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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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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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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