 3, 5, 7: Dynamic curve calculation enabled

The dynamic curve calculation is a calculation program for alloca­tion tables. The allocation table is defined through variables and
scaling. The dynamic curve calculation reads in the variables and
calculates an allocation table.

– 4-7: IEC 61231-3 programming enabled

PLC functionality is programmed with CoDeSys.

– 6, 7: Path interpolation enabled

PLC functionality and path interpolation

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2-3

2 Overview

2.4 Scope of supply

2.4Scope of supply2400Scope of supply2-Lieferumfang

Order reference Description Order number

PMCprimo C Expansion card for motion controller (for

function range see "Type code")

PMCprotego D.CAN-CANbus Adapter 01­24A incl. RJ45 connection cable

PMCprotego D.CAN-CANbus Adapter 48­72A incl. RJ45 connection cable

PMCprotego D.CAN-PROFIBUS Adapter
01-24A incl. RJ45 connection cable

PMCprotego D.CAN-PROFIBUS Adapter
48-72A incl. RJ45 connection cable

CD-ROM "Documentation Motion Control" Operating manual PMCprimo C,

Fieldbus junction box with two CANopen
interfaces for PMCprotego D.01 … D.24

Fieldbus junction box with two CANopen
interfaces for PMCprotego D.48/D.72

Fieldbus juction box with one CANopen in­terface and one PROFIBUS interface for
PMCprotego D.01 … D.24

Fieldbus juction box with one CANopen in­terface and one PROFIBUS interface for
PMCprotego D.48/D.72

Manuals for Pilz products from the PMC
product area

See "Type code"

680040

680042

680041

680043

---

2-4

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3 Security

3.1 Intended use

33000SecuritySecurity3-3.1Intended use3100Intended use3-BA_Sicherh eit_Bestimmung

The motion controller PMCprimo C is suitable for use in logic and mo­tion control applications.

Examples of typical application areas for the product are

 Clocked production machinery
 Continuous manufacturing processes (winding, flying saw, cross cut-

ter)

 Machine tools
 Packaging machines
 Pick and place applications

The motion controller is installed in the servo amplifier PMCprotego D.
Once installed, the environmental conditions of the servo amplifier PM­Cprotego D apply, e.g. the lower storage temperature (see "Technical
Details" in the operating manual for the servo amplifier).

Bestimmung/Gerätebeschreibung_EMV+Ausschluss

Please note that the PMCprimo C has no internal electrical 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.

Intended use includes making the electrical installation EMC-compliant.
The product 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 product
 Use of the product outside the areas described in this manual
 Use of the product outside the technical details (see chapter entitled

“Technical Details”)

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3-1

3 Security

3.2 Safety regulations

3.2Safety regulations3200Safety regulations3-

3.2.1 Use of qualified personnel

Use of qualified personnel3-Sich Qualif. Personal

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 professional 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 prevention

 Have read and understood the safety guidelines given in this descrip-

tion

 Have a good knowledge of the generic and specialist standards ap-

plicable to the specific application.

3.2.2 Warranty and liability

Warranty and liability3-Sich Gewhrleistung

3.2.3 Disposal

Disposal3-Si ch Entsorgung nur Standard

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 compo-

nents on the PCB boards, soldering work etc.).

 When decommissioning, please comply with local regulations regard-

ing the disposal of electronic devices (e.g. Electrical and Electronic
Equipment Act).

3-2

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3 Security

3.3 Standards

3.3Standards3300Standards3-BA_Sicherheit_Normen

To use the device correctly you will need to have a good knowledge of
the relevant standards and directives. The following standards are rele­vant:

 EN 61131-1:2003: Programmable controllers – Part 1: General infor-

mation

 EN 61131-2:2003: Programmable controllers – Part 2: Equipment re-

quirements and tests

 EN 61131-3:2003: Programmable controllers – Part 3: Programming

languages

Please note this is not an exhaustive list of safety standards and direc­tives.

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3-3

3 Security

3-4

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4 Function description

X45

X44

X43

X42

715

Power

=

~

X40

1 2 3

Inputs

SafetyNET p

Ethernet

CANopen

PROFIBUS

9 10 11

4 5 6

12 13 14

Outputs

816

Power

Encoder

Logic

Motion Control

Encoder

X40

X41

STAT RE SET

4.1 Device properties

44000Function descriptionFunction description4-4.1Device properties4100Device properties4-

4.1.1 Controller

Controller4-Funktion_PMCprimo_C

The PMCprimo C is a drive-integrated programmable logic controller
with motion control functionalities. The controller has volatile and non­volatile 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 6 digital inputs and 6 single-pole digital out­puts. The inputs and outputs are read cyclically. The cycle times are ≤
1ms. It can also access inputs and outputs on networked servo amplifi­ers from the PMC product area.

Funktion_PMCprimo_C_Blockschaltbild

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).

An LED provides information about the controller's operating states.

Funktion_PMCprimo_C_Umfeld

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Fig. 4-1: Block diagram PMCprimo C

4-1

4 Function description

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

START

RESET

680050 12
100001

X45

X44

X43

X42

X41

X40

X42

X6B

CANopen 1

CANopen 2

PROFIBUS DP

X6C

1

1

Ethernet

X43

3

2

4.1 Device properties

The motion controller PMCprimo C (1) is installed in a servo amplifier
PMCprotego D (3). A fieldbus junction box PMCprotego D.CAN-CAN­bus Adapter or PMCprotego D.CAN-PROFIBUS Adapter (2) is used for
networking (CANopen, PROFIBUS DP).

4.1.2 Supply voltage

Supply voltage4-Funktion_Versorgung

Fig. 4-2: Installation of the motion controller in a servo amplifier PM-

Cprotego D

The PMCprimo C has two supply voltages:

 X40/7,15

Supply voltage for the device and the digital outputs (24 VDC)

 X40/8,16

Supply voltage for the encoder (5 V, 24 VDC)

The voltage is connected directly to the female 9-pin D-Sub connec-

tor X41/4,9.

Internally the two supply voltages are galvanically isolated. The two
earths can be connected externally.

4-2

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4 Function description

4.1 Device properties

4.1.3 Digital inputs

Digital inputs4-Funktion_Eingaenge

The device has 6 digital inputs.

The inputs are compatible with EN 61131-2, Type 1.

The time behaviour of the digital inputs depends on the method of use:

 With normal use, the inputs have a filter time of ≤ 600 μs.
 If the inputs are used as reference inputs, the reaction time to 0/1 or

1/0 pulse edges is < 5μs.

The inputs can be used as reference inputs, to poll the position of the

encoder for example.

4.1.4 Digital outputs

Digital outputs4-Funktion_Ausgaenge

4.1.5 Interfaces

Interfaces4-

The device has 6 single-pole digital outputs.

Signals at the output

 "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
– The maximum current strength per output is 0.5 A.

All digital outputs are protected against short circuit and overload.

The outputs can be used to connect relays, valves or inputs from anoth­er controller, for example.

4.1.5.1 Overview

Overview4-Funktion_Schnittstellen_PMCprimo_C

The motion controller PMCprimo C has various fieldbuses for communi­cation with the periphery. These are available on four RJ45 sockets on
the front of the device. The interfaces are suitable for the following ap­plications:

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4-3

4 Function description

4.1 Device properties

 CANopen

– Real-time capable networking between CAN devices and the mo-

tion controller

– Suitable for applications

–with (≤ 32) subscribers
– with cycle time (≥ 1ms)
– in existing networks (e.g. with PMCtendo DD5).

– Connection to the servo amplifier PMCprotego D via the fieldbus

junction box PMCprotego D.CAN-CANbus Adapter (supplied with
the device)

 PROFIBUS DP Slave

– Networking between the motion controller and a PROFIBUS Mas-

ter.
– Suitable for data exchange with a third party controller.
– Connection to the servo amplifier PMCprotego D via the fieldbus

junction box PMCprotego D.CAN-PROFIBUS Adapter (supplied

with the device)

 Ethernet

– Ethernet TCP/IP

– Communication between the programming device and the mo-

tion controller

– Suitable for configuration, programming, commissioning

– Modbus TCP/IP

– Communications protocol based on Industrial Ethernet (TCP/IP

over Ethernet).

– Suitable for networking between the motion controller and a vis-

ualisation device or a PSS 4000, for example.

 SafetyNET p (in preparation)

– SafetyNET p RTFN

– Communication based on Standard Ethernet.

– Networking between controllers or cells and SafetyNET p RTFL

devices.
– Standard communication
– Basic topology: Star

– SafetyNET p RTFL

– Real-time capable networking between SafetyNET p RTFL de-

vices and the motion controller PMCprimo C and automation

system PSS 4000.
– The RTFL transport layer enables cycle times to be optimised,

enabling it to be used in extremely time-critical applications.
– Standard communication
– Basic topology: Linear

4-4

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4 Function description

4.1 Device properties

4.1.5.2 CANopen

CANopen4-Funktion_CANopen

The CANopen interface is suitable for networking drive components at
field level. It meets the requirements defined in the communications pro­tocol DS-301.

The following device classes with CANopen device profiles are support­ed:

 I/O modules DS-401
 Electrical drives DS-402

Funktion_CANopen_PMCprimo_C

 Encoders DS-406

The CAN network is designed as a linear structure. The CANopen com­munication protocol is based on CAN.

 CAN networking with the motion controller is suitable for applications

with a maximum subscriber number of ≤ 32 and a cycle time ≥ 1ms.

 Only CAN devices that are known to the controller or support a cor-

responding device profile can be operated in the motion controller's
CAN network.

 CAN devices detected by the motion controller are ready for opera-

tion immediately after the initial network run-up. No complex config­uration of the CAN devices is required.

 The overall cable length and the length of the stub lines depend on the

transmission rate.

 Process data objects (PDO) are defined for each CAN device type and

cannot be customised by the user.

 For servo amplifiers, the "FS" command can be used to set which

process data is to be exchanged between the motion controller and
the servo amplifier (see "PMCprimo Programming Manual").

 The signal lines must be terminated with resistors (120 Ohm) on the

first and last subscriber. The resistors are generally integrated within
the connected devices and can be activated there. For a
PMCprimo C, a terminating resistor can be activated in the fieldbus
junction box PMCprotego D.CAN-CANbus Adapter or
PMCprotego D.CAN-PFOFIBUS Adapter.

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4-5

4 Function description

4.1 Device properties

4.1.5.3 PROFIBUS DP

PROFIBUS DP4-Funktion_PROFIBUS

PROFIBUS is an open fieldbus standard. Communication is defined in
IEC 61158 and IEC 61784. Further provisions have been defined in
specifications published by the PROFIBUS User Group. These specifi­cations are available from PROFIBUS International.

On a certain unit type, the PROFIBUS interface is available together with

Funktion_PROFIBUS_primo_C

a CANopen interface on an RJ45 socket (X42).

Properties:

 The PROFIBUS is configured using the CD command: Slave address,

address range, see PMCprimo Programming Manual.

 A total of up to 108 bus variables can be read and written (see PMCp-

rimo Programming Manual):
– Address space of bus variables: $B1 to $Bx108 (can be set using

the CD command).

– Data width: 16 Bit including sign
– Value range: -32768 to 32767 (Hex: 0x0000 to 0x7FFF).

 When changing the variable content, any programs can be started if

the bus variables have been defined as trigger variables.

PROFIBUS_Hinweis_Nutzerorganisation

4.1.5.4 Ethernet

Ethernet4-Funktion_Gigabit_Ethernet

INFORMATION

The GSD file is available on the supplied CD-ROM. The name of
the description file can be found in the "Technical Details".

INFORMATION

Please also refer to the installation guidelines published by the
PROFIBUS User Group.

The Gigabit Ethernet interface (X43) connects the PMCprimo C to a pro-
gramming device for configuration, programming and commissioning.
The interface can also be used to connect a visualisation device.

The Gigabit Ethernet interface is compatible with 1000Base-T (Standard
Gigabit Ethernet). Data exchange is possible via Modbus TCP/IP.

4-6

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4 Function description

4.1 Device properties

4.1.5.5 SafetyNET p (in preparation)

SafetyNET p (in preparation)4-Funktion_SN

The components at field level are connected to the Ethernet-based mul­ti-master bus system SafetyNET p. Higher speeds are required, so the
RTFL transport layer is used. The RTFL transport layer enables scan
times to be optimised and can therefore be used in extremely time-crit­ical applications, such as drive controllers.

Two SafetyNET p interfaces are available for connection to a
SafetyNET p network (X44, X45).

Functions

 The PMCprimo C receives signals from other network subscribers; it

processes these signals in the user program and passes them on to
the connected components.

Hinweis_PSS4000

4.1.6 Encoder

Encoder4-Funktion_Geber

MAC address

 The MAC address is a factory-set default. The address can be read

with the PTerm software, using the "VN1" command

INFORMATION

Further information is available in the "System Description PSS
4000".

A rotary encoder can be connected to the 9-pin D-Sub socket X41.

The following encoder systems are supported:

 Incremental encoder with TTL signal
 Absolute encoder with SSI interface

The encoder's supply voltage is connected to separate terminals on the
unit (X40/8,16). The size of the voltage depends on the encoder (e.g. 5 V,
10 - 30 VDC).

INFORMATION

Refer to the chapter entitled "Wiring" for details of how to con­nect the supply voltage.

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4-7

4 Function description

4.1 Device properties

4.1.7 Reset button

Reset button4-Funktion_Reset_Taster

The "RESET" button is mounted in a recess on the front of the unit. It can
only be accessed using an appropriate tool (e.g. a pin).

The following actions can be triggered by pressing the "RESET" button:

 Change from "Startup" operating status to "Boot Menu"
 Hardware reset (cold start): Change from "RUN" or "STOP" operating

status to "Startup"

 Change from "RUN" operating status to "STOP"
 Change from "STOP" operating status to "RUN"

INFORMATION

Further information on the reset button can be found in the
chapter entitled "Operation".

4-8

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4 Function description

4.2 Software

4.2Software4200Software4-Uebersicht_System_PMCtools

Various tools are available for planning, configuration, programming and
commissioning. They are used to create a project:

 Motion control tools

The motion control tools are a software package used to operate and
commission the motion control systems.

–Terminal program PTerm

PTerm can be used to send commands directly to the hardware. It
can also be used for firmware updates and for basic configuration
of the motion controller.

– Oscilloscope function PScope

PScope is a PC-based oscilloscope with up to 4 channels. It can
be used to record and visualise signals from controllers and servo
amplifiers.

– Elliptical curve construction PMotion

PMotion is a tool for constructing elliptical curves.

– Commissioning software PDrive

PDrive is used to parameterise and commission the servo amplifier
PMCprotego D.

 CoDeSys

CoDeSys is a development environment for programming controllers
in accordance with IEC 61131-3. Additional commands for motion

Funktion_Version_CoDeSys_2.3.9

sequences have been added.

INFORMATION

For programming in accordance with IEC 61131-3 you will need
CoDeSys Version 2.3.9. This software is available on the current
CD-ROM "Motion Control Tools".

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4-9

4 Function description

4-10

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5 Installation

5.1 General requirements

55000InstallationInstallation5-5.1General requirements5100General requirements5-Montage

Montage_EMV ESD

Montage_Einbau

Please also refer to the operating manual for the servo amplifier.

CAUTION!

Damage due to electrostatic discharge!
Electrostatic discharge can damage components. Ensure
against discharge before touching the product, e.g. by touching
an earthed, conductive surface or by wearing an earthed arm­band.

NOTICE

The motion controller is installed in the servo amplifier
PMCprotego D. Once installed, the environmental conditions of
the servo amplifier PMCprotego D apply (see "Technical Details"
in the operating manual for the servo amplifier).

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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5-1

5 Installation

18,4

(0.72'')

2,5

(0.098'')

175 (6.89'')

97,4 (3.83'')

5.2 Dimensions

5.2Dimensions5200Dime nsions5-Montage

Fig. 5-1: Dimensions, stated in mm (")

5-2

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5 Installation

PMCprotego D.01
PMCprotego D.03
PMCprotego D.06
PMCprotego D.12

PMCprotego D.24 PMCprotego D.48

PMCprotego D.72

Slot 1/2

Slot 1/2

Slot 1/2

5.3 Installing the unit

5.3Installing the unit5300Installing the unit5-Montage_primo_C

The PMCprimo C is installed in slots 1 and 2 of the servo amplifier
PMCprotego D. When installing, please note the guidelines given under
"Installation" in the operating manual for the servo amplifier.

Fig. 5-2: Slots 1 and 2 for installing the PMCprimo C

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5-3

5 Installation

START

RESET

X45

X6D

X6

5.4 Installing the fieldbus junction box

5.4Installing the fieldbus junction box5400Installing the fieldbus junction box5-Montage_Feldbusverteiler

A fieldbus junction box is included with the PMCprimo C. The fieldbus
junction box is plugged into the servo amplifier.

INFORMATION

Pin assignment, wiring and assembly are described in the oper­ating manual for the fieldbus junction box.

To install the fieldbus junction box, follow the instructions below:

 Switch off the mains voltages and 24 V supply!
 Connect the 9-pin female D-Sub connector X6D to the male connec-

tor X6 on the servo amplifier.

Montage_Feldbusverteiler_Abb

 Turn the screws into the thread on the housing.

5-4

Fig. 5-3: Installing the fieldbus junction box on a servo amplifier

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6 Wiring

6.1 Wiring guidelines

66000WiringWiring6-6.1Wiring guidelines6100Wiring guidelines6-Verdr_Leiterquerschnitte

Please note:

 Cable cross sections for field connection terminals in mm

Verdr_Allgemein

Inputs

 Appropriate wiring must be used to exclude short circuits between

 Cables must be shielded if the signals are used as reference inputs.

Outputs

 If short circuits occur between the cable from the output to the load

 Use appropriate wiring to exclude short circuits between the outputs!
 The actuators may be connected using unshielded cables.
 The outputs do not need suppression for inductive loads.

2

:

– Digital inputs/outputs, supply voltage: 0.5 (AWG20) ... 1.0

(AWG18), AEH without plastic collar, in accordance with DIN
46228/1

the inputs or to a supply line!

Other signal lines do not need to be shielded.

and a supply line, it will no longer be possible to switch off the load.

Possible remedy: Use separate multicore cable for supply voltages.

Cable material

 Use copper wiring.

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6-1

6 Wiring

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

6.2 Connector pin assignment X40

6.2Connector pin assignment X406200Connector pi n assignment X406-Verd r_primo_C_X40_Klemmenbelegung

Connector X40 Pin Designation Description

1 I1:1 Digital input 1

2 I1:2 Digital input 2

3 I1:3 Digital input 3

4 O1:1 Digital output 1

5 O1:2 Digital output 2

6 O1:3 Digital output 3

7 +24 V Supply voltage for unit and digital outputs (24

V)

8 Encoder Supply Supply voltage for encoder

9 I1:4 Digital input 4

10 I1:5 Digital input 5

11 I1:6 Digital input 6

12 O1:4 Digital output 4

13 O1:5 Digital output 5

14 O1:6 Digital output 6

15 0 V Supply Supply voltage for unit and digital outputs,

reference earth for digital inputs and outputs
(0 V)

16 0 V Encoder Supply voltage for encoder (0 V)

6-2

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6 Wiring

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

L3

7

X40

L1

L2

15

+24 V

0 V Supply

PE

+24 V

6.3 Supply voltage

6.3Supply voltage6300Supply voltage6-Verdr_Versorgung

Verdr_Versorgung_Warnung

The digital outputs and the unit need a 24 VDC supply.

 When selecting the power supply, please refer to the requirements

stated under “Technical Details”.

 The power supply must be able to bridge a power outage of 20 ms.

WARNING!
Electric shock!

Safe electrical isolation must be ensured for the external power
supply that generates the supply voltage. Failure to do so could
result in electric shock. The power supplies must comply with
EN 60950-1, 05/2006, EN 61558-2-6, 11/1997.

Verdr_primo_C_X40_Versorgung

Connector pin assignment

Connector X40 Pin Designation Description

7 +24 V Supply voltage + 24 VDC

15 0 V Supply Earth for supply voltage

Connection

24 V connection isolated from exter­nal power supply, e.g. with isolating
transformer

Noise suppression filter integrated
within the unit

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6-3

6 Wiring

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

1

2

3

9

0V

10

24 V

I/O-GND

X40

11

15

I1:1

I1:6

I1:5

I1:4

I1:3

I1:2

ShieldServo Drive

Shield

6.4 Digital inputs

6.4Digital inputs6400Digital inputs6-Verdr_primo_C_X40_Inputs

Connector pin assignment

Connector X40 Pin Designation Description

1 I1:1 Digital input 1

2 I1:2 Digital input 2

3 I1:3 Digital input 3

9 I1:4 Digital input 4

10 I1:5 Digital input 5

11 I1:6 Digital input 6

15 0 V Supply Reference earth for digital inputs

Connection

Input circuit Digital input

24 VDC, referenced to earth (X40/15)

Cables must be shielded if the sig­nals are used as reference inputs.
Example: Reference inputs I1:1 and
I1:2 (Pin 1, 2)

6-4

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6 Wiring

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

DI 5

5

6

12

X40

DI 4

4

DI 2

DI 1

DI 3

14

O1:1

13

DI 6

O1:2

O1:3

O1:4

O1:5

O1:6

7

15

+24 V

0 V

+24 V

I/O-GND

6.5 Digital outputs

6.5Digital outputs6500Digital outputs6-Verdr_primo_C_X40_Outputs

Connector pin assignment

Connector X40 Pin Designation Description

4 O1:1 Digital output 1

5 O1:2 Digital output 2

6 O1:3 Digital output 3

7 +24 V Supply voltage for digital outputs

12 O1:4 Digital output 4

13 O1:5 Digital output 5

14 O1:6 Digital output 6

15 0 V Supply Reference earth for digital outputs

Connection

Output circuit Digital output

24 VDC, referenced to earth (X40/15)

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6-5

6 Wiring

X45

X44

X43

X42

8

1

8

1

8

1

8

1

6.6 Interfaces

6.6Interfaces6600Interfaces6-

6.6.1 Overview

Overview6-Verdr_primo_C_X42_X45_Uebersicht

Four RJ45 sockets with interfaces are available on the front.

Socket assignment

Socket X42 Connector Description

X45 SafetyNET p interface

X44 SafetyNET p interface

X43 Ethernet interface

X42 Depending on the unit type:

- 2 CANopen interfaces

- 1 CANopen/ 1 PROFIBUS DP interface

6.6.2 CANopen, PROFIBUS DP

CANopen, PROFIBUS DP6-Verdr_ primo_C_X42_Varianten

Depending on the unit type, socket X42 is assigned to

 A combined CANopen/PROFIBUS DP interface
 Two CANopen interfaces

6.6.2.1 Wiring guidelines for the CANopen interface

Wiring guidelines for the CANopen interface6-CANopen_Leitungen

The CAN network is designed in a linear structure.

 The overall cable length and the length of the stub lines depend on the

transmission rate and on the cable properties (cable resistance and
cable capacitance).

 The signal lines must be terminated with resistors on the first and last

subscriber.

 A characteristic impedance of 120 Ohm is acceptable for bus lengths

up to 40 m.

6-6

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6 Wiring

Node 1

Node 2

Node n-1

Node n

RT [

W

]

l

a

Node 3

A

A

RT [

W

]

6.6 Interfaces

Fig. 6-1: Overall length and length of the stub lines on a CAN net-

work.

Legend:

 Node: CANopen subscriber
 a: Length of stub line
 A: Branch
 R

: Terminating resistor

T

Relationship between transmission rate, bus length and length of stub
lines:

Transmission
rate [kBit/s]

1000 25 1,5 7,5

500 100 5,5 27,5

250 250 11 55

125 500 22 110

Bus length l [m] Length of stub

line a [m]

Overall length of
all stub lines [m]

The following table provides an approximate overview of the size of the
terminating resistor R

with different cable lengths. In each specific

T

case, details of the characteristic impedance can be found in the cable
specification .

CANopen_Hinweis_Nutzerorganisation

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Bus length l [m] Terminating resistor RT [Ohm]

0 – 40 120

40 – 300 150 - 300

300 - 500 150 - 300

6-7

6 Wiring

8

1

8

1

6.6 Interfaces

INFORMATION

Please also refer to the installation guidelines published by the
CANopen User Group.

6.6.2.2 Two CANopen interfaces

Two CANopen interfaces6-Verdr_primo_C_X42_CANopen_CANopen

There are two CANopen interfaces on the same socket. The two CAN­open interfaces use the same operating earth (GND).

Socket assignment

Socket X42 Pin Designation Description

1n.c.

2n.c.

3GND Earth

4 CAN2_H CAN2 high signal

5 CAN2_L CAN2 low signal

6GND Earth

7 CAN_H CAN1 high signal

8 CAN_L CAN1 low signal

n.c. = not connected

6.6.2.3 CANopen/PROFIBUS DP interface

CANopen/PROFIBUS DP interface6-Verdr_primo_C_X42_CANopen_PROFIBUS

The PROFIBUS and CANopen interface are on the same socket. The
PROFIBUS and CANopen interface use the same operating earth (GND).

Socket assignment

Socket X42 Pin Designation Description

1 CNTR-P (RTS) PROFIBUS RTS

2 n.c. n.c.

3GND Earth

4 RxD/TxD-N PROFIBUS A-line

5 RxD/TxD-P PROFIBUS B-line

6GND Earth

7 CAN_H CAN high signal

8 CAN_L CAN low signal

n.c. = not connected

PROFIBUS_Hinweis_Nutzerorganisation

6-8

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6 Wiring

8

1

8

1

6.6 Interfaces

INFORMATION

Please also refer to the installation guidelines published by the
PROFIBUS User Group.

6.6.3 Ethernet

Ethernet6-Verdr_primo_C_X43_Ethernet

Socket assignment

Socket X43 Pin Designation Description

1D1+ TX D1+

2D1- TX D1-

3D2+ RX D2+

4D3+ BI D3+

5D3- BI D3-

6D2- RX D2-

7D4+ BI D4+

8D4- BI D4-

The Ethernet interface is compatible with 1000Base-T (Standard Gigabit
Ethernet)

Recommended cable: Cat 5e SF/UTP

6.6.4 SafetyNET p (in preparation)

SafetyNET p (in preparation)6-Verdr_primo_C_X44_45_SN

SafetyNET p is an Ethernet interface. Further information can be found
in the "System Description PSS 4000".

Socket assignment

Socket X44, X45 Pin Designation Description

1 TD+ (yellow) Transmit+

2 TD- (orange) Transmit-

3 RD+ (white) Receive+

4n.c.

5n.c.

6 RD- (blue) Receive-

7n.c.

8n.c.

n.c. = not connected

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6-9

6 Wiring

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

8

X40

L1

0 V

16

+V

PE

X41

4

9

0 V

+V

6.7 Encoder

6.7Encoder6700Encoder6-

6.7.1 Supply voltage

Supply voltage6-Verdr_Versorgung_Warnung

WARNING!
Electric shock!

Safe electrical isolation must be ensured for the external power
supply that generates the supply voltage. Failure to do so could
result in electric shock. The power supplies must comply with
EN 60950-1, 05/2006, EN 61558-2-6, 11/1997.

Verdr_primo_C_Encoder_Versorg

Connector pin assignment

Connector X40 Pin Designation Description

8 Encoder Supply Supply voltage for external encoder

16 0 V Encoder Supply Supply voltage for external encoder (0 V)

Supply voltage

Connection

X40/8 is linked internally to X41/4
and X40/16 to X41/9

6-10

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6 Wiring

1

5

6

9

1

6

2

X41

3

Incremental encoder

7

8

9

V+

0 V

0 V

4

B

B\

A

A\

Z

Z\

B

B\

A

A\

Z

Z\

V+

X40

0 V

V+

8

16

6.7 Encoder

6.7.2 Incremental encoder with TTL signal

Incremental encoder with TTL signal6-Verdr_primo_C_X41_Inkremental

If the cable length is > 50 m, please speak to our Customer Support.

Socket assignment

Socket X41 Pin Designation Description

1 A Channel A

2 B Channel B

3 Z Reference pulse Z

4 V+ Supply voltage

5n. c.

6 A\ Channel A inverted

7B\ Channel B inverted

8 Z\ Reference pulse Z inverted

9 0 V Supply voltage 0 V

n. c. = not connected

Connection

Input circuit Incremental encoder

Twisted pair, shielded

Shield connection in the housing

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6-11

6 Wiring

1

5

6

9

2

7

1

X41

4

Encoder

6

9

CLOCK

CLOCK\

DATA

DATA\

CLOCK

CLOCK\

DATA

DATA\

0 V

Vcc

V+

0 V

X40

0 V

V+

8

16

6.7 Encoder

6.7.3 Absolute encoder with SSI interface

Absolute encoder with SSI interface6-Verdr_primo_C_X41_SSI

If the cable length is > 50 m, please speak to our Customer Support.

Socket assignment

Socket X41 Pin Designation Description

1 CLOCK Pulse signal

2DATA Data

3n.c. ---

4 V+ Supply voltage

5n.c. ---

6 CLOCK\ Pulse signal inverted

7 DATA\ Data inverted

8n.c. ---

9 0 V Supply voltage 0 V

n c.: not connected

Connection

Input circuit Absolute encoder with SSI interface

Shielded

Shield connection in the housing

6-12

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7 Commissioning

7.1 Safety guidelines

77000CommissioningComm issioning7-7.1Safety guidelines71 00Safety guidelines7-Inbetrieb_Sicherheit_primo_C

This chapter describes the communication between a PMCprimo C and
a servo amplifier PMCprotego D during initial commissioning.

Further information on commissioning the servo amplifier can be found
in the operating manual.

][Inbetrieb_Sicherheit

Please note the following safety guidelines during commissioning:

 When commissioning, you must ensure that the control systems do

 To avoid personal injury and material damage, only qualified, trained

 Prior to commissioning the machine manufacturer must produce a

 Only specialist staff with extensive knowledge of drive technology

 Data stored on data media is not protected from unintended changes

 Prior to installation and commissioning, information in this operating

 It is essential to comply with the technical details and specifications

 Life-threatening voltages up to 900 V are present. Check that all live

 The heat sink and front plate temperature on the amplifier may reach

CAUTION!

not present a risk to persons, plant or machinery. Appropriate protec­tion and precautionary measures must be put in place.

personnel should work on the devices. Qualified technical staff are
those who are familiar with the transport, installation, commissioning,
maintenance and operation of the device. They will be familiar with
the relevant standards and regulations.

hazard analysis for the machine and take appropriate measures to en­sure that unexpected movements do not cause injury to people or
damage to equipment.

and control engineering should be permitted to program a running
drive online.

by third parties. Data must be checked for accuracy before it is down­loaded to the control system.

manual, and in particular the safety guidelines, must be carefully read
and considered (see Chapter entitled “Safety”). Personal injury and
material damage may result if devices are handled incorrectly.

(type label and documentation).

connections are safely protected against contact.

80°C during operation. Check (measure) the temperature of the heat
sink. Wait until the heat sink has cooled to 40°C before touching it.

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7-1

7 Commissioning

1
2
3
4
5
6
7
8

9
10
11
12
13
14
15
16

START

RESET

680050 12
100001

X45

X44

X43

X42

X41

X40

X42

1

X43

X40

+24 V

0 V

L3

7

L1

L2

15

PE

X4A

1
2

4
5
6

3

+24 V

0 V

1

2

PMCprimo C

PMCprotego D

Ethernet

CANopen 2/PROFIBUS DP

PMCprotego D.CAN-CANbus-Adapter

L3

L1

L2

PE

CANopen 1

7.2 Commissioning the PMCprimo C

7.2Commissioning the PMCprimo C7200Commissioning the PMCprimo C7-

7.2.1 Preparing for commissioning

Preparing for commissioning7-Inbetrieb_vorbereiten_primo_C

Install the PMCtools

The following PMCtools are available on the supplied CD-ROM:

 PTerm
 PDrive
 PScope
 PMotion
 PEdit
 PVIS PMC Configurator
 CoDeSys with Target Support Package (TSP)

The CD also contains:

 Operating manuals for the respective software
 ASCII help files from Danaher/Kollmorgen

1. Insert the "Pilz Motion Control" CD into the drive on your PC.
The CD starts automatically.

2. Select the
The software is installed on your PC.

Motion Control Tools

menu.

7-2

Connect PMCprimo C and PMCprotego D

Fig. 7-1: Connect PMCprimo C and PMCprotego D

Prerequisites:

 The motion controller PMCprimo C must be installed in a servo am-

plifier.

 A fieldbus junction box PMCprotego D.CAN-CANbus Adapter or

PMCprotego D.CAN-PROFIBUS Adapter must be inserted.

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

7 Commissioning

7.2 Commissioning the PMCprimo C

Establish the following connections:

 Connect X42 on the motion controller to X6E on the fieldbus junction

box using the supplied RJ45 cable.

 Connect the Ethernet interface X43 on the motion controller to the

PC.

Connect the supply voltages

 Servo amplifier:

– PMCprotego D.01 … D.24

X4A/1: 24 V
X4A/2: 0 V

– PMCprotego D.48 or PMCprotego D.72

X4/1: 24 V
X4/3: 0 V

 PMCprimo C:

– X40/7: 24 V
– X40/15: 0 V

Apply the supply voltages

 Switch on the supply voltages for the motion controller and the servo

amplifier's control element.

Start the units. The motion controller PMCprimo C scans the network for
subscribers.

Logical axes are automatically assigned to the servo amplifiers in the
motion controller if

 No configuration is stored on the motion controller.
 New servo amplifiers are detected in the existing configuration.

7.2.2 Establish communication PMCprimo C <-> PC

Establish communication PMCprimo C <-> PC7-Inbetrieb_primo_C_PC

The following steps describe how to establish a connection between the
PC and motion controller via the Ethernet interface.

Prerequisite:

 The motion controller PMCprimo C must be installed in a servo am-

plifier PMCprotego D.

 The software tools must be installed on the PC.
 The supply voltages (24 VDC) must be present on the servo amplifier

and PMCprimo C.

 The configuration PC must be connected to the Ethernet interface

X43 on the PMCprimo C.

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7-3

7 Commissioning

7.2 Commissioning the PMCprimo C

Establish the connection

1. Open the terminal program

PTerm

.

Inbetrieb_primo_C_PC_alt1

Inbetrieb_primo_C_PC_alt2

2. Select
The

Connect via

File -> Connect

.

… window opens.

You can now connect to a known network subscriber. If you do not
know the IP address, you can browse the network for subscribers.

Alternative 1: The IP settings are known

 Prerequisite: The PMCprimo C and PC must be accessible in the

same network or via a Router

1. Select

2. Select

3. Enter the

New…

The

New Connection

Ethernet Connection

The

Select Telnet Connection

The

Connect via…

IP address

and select OK.

window opens. The network subscribers are list-

window opens.

.

window opens.

ed. The network subscriber that has just been entered is highlighted
in the list of connections.

4. Select

Connect

.

The network subscriber is connected

Inbetrieb_primo_C_status

Alternative 2: The IP settings are unknown

 Prerequisite: The PMCprimo C and the PC are in the same broadcast

domain.

1. Select

Search…

in the

Connect via…

window

The system searches for network subscribers. The

work Search

window opens.

PMCprimo Net-

2. From the list, select the subscriber to which you wish to connect.
Please note: Click on

3. Select

Configuration…

4. Enter the IP settings and then select

Search

5. Select

window opens.

Connect

Ping

to identify the device's hardware.

The

Device Configuration

OK

. The

window opens.

PMCprimo Network

.

The network subscriber is connected.

The motion controller reports on the configuration, once the Ethernet
connection has been established.

7-4

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

7 Commissioning

7.2 Commissioning the PMCprimo C

START

SOFTWARE

Firmware: 3.0.2_T04, Apr 18 2012, 11:11:50

Motion: INSTALLED

IEC PLC: INSTALLED

Interpolation: NOT AVAILABLE

ETHERNET

IP address 192.168.0.11

Netmask 255.255.255.0

Gateway 192.168.0.1

CHANNELS

Number 1...30

HARDWARE

Type: PMCprimo C 0.6GHz 2xCAN

Mat.Nr.: 680055

Ser.Nr.: 111

Pr.Ver.: 1.0

Inputs: 6

Outputs: 6

Virtual-Inputs: 56

Virtual-Outputs: 56

Analogue Inputs: 0

Analogue Outputs: 0

DEVICES in CAN Network:

PMCtendo DD4 (SD03) at CAN2 ADDR 9 found (DS402)

Inputs: 2

Outputs: 0

PMCprotego D (S706) at CAN1 ADDR 10 found (DS402)

Inputs: 5

Outputs: 1

Virtual-Inputs: 17

Virtual-Outputs: 19

Analogue Inputs: 2 inputs linked to channel from 0.1 to 0.2

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7-5

7 Commissioning

7.2 Commissioning the PMCprimo C

0.1: hw2

STATE OF DEVICES:

Device Network Addr CH FS VN State

---------------------------------------------------------------------------------

PMCprimo C --- --- --- --- 3.0.2_T04 ACTIVE

PMCtendo DD4 CAN2 9 0.2 27 5.180 FAULT

PMCprotego D CAN1 10 0.3 27 5.260 ACTIVE

0.1:

The motion controller is ready for operation. It reports with the command
prompt

0.1:. Key:

Char­acter

0 Address of the control-

. Decimal point

1 Number of current axis

: Status indicator of cur-

Meaning Details

ler (always 0 on
PMCprimo C)

rent axis

> Control loop closed

: Control loop open

A Axis executes compensatory move-

ment

C Axis executes coupling process

I Initialisation running

M Axis executes positioning

S Axis executes stop command

V Axis is in speed control

W Axis is in standby

X Position assignment is active on the

axis

7-6

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7 Commissioning

7.2 Commissioning the PMCprimo C

7.2.3 Adapt basic configuration of PMCprimo

Adapt basic configuration of PMCprimo7-Inbetrieb_Basis_primo_C

The basic configuration of the motion controller can be amended in the
terminal program PTerm using the "CD" command.

Alternatively select

0.1: cd

0.1:

A C T U A L C O N F I G U R A T I O N:

Operate Mode: STANDALONE

(24) Cycle Time: 1000 µs

( 4) Actual IP address: 192.168.0.11

( 4) Actual Netmask: 255.255.255.0

( 4) Actual Gateway: 192.168.0.1

(12) Number of Channels: 30

( 8) CAN Cycle time: 4 ms

( 9) CAN node address: 50

( 3) CAN1 baudrate: 1000 Kbit

(21) CAN2 baudrate: 1000 KBit

(23) CAN2 cycle time: 4ms (equal CAN1)

(22) CAN-mode: CAN1: Master CAN2: Master

(20) Display error number: with no offset

(26) PmcProtego with SD-Card: 10

(11) PROFIBUS Address: 25

( 5) PROFIBUS IN/OUT Length: 20 (Words)

( 6) PROFIBUS Offset: 0

*****************************************

Tools -> Basis Controller Configuration

in PTerm.

0: Exit menu

2: Delete application data

3: Change CAN1 baudrate

4: Change Ethernet

5: Change in/out length for Profibus

6: Change offset for Profibus

8: Set CAN Cycle time

9: Set CAN address

11: Change Profibus address

12: Change number of channels

21: Change CAN2 baudrate

22: Enable slave mode for CAN1/2

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7-7

7 Commissioning

7.2 Commissioning the PMCprimo C

23: Set CAN2 cycle time

24: Change cycle time of system

26: Set address for PmcProtego with SD-Card

Choice [Return; ESC exits menu]:

Once you exit the menu the basic configuration is active and saved, if
changes have been made. It may be necessary to reboot the motion
control system for the changes to take effect.

7.2.4 Configure servo amplifier

Configure servo amplifier7-Inbetrieb_protego

Parameters for the servo amplifiers available in the CANopen network
can be set using the software tool PDrive.

Please note the following prerequisites:

 The servo amplifier must not be enabled (ENABLE = 0).
 The mains voltage for the servo amplifier's power element must be

switched off.

 The 24 VDC supply voltage for the servo amplifier's control element

must be present

 The terminal program PTerm must be connected to the motion con-

trol system.

 The CANopen network must be configured for the motion control sys-

tem and servo amplifier.

The section below only describes the procedure in principle. Further in­formation is available in the manual for the software tool and the operat­ing instructions for the servo amplifier.

 Open the software tool

PDrive

.

Select the servo amplifier

 From the

Servo amplifier selection

list, select the servo amplifier for

which you wish to set the parameters.

7-8

Set the basic parameter settings

1. In the project window, select
The

Basic Setup

window appears. This contains information about
the servo amplifier (hardware, firmware, serial number, operating
hours).

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

Setup -> Basic Setup

.

7 Commissioning

7.2 Commissioning the PMCprimo C

2. Change the entries.
If necessary, you can change the following fields, for example:

– Name: Identification for servo amplifier
– Maximum mains voltage: 230 V, 400 V or 480 V

Select motor from motor database

 Select

Send parameter file to servo amplifier

 Click

Tools -> Motor Database…

The

Pilz Motor Database

motor for a certain servo amplifier.

Apply

to send the parameter file to the servo amplifier.

window appears. You can select a suitable

7.2.5 Operate PMCprimo C

Operate PMCprimo C7-Inbetrieb_bedienen_primo

You can operate the motion controller in PTerm by issuing commands
in the command language.

HW1 - Show Hardware

0.1: hw1

0.1:

SOFTWARE

Firmware: 3.0.2_T04, Apr 18 2012, 15:49:14

Motion: INSTALLED

IEC PLC: INSTALLED

Interpolation: NOT AVAILABLE

ETHERNET

IP address 192.168.0.12

Netmask 255.255.255.

Gateway 192.168.0.1

0

CHANNELS

Number 1...30

HARDWARE

Type: PMCprimo C 600MHz CAN/CAN

Mat.Nr.: 680050

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7-9

7 Commissioning

7.2 Commissioning the PMCprimo C

Ser.Nr.: 100004

Pr.Ver.: 0.1

Inputs: 6

Outputs: 6

Virtual-Inputs: 56

Virtual-Outputs: 56

Analogue Inputs: 0

Analogue Outputs: 0

DEVICES in CAN Network:

PNOZmulti (DS401) at CAN1 ADDR 14 found.

Inputs 24

Outputs 24

CAN-I/O (DS401) at CAN1 ADDR 23 found: PSSuniversal

Inputs: 32

Outputs: 36

Analogue Inputs: 2 inputs linked to channel from 0.1 to 0.2

Analogue Outputs: 2 outputs linked to channel from 0.1 to 0.2

PMCprotego D (S703) at CAN1 ADDR 31 found (DS402)

Inputs: 4

Outputs: 2

Virtual-Inputs: 18

Virtual-Outputs: 18

Analogue Inputs: 2 inputs linked to channel from 0.3 to 0.4

PMCprotego D (S703) at CAN1 ADDR 32 found (DS402)

Inputs: 18

Outputs: 10

Virtual-Inputs: 4

Virtual-Outputs: 10

Analogue Inputs: 2 inputs linked to channel from 0.5 to 0.6

7-10

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

7 Commissioning

7.2 Commissioning the PMCprimo C

HW2 - Show Hardware State

0.1: HW2

0.1:

STATE OF DEVICES:

Device Network Addr CH FS VN State

--------------------------------------------------------------------------------------

PMCprimo C --- --- --- --- 3.0.2_T04 ACTIVE

PNOZmulti CAN1 14 --- --- --- ACTIVE

CAN-I/O CAN1 23 --- --- --- FAULT

PMCprotego D CAN1 31 --- --- 5.260 ACTIVE

PMCprotego D CAN1 31 --- --- 5.260 ACTIVE

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7-11

7 Commissioning

7.3 Install CoDeSys

7.3Install CoDeSys7300In stall CoDeSys7-Inbetrieb_CoDeSys_installieren

The development environment for programming in accordance with
IEC 61131-3 CoDeSys can be found on the CD-ROM "Motion Control
Tools".

1. Start the CD-ROM "Motion Control Tools"

Funktion_Version_CoDeSys_2.3.9

2. Select the

CoDeSys

menu.

Installation will start. Follow the instructions.

The following components are installed:

 PMCprimo Target Packages
 Primo.dll

This library combines CoDeSys with PMCtools, enabling curves
(PMotion) and parameters for the servo amplifier and motors (PDrive)
to be edited.

 Primo base project

The base project can be found in the CoDeSys directory under
Projects\primo.

INFORMATION

For programming in accordance with IEC 61131-3 you will need
CoDeSys Version 2.3.9. This software is available on the current
CD-ROM "Motion Control Tools".

7-12

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Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

8 Operation

1

1

3

4

5

2

Startup

0

1

Power Off

X40/7 = 0 V

RUN

X40/7 = 0 -> 24 V

Press reset

button

Boot Menu

Exit Boot

Menu

Command?

Fatal Error

Error detected

STOP

No user
program

HW reset:

- RS1

- Reset button

- RS3 or
reset button

- RS4

- RS5

- RS6

Automatic
HW reset

User
program
available

HW reset:

- RS1

- Reset button

X40/7 = 24 -> 0 V

2

1

1

3

2

1

Error detected

3

2

1

Error detected

22

RS2 or
reset button

1

1

8.1 Operating states and changes in operating status

88000OperationOperation8-8.1Operating states and changes in operating status8100Operating states and changes in operating status8-

8.1.1 Status graph

Status graph8-Betriebzustand_Uebersicht

The following status graph shows the operating states and changes in
operating status. The priority of a transition is indicated by a number in
a small square in the middle of the transition arrow. The operating states

Betriebszustand_Zustandsgraph_primo_C

and changes in operating status are described in detail below.

Fig. 8-1: Operating states and changes in operating status of the

motion controller

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8-1

8 Operation

8.1 Operating states and changes in operating status

8.1.2 Operating states

Operating states8-

8.1.2.1 "Power Off" operating status

"Power Off" operating status8-Betriebszustand_Power_Off_primo_C

In the "Power Off" operating status, the motion controller PMCprimo C
is voltage-free. By switching on the supply voltage, the system changes
to the "Startup" operating status.

8.1.2.2 "Startup" operating status

"Startup" operating status8-Betriebszustand_Startup_primo_C

The following steps are performed in the "Startup" operating status:

 Initialise hardware
 Initialise fieldbus interfaces
 Load operating system
 Load user program

If no errors are detected during "Startup", the controller changes to

 "RUN" status, if a user program has been loaded.
 "STOP" status, if no user program has been loaded.

Status of LED:

 LED flashes rapidly.
 The LED lights for 4 s continuously after "Startup" has been run. Dur-

ing this time it's possible to change to "Boot Menu" operating status.

Change to "Boot Menu":

 Press the reset button while the LED is lit continuously.

8.1.2.3 "Boot Menu" operating status

"Boot Menu" operating status8-Betriebszustand_Boot_Menu_primo_C

In the "Boot Menu" operating status, the operating parameters for the
motion controller can be configured in the command language in the ter­minal program PTerm using the command CD, e.g.

 Configure the interfaces
 Delete the user program

8-2

Prerequisite:

 The PC and motion controller must be connected via the Ethernet in-

terface.

Status of LED:

 The LED is lit continuously.

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8 Operation

8.1 Operating states and changes in operating status

8.1.2.4 "RUN" operating status

"RUN" operating status8-Betriebszustand_RUN_primo_C

In "RUN" operating status

 All system sections are in a RUN condition and are operating fault-

lessly.

 A PLC user program is run as part of each cycle.

Status of LED:

 The LED flashes slowly.

8.1.2.5 "STOP" operating status

"STOP" operating status8-Betriebszustand_STOP_primo_C

In "STOP" operating status

 No user program is run.
 It is possible to communicate with the motion contoller in the terminal

program PTerm via the command language.

Status of LED:

 The LED is lit continuously.

8.1.2.6 "Fatal Error" operating status

"Fatal Error" operating status8-Betriebszustand_Fatal_Error_primo_C

"Fatal Error" operating status is reached when an error occurs.

 The operating status is adopted temporarily.
 The motion controller automatically changes back to "Startup" oper-

ating status.

 The error is entered in the error stack.

Status of LED:

 The LED is switched off.

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8-3

8 Operation

1

0

1

1

2

1

3

1

4

1

5

8.1 Operating states and changes in operating status

8.1.3 Change in operating status

Change in operating status8-Betriebszustandswechsel_primo_C

--> All operating states change to "Power Off"

The system changes to "Power Off" operating status when the 24 VDC
supply voltage has been switched off.

--> Change from "Power Off" to "Startup"

The system changes to "Startup" operating status when the 24 VDC
supply voltage has been switched on.

--> Change from "Startup" to "Boot Menu"

The LED lights for 4 s if "Startup" has been run without error.

 Press the reset button during this time to change to "Boot Menu" op-

erating status.

--> Change from "Startup" to "RUN"

"Startup" operating status has been run without error. The system
changes to "RUN" status if a user program was loaded in "Startup" sta­tus.

--> Change from "Startup" to "STOP"

"Startup" operating status has been run without error. The system
changes to "STOP" status if no user program was loaded in "Startup"
status.

--> Change from "Startup" to "Fatal Error"

The system changes to "Fatal Error" status if an error occurred in "Star­tup" status.

8-4

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8 Operation

2

1

3

1

3

4

3

5

4

1

8.1 Operating states and changes in operating status

--> Change from "Boot Menu" to "Startup"

The system changes to "Startup" status if the "Boot Menu" in the termi­nal program PTerm is exited using the command O or ESC.

--> Change from "RUN" to "Startup"

The system performs a hardware reset after



Running the command RS1 in the terminal program PTerm (cold start).

 Holding down the reset button for a long period (> 4 s) (alternative to

RS1 command).

--> Change from "RUN" to "STOP"

The system performs this status change after

 Running the following commands in the terminal program PTerm:

– RS3 (change to "STOP")
– RS4 (warm reset), stops the user program
– RS5 (cold reset), stops the user program
– RS5 (original reset), deletes the user program

 Running commands in the IEC 61131 development environment.
 Holding down the reset button for a short period (< 4 s) (alternative to

RS3 command, change to "STOP").

--> Change from "RUN" to "Fatal Error"

The system changes to "Fatal Error" status if an error occurred in "RUN"
status.

Remedy

 Delete user program
 Firmware update

--> Change from "STOP" to "Startup"

The system performs a hardware reset after

 Running the command RS1 in the terminal program PTerm (cold

start).

 Holding down the reset button for a long period (> 4 s) (alternative to

RS1 command (cold start)).

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8-5

8 Operation

4

3

4

5

5

1

8.1 Operating states and changes in operating status

--> Change from "STOP" to "RUN"

The system performs this status change after

 Running the command RS2 in the terminal program PTerm (change

to "RUN").

 Running commands in the IEC 61131 development environment:
 Holding down the reset button for a short period (< 4 s) (alternative to

RS2 command (change to "RUN")).

--> Change from "STOP" to "Fatal Error"

The system changes to "Fatal Error" status if an error occurred in
"STOP" status.

Remedy

 Delete user program
 Firmware update

--> Change from "Fatal Error" to "Startup"

"Fatal Error" operating status is only adopted temporarily after an error
has occurred. The motion controller automatically changes to "Startup"
operating status.

 The error is entered in the error stack.

8-6

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8 Operation

8.2 Reset, restart, start and stop options

8.2Reset, restart, start and stop options8200Reset, restart, start and stop options8-

8.2.1 Overview

Overview8-Reset_Uebersicht_primo_C

Various options are available to specifically stop or start the motion con­troller, for operation or commissioning for example. The implications of
intervening depend on the specific command that is used.

Options Action Command language IEC 61131 programming

Cold start motion controller Cold start (HW reset) RS1 (alternative: Hold down

reset button for long period
(> 4 s))

Stop user program Stop RS3 (alternative: Hold down

reset button for short period
(< 4 s))

Start user program Start RS2 (alternative: Hold down

reset button for short period
(< 4 s))

Reset motion controller Cold reset RS5 Online --> Reset (cold)

Warm reset RS4 Online --> Reset

Original reset RS6 Online --> Reset (original)

Online --> Stop

Online --> Start

8.2.2 Cold start, "Startup"

Cold start, "Startup"8-Reset_Power_Off

The following table provides an overview of the impact of a reset, start
or stop on a variable.

Action Variable with at-

tribute RETAIN

Warm reset x - x

Cold reset - - -

Original reset---

Variable with at­tribute PER­SISTENT

Variable with at­tribute
RETAIN PER­SISTENT

x = Value is retained, - = Value is re-initialised

A reset via the "Power Off" operating status performs a system cold start
with "Startup".

 Switch the 24 VDC supply voltage to the motion controller off and

then on again.

 The motion controller changes to "Startup" operating status.

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8-7

8 Operation

8.2 Reset, restart, start and stop options

8.2.3 Reset commands

Reset commands8-

8.2.3.1 Warm reset

Warm reset8-Reset_Warm

This command

 Stops the user program.
 Resets all variables to the value with which they were initialised (ex-

ception: variable with attribute RETAIN).

 Resets all variables that have not been explicitly initialised to a default

initialisation value.

Commands:

 Command language: RS4
 IEC 61131 programming: Menu

Online -> Reset

8.2.3.2 Cold reset

Cold reset8-Reset_Kalt

8.2.3.3 Original Reset

Original Reset8-Reset_Ursprung

This command

 Stops the user program.
 Resets all variables to the value with which they were initialised.

Commands:

 Command language: RS5
 IEC 61131 programming: Menu

Online -> Reset (cold)

This command

 Deletes the user program.
 Resets all variables to the value with which they were initialised (in-

cluding remanent variables with attribute RETAIN and PERSISTENT).

 Resets the motion controller to its original condition (factory defeault

settings).

Commands:

 Command language: RS6
 IEC 61131 programming: Menu

Online -> Reset (original)

8-8

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8 Operation

8.2 Reset, restart, start and stop options

8.2.4 Start and stop commands

Start and stop commands8-Start_Stopp_Steuerung_primo_C

The user program can be started and stopped via commands in com­mand language or in the IEC 61131 development environment. Start and
stop commands are used to change between the operating states
"RUN" and "STOP".

Stopping the user program

The stop command

 Changes the controller's operating status from "RUN" to "STOP".
 Stops the user program.

Commands:

 Command language: RS3
 IEC 61131 programming: Menu
 Hold down reset button for short period (< 4 s)

Online -> Stop

Starting the user program

The start command

 Changes the controller's operating status from "STOP" to "RUN".
 Starts the user program.

Commands:

 Command language: RS2
 IEC 61131 programming: Menu
 Hold down reset button for short period (< 4 s)

Online -> Start

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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8-9

8 Operation

8.3 Functions of the reset button

8.3Functions of the reset button8300Functions of the reset button8-Reset_Taster

The "RESET" button is mounted in a recess on the front of the unit. It can
only be accessed using an appropriate tool (e.g. a pin).

The following actions can be triggered by pressing the "RESET" button:

 Change from "Startup" operating status to "Boot Menu"
 Hardware reset (cold start): Change from "RUN" or "STOP" operating

status to "Startup"

 Change from "RUN" operating status to "STOP"
 Change from "STOP" operating status to "RUN"

Change from "Startup" operating status to "Boot Menu"

After cold starting the motion controller you can change to the "Boot
Menu" in order to set the operating parameters.

Proceed as follows:

 The controller is in "Startup" operating status. LED flashes rapidly.
 The LED lights for 4 s continuously after "Startup" has been run. Dur-

ing this time it's possible to change to "Boot Menu" operating status.

 Press the reset button while the LED is lit continuously.

 The controller changes to "Boot Menu".

Hardware reset (cold start)

A hardware reset can be triggered in "RUN" or "STOP" operating status.
The controller changes to "Startup" operating status.

Proceed as follows:

 The controller is in "STOP" or "RUN" operating status.

 Hold the reset button down for at least 4 s.

 The controller changes to "Startup".

Changing between the operating states "RUN" and "STOP"

You can change between the operating states "RUN" and "STOP".

 Briefly press the reset button to change from "RUN" to "STOP" or

from "STOP" to "RUN".

8-10

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

8 Operation

8.4 Messages

8.4Messages8400Messages8-Betrieb _Meldungen

The motion controller provides many options for diagnostics, fault de­tection and communication with other controllers.

Diagnostics can be performed via

 The LED on the front of the unit.
 The error stack.
 PVIS expanded diagnostics.
 Display commands.
 Recording of process data.

LEDs on the front of the unit provide information on the operating status
(see section on "Display elements" in this chapter).

The error stack contains the last 100 error messages. It can be read in
the operating status "RUN" and "STOP".

 Select the LE1 command in the terminal program PTerm.

Errors, messages and the corresponding remedies are displayed in the
expanded diagnostics system PVIS.

Display commands for recording process data are axis-related. They
are used to display motion control data, e.g. position, speed, tracking
distance. Display commands can be executed in the operating status
"RUN" and "STOP".

 To start display mode, select the DM command in the terminal pro-

gram PTerm.

 To end display mode, select the DO command in the terminal program

PTerm.

Process data can be recorded in the operating status "RUN" and
"STOP" via the

 Motion controller.
 Terminal program PTerm.
 Oscilloscope function PScope.

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

8-11

8 Operation

STAT

RESET

8.5 Display elements

8.5Display elements85 00Display elements8-Betrie b_LED

The motion controller has a "STAT" LED for displaying the operating sta­tus.

Status Description

Controller is not ready for opera­tion

Controller is in "Startup" status

Flashes rapidly

Controller is in "RUN" status

Flashes slowly

Controller is in "STOP" or "Boot
Menu" status

 Legend

LED on

LED off

LED flashes

8-12

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

9 Technical details

99000Technical detailsTechnical details9-Technische D aten_primo_C

Technical details

Electrical data

External supply voltage 24.0 V
Voltage tolerance -15 %/+20 %

CPU

Working memory (RAM) 128 MB
Variable memory (NVRAM) 512 KB
Memory for applications 256 MB
Processor clock speed 600 MHz
Typ. processing time/1000 instructions 3 µs

Inputs

Number 6
Input voltage in accordance with EN 61131-2 type 1 24 V DC
Input current range 3.5 - 10.8 mA
Signal level at "1" 15 - 30 V DC
Signal level at "0" -3 - +5 V DC
Input filter depending on parameter settings 5 µs, 600 µs
Galvanic isolation yes

Outputs, single-pole

Number of positive-switching single-pole semiconductor
outputs

Short circuit-proof yes
External supply voltage 24.0 V DC
Voltage tolerance -15 %/+20 %
Typ. output current at “1” signal and rated voltage of sem­iconductor output
Permitted current range 0.50 A
Permitted loads inductive, capacitive, resistive

Encoder input

Number of inputs 1
Connection type Female 9-pin D-SUB connector
SSI encoder
Supply voltage 10 ... 30 VDC
Output signal (clock) Differential signal (RS 422)
Max. number of bits on the counter input 12 - 32 Bit
Transmission rate 300.0 kHz
Coding of the input signal Binary, Grey
Signal at the data input Differential signal (RS 422)
Incremental encoder
Supply voltage 10 ... 30 VDC, 4.75 ... 5.25 VDC
Phase position for the differential signals A,/A and B,/B 90° ±30°
Maximum threshold frequency 0.5 MHz

Communications interfaces

6

0.50 A

SafetyNETp

In preparation

CANopen

Number 1, 2, depending on unit type
Connection type RJ45
Device type Master, Slave
Max. number of CANopen subscribers 32

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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9-1

9 Technical details

CANopen

Cycle times 1 ms, 2 ms, 4 ms
Transmission rates 1000 kBit/s, 250 kBit/s, 500 kBit/s

PROFIBUS DP

Number 1, depending on unit type
Connection RJ45 No. 680060
Device type Slave No. 680060
Station address 0 ... 126d No. 680060
Set via Software No. 680060
Maximum data length of the fieldbus interface: Input 80 Byte No. 680060
Maximum data length of the fieldbus interface: Output 244 Byte No. 680060
Maximum data length of the fieldbus interface: Diagnostics 244 Byte No. 680060
Transmission rates 1.5 MBit/s, 12 MBit/s, 185.5 kBit/s, 19.2 kBit/s, 3 MBit/

s, 45.45 kBit/s, 500 kBit/s, 6 MBit/s, 9.6 kBit/s, 93.75
kBit/s

Set via automatic No. 680060
Protocol DPV0 No. 680060
Operating modes AutoBaud, Freeze Mode, Sync Mode
Certification PNO No. 680060
Description file Pilz0DCC.gsd No. 680060
Manufacturer's ID 0DCCh No. 680060

Ethernet

Number of Ethernet interfaces 1
Connection type RJ45
Transmission rate 1 Gbit/s

Environmental data

EMC EN 61131-2
Climatic suitability in accordance with EN 60068-2-78 93 % r. h. at 40 °C
Condensation not permitted
Vibration to EN 60068-2-6
Frequency, Amplitude 5.0 - 8.4 Hz, 3.50 mm
Frequency, Max. acceleration 8.4 - 150.0 Hz, 1g
Shock stress

EN 60068-2-27 15g

11 ms

Climatic suitability EN 60068-2-14, EN 60068-2-1, EN 60068-2-2, EN 60068-

2-78

Airgap creepage in accordance with EN 61131-2
Overvoltage category II
Pollution degree 2
Ambient temperature in accordance with EN 60068-2-14 0 - 40 °C
Storage temperature in accordance with EN 60068-2-1/-2 -40 - 70 °C
Max. operating height above sea level 2000 m
Protection type in accordance with EN 60529
Mounting (e.g. cabinet) IP54
Housing IP20
Terminals IP20

Mechanical data

Housing material
Front Steel 1.4016
Top Polyester film

9-2

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

9 Technical details

Mechanical data

Dimensions
Height 173.0 mm
Width 18.5 mm
Depth 97.0 mm
Weight 220 g

The standards current on 2010-12 apply.

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

9-3

9 Technical details

9-4

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: [phone], Telefax: [phone], E-Mail: [e-mail]

...

1002242-EN-01, 2012-06 Printed in Germany

© Pilz GmbH & Co. KG, 2011

[phone]
[e-mail]

Pilz GmbH & Co. KG
Felix-Wankel-Straße 2
73760 Ostfildern, Germany
Telephone: [phone]
Telefax: [phone]
E-Mail: [e-mail]
Internet: www.pilz.com

Technical support

In many countries we are
represented by our subsidiaries
and sales partners.

Please refer to our homepage
for further details or contact our
headquarters.

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®

, Pilz

®

, PIT

®

, PMCprotego

®

, PMI

®

, PNOZ

®

, Primo

®

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®

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®

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®

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®

, SafetyEYE

®

, SafetyNET p

®

, the spirit of safety

®

are registered and protected trademarks

of Pilz GmbH & Co. KG in some countries. We would point out that product features may vary from the details stated in this document, depending on the status at the time of publication and the scope

of the equipment. We accept no responsibility for the validity, accuracy and entirety of the text and graphics presented in this information. Please contact our Technical Support if you have any questions.

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