Pilz PNOZ m B0 User Manual

PNOZmulti 2 Communication Interfaces

Configurable Control System PNOZmulti

Operating Manual­1002971­EN­02

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

Content

Section 1		Introduction		7
		1.1	Definition of symbols	7
Section 2		Overview ­ Communication options		8
		2.1	Communication via the fieldbus modules	8
		2.2	Communication via the communication modules	9
		2.3	Communication via Modbus TCP	10
Section 3		Safety		11
		3.1	Intended use	11
		3.2	Safety regulations	11
		3.2.1	Use of qualified personnel	11
		3.2.2	Warranty and liability	11
		3.2.3	Disposal	12
Section 4		Fieldbus Modules		13
		4.1	Basics	13
		4.1.1	Input data (to the PNOZmulti 2)	13
		4.1.2	Output data (from the PNOZmulti 2)	14
		4.1.3	Overview of tables	15
		4.1.4	Access to table segments	15
		4.1.4.1	Example 1 ­ Access successful	16
		4.1.4.2	Example 2 ­ Access failed	17
		4.2	PNOZ m ES Profibus	18
		4.2.1	Input and output data	18
		4.2.2	Access to table segments	19
		4.2.3	LED status	19
		4.2.4	Diagnostic data PNOZ m ES Profibus	19
		4.3	PNOZ m ES CANopen	22
		4.3.1	Service Data Objects (SDOs)	22
		4.3.2	Process Data Objects (PDOs)	22
		4.4	PNOZ m ES EtherCAT	24
		4.4.1	Service Data Objects (SDOs)	24
		4.4.2	Process Data Objects (PDOs)	24
		4.5	PNOZ m ES Powerlink	25
		4.5.1	Service Data Objects (SDOs)	25
		4.5.2	Process Data Objects (PDOs)	25
Section 5		Communication modules		26
		5.1	Overview	26
		5.2	PNOZ m ES RS232	26
		5.3	PNOZ m ES ETH	26
		5.3.1	Introduction	26
		5.3.2	Overview	26
		5.3.3	Module features	27
		5.3.4	Modbus/TCP	27
		5.3.5	RJ45 interfaces ("Ethernet")	27
		5.3.6	Requirements of the connection cable and connector	27
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Content

		5.3.7	Interface configuration	28
		5.3.8	RJ45 connection cable	28
		5.3.9	Process data exchange	28
		5.4	Communication procedure	29
		5.5	Telegram structure	30
		5.5.1	Header	30
		5.5.2	Usable data	31
		5.5.3	Footer	31
		5.6	Usable data	32
		5.6.1	Virtual inputs (Input Byte 0 ... Input Byte 15)	32
		5.6.1.1	Watchdog	32
		5.6.2	Virtual outputs (Output Byte 0 ... Output Byte 15)	32
		5.6.3	LED status	32
		5.6.4	Tables	33
		5.7	Requests	33
		5.7.1	Mask (Mask Byte 0 ... Mask Byte 15)	33
		5.7.2	Send virtual inputs to the PNOZmulti	34
		5.7.3	Send virtual inputs to the PNOZmulti, request state of the virtual outputs	35
			and LED status from the PNOZmulti
		5.7.3.1	Control Byte (Byte 40)	36
		5.7.4	Request state of virtual inputs and outputs from PNOZmulti	38
		5.7.5	Request data from the PNOZmulti in table form	38
		5.7.6	Send input and output data (cf. fieldbus communication)	39
		5.7.6.1	Input data (to the PNOZmulti)	40
		5.7.6.2	Output data (from the PNOZmulti)	41
		5.7.6.3	Control Byte (Byte 5)	42
		5.8	Troubleshooting	44
		5.8.1	Request format does not meet specifications	44
		5.8.2	Error while executing a request	44
Section 6		Modbus/TCP		45
		6.1	System requirements	45
		6.2	Modbus/TCP ­ Basics	45
		6.3	Modbus/TCP with PNOZmulti 2	46
		6.4	Data areas	47
		6.4.1	Overview	47
		6.4.2	Function codes	48
		6.4.3	Data transfer limits	49
		6.4.4	Input and output data, watchdog	49
		6.4.5	Allocation table of the virtual inputs and outputs	52
		6.4.6	Process data, base unit	52
		6.4.7	Process data, right­hand expansion modules	54
		6.4.8	Process data, left­hand expansion modules	64
		6.4.9	Process data, fieldbus and communication module	71
		6.4.10	Diagnostic words	74
		6.4.11	Enable elements	80
		6.4.12	Project data	81
		6.4.13	Device data, base unit	83
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	6.4.14	Device data, right­hand expansion modules	84
	6.4.15	Device data, left­hand expansion modules	89
	6.4.16	Device data, fieldbus and communication module	93
	6.4.17	LEDs	94
	6.4.18	Updating the data areas	95
	6.5	Examples of Clients and Servers	96
Section 7	Diagnostic word		97
	7.1	Introduction	97
	7.2	Elements with diagnostic word	97
	7.3	Structure of the diagnostic word	97
	7.4	Evaluate diagnostic word	98
	7.5	Example ­ Evaluate diagnostic word of a safety gate	100
Section 8	Appendix		101
	8.1	Tables	101
	8.1.1	Table 20 ­ Process data, base unit	101
	8.1.2	Table 21 ­ Process data, right­hand expansion modules	103
	8.1.3	Table 22 ­ Process data, left­hand expansion modules	107
	8.1.4	Table 23 ­ Process data, fieldbus and communication module	111
	8.1.5	Table 70 ­ Diagnostic words	114
	8.1.6	Table 71 ­ Enable elements	117
	8.1.7	Table 80 ­ Project data	118
	8.1.8	Table 90 ­ Device data, base unit	119
	8.1.9	Table 91 ­ Device data, right­hand expansion modules	120
	8.1.10	Table 92 ­ Device data, left­hand expansion modules	122
	8.1.11	Table 93 ­ Device data, fieldbus and communication module	123
	8.2	Object directory, Service Data Objects (SDOs)	124
	8.2.1	Structure of the object directory	124
	8.2.2	Output data ­ SDO Index 0x2000	126

8.2.3Process data, base unit and 1st right­hand expansion module ­ SDO Index 127 0x2001

8.2.4	Process data, 2nd ... 4th right­hand expansion module ­ SDO Index	130
	0x2002

8.2.5Process data, 5th ... 6th right­hand expansion module ­ SDO Index 0x2003134

8.2.6Process data, 1st ... 3rd left­hand expansion module ­ SDO Index 0x2007 136

8.2.7	Process data, 4th left­hand expansion module ­ SDO Index 0x2008	140
8.2.8	Process data, fieldbus ­ SDO Index 0x2009	142
8.2.9	Diagnostic words ­ SDO Index 0x200A	143
8.2.10	Diagnostic words and enable elements ­ SDO Index 0x200B	143
8.2.11	Project data ­ SDO Index 0x200D	144

8.2.12Device data, base unit and 1st right­hand expansion module ­ SDO Index 146 0x200F

8.2.13Device data, 2nd ... 4th right­hand expansion module ­ SDO Index 0x2010 148

8.2.14Device data, 5th ... 6th right­hand expansion module ­ SDO Index 0x2011 150

	8.2.15 Device data, 1st ... 3rd left­hand expansion module ­ SDO Index 0x2015	151
	8.2.16 Device data, 4th left­hand expansion module ­ SDO Index 0x2016	152
	8.2.17 Device data, fieldbus and communication module ­ SDO Index 0x2017	153
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Content

8.2.18	Input data ­ SDO Index 0x2100	154
8.3	Assignment of system and I/O­LEDs	155

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Introduction

1 Introduction

1.1Definition of symbols

Information that is particularly important is identified as follows:

DANGER!

This warning must be heeded! It warns of a hazardous situation that poses an immediate threat of serious injury and death and indicates preventive measures that can be taken.

WARNING!

This warning must be heeded! It warns of a hazardous situation that could lead to serious injury and death and indicates preventive measures that can be taken.

CAUTION!

This refers to a hazard that can lead to a less serious or minor injury plus material damage, and also provides information on preventive measures that can be taken.

NOTICE

This describes a situation in which the product or devices could be dam­ aged and also provides information on preventive measures that can be taken. It also highlights areas within the text that are of particular import­ ance.

INFORMATION

This gives advice on applications and provides information on special fea­ tures.

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Overview ­ Communication options

2	Overview ­ Communication options

2.1Communication via the fieldbus modules

With communication via the fieldbus modules, the data area provided by the PNOZmulti 2 for communication is divided into subsections, which are stored in tables. Each table con­ sists of one or more segments.

The Master (PC, PLC) can request a segment from a table. This is delivered with the next response telegram. The input and output data is also transmitted in each telegram.

Communication via the fieldbus modules is described in detail in the chapter entitled Field­ bus Modules [ 13].

The following device combinations are possible:

Fieldbus modules

Base units

PNOZ m ES Profibus

PNOZ m ES CANopen PNOZ m B0 PNOZ m ES EtherCAT

PNOZ m ES Powerlink

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Overview ­ Communication options

2.2Communication via the communication modules

When communication takes place via a communication module, data exchange is defined via a special protocol. This protocol is described in more detail in the chapter entitled Com­ munication modules [ 26].

The following device combinations are possible:

Communication Module Base units

PNOZ m ES RS232

PNOZ m B0

PNOZ m ES ETH

INFORMATION

If virtual inputs/outputs are to be downloaded via the communication module (without using a fieldbus module), the interface "Inputs/outputs that are downloaded via the integrated interface" must be configured in the hard­ ware configuration in the PNOZmulti Configurator.

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Overview ­ Communication options

2.3Communication via Modbus TCP

For data exchange with Modbus/TCP, the PNOZmulti 2 is the connection server. All the diagnostic data is defined in one data record, to which the client has direct access.

Communication with Modbus/TCP is described in detail in the chapter entitled Modbus/TCP [ 45].

The following device combinations are possible:

Communication Module

Base unit

PNOZ m ES ETH

PNOZ m B0

INFORMATION

If virtual inputs/outputs are to be downloaded via the communication module (without using a fieldbus module), the interface "Inputs/outputs that are downloaded via the integrated interface" must be configured in the hard­ ware configuration in the PNOZmulti Configurator.

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Safety

3 Safety

3.1Intended use

The communication interface on the configurable control system PNOZmulti 2 is used to transfer diagnostic data to an application program. This data may only be used for non­ safety purposes, e.g. visualisation.

NOTICE

For details of the intended use and application of the configurable control system PNOZmulti 2 please refer to the operating instructions for the re­ spective unit.

The following is deemed improper use in particular:

}Any component, technical or electrical modification to a product

}Use of a product outside the areas described in the product documentation

}Any use that is not in accordance with the documented technical details.

3.2Safety regulations

3.2.1Use of qualified personnel

The products may only be assembled, installed, programmed, commissioned, operated, maintained and decommissioned by competent persons.

A competent person is someone who, because of their training, experience and current pro­ fessional activity, has the specialist knowledge required to test, assess and operate the work equipment, devices, systems, plant and machinery in accordance with the general standards and guidelines for safety technology.

It is the company’s responsibility only to employ personnel who:

}Are familiar with the basic regulations concerning health and safety / accident preven­ tion

}Have read and understood the information provided in this description under "Safety"

}And have a good knowledge of the generic and specialist standards applicable to the specific application.

3.2.2Warranty and liability

All claims to warranty and liability will be rendered invalid if

}The product was used contrary to the purpose for which it is intended

}Damage can be attributed to not having followed the guidelines in the manual

}Operating personnel are not suitably qualified

}Any type of modification has been made (e.g. exchanging components on the PCB boards, soldering work etc.).

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Safety

3.2.3Disposal

}In safety­related applications, please comply with the mission time tM in the safety­re­ lated characteristic data.

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

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Fieldbus Modules

4	Fieldbus Modules

4.1Basics

The input and output range is each reserved an area of 32 Bytes for communication via fieldbuses; this is updated approx. every 15 ms. The Master (PC, PLC) can send 32 Bytes to the PNOZmulti 2 and receive 32 Bytes from the PNOZmulti 2. The Master can process the information in bytes, words or in double words.

4.1.1Input data (to the PNOZmulti 2)

	Double Word	Word	Byte	Content
	0	0	0	State of virtual inputs on the PNOZmulti 2
				fieldbus module.
			1
				The inputs are defined in the PNOZmulti
		1	2
				Configurator. Each input that is used is
			3	given a number there, e.g. i0, i5...
				The state of input i0 is stored in bit 0 of
	1	2	4
				byte 0; the state of input i5 is stored in bit 5
			5
				of byte 0 etc.
		3	6
			7
	2	4	8
			9
		5	10
			11
	3	6	12
			13
		7	14
			15
	4	8	16	Reserved
			17	Table number
		9	18	Segment number
			19	Payload Byte 0
	5	10	20	Payload Byte 1
			21	Payload Byte 2
		11	22	Payload Byte 3
			23	Payload Byte 4
	6	12	24	Payload Byte 5
			25	Payload Byte 6
		13	26	Payload Byte 7
			27	Payload Byte 8

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Fieldbus Modules

Double Word	Word	Byte	Content
7	14	28	Payload Byte 9
		29	Payload Byte 10
	15	30	Payload Byte 11

31Payload Byte 12

4.1.2Output data (from the PNOZmulti 2)

	Double Word	Word	Byte	Content
	0	0	0	State of virtual outputs on the PNOZmulti 2
				fieldbus module.
			1
				The outputs are defined in the PNOZmulti
		1	2
				Configurator. Each output that is used is
			3	given a number there, e.g. o0, o5...
				The status of output o0 is stored in bit 0 of
	1	2	4
				byte 0; the status of output o5 is stored in
			5
				bit 5 of byte 0 etc.
		3	6
			7
	2	4	8
			9
		5	10
			11
	3	6	12
			13
		7	14
			15
	4	8	16	LED status
			17	Table number
		9	18	Segment number
			19	Payload Byte 0
	5	10	20	Payload Byte 1
			21	Payload Byte 2
		11	22	Payload Byte 3
			23	Payload Byte 4
	6	12	24	Payload Byte 5
			25	Payload Byte 6
		13	26	Payload Byte 7
			27	Payload Byte 8

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Fieldbus Modules

Double Word	Word	Byte	Content
7	14	28	Payload Byte 9
		29	Payload Byte 10
	15	30	Payload Byte 11
		31	Payload Byte 12

4.1.3Overview of tables

There are a total of 11 tables, with the following contents:

Table 20: Process data, base unit

Table 21: Process data, right­hand expansion modules

Table 22 Process data, left­hand expansion modules

Table 23: Process data, fieldbus module / communication module

Table 70: Diagnostic words

Table 71: Enable elements

Table 80: Project information

Table 90: Device data, base unit

Table 91: Device data, right­hand expansion modules

Table 92 Device data, left­hand expansion modules

Table 93: Device data, fieldbus module / communication module

The content of the tables is described in detail in the Appendix [ 101].

4.1.4Access to table segments

Each table consists of one or more segments. Each segment is made up of 13 Bytes. The tables have a fixed assignment. The Master requests the required data using the table number and segment number. The Slave repeats the two numbers and sends the reques­ ted data. If data is requested that is not available, the Slave sends the error message FF (hex) or 255 (dec) instead of the segment number. The segments may be requested in any sequence.

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Fieldbus Modules

4.1.4.1Example 1 ­ Access successful

Access to existing segments

The Master requests segment 1 from table 23. The fieldbus module confirms both these de­ tails and sends segment 1. Then the data from segment 5 table 21 is requested.

Master

Fieldbus module

1723

181

190

31 0

17	23
18
	1
19	X

31 X

1721

185

190

31 0

	17	21
	18
		5
	19
		X
	31
		X

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Fieldbus Modules

4.1.4.2Example 2 ­ Access failed

Access to non­existent segment

The Master requests segment 1 from table 23. The fieldbus module confirms both these de­ tails and sends segment 1. Then the Master requests segment 111 from table 23. As this table does not contain a segment 111, the Slave registers an error by sending back "255".

Master

Fieldbus module

1723

181

190

31 0

17	23
18	1
19	X

31 X

1723

18111

190

31 0

23

255

X

X

Access to non­existent table

The Master requests segment 1 from table 24. As there is no table 24, the Slave registers an error by sending back "255".

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Fieldbus Modules

Master

Fieldbus module

1724

181

190

31 0

17	24
18
	255
19
	X

31 X

4.2PNOZ m ES Profibus

4.2.1Input and output data

Virtual inputs and outputs can be requested or set directly via the following objects. Each element can be selected individually in the master control system, e.g. virtual inputs i0­31. The data width is also established this way.

Input data

The Master writes to the virtual inputs of the PNOZmulti 2.

Description		Input data from PNOZmulti 2
Virtual inputs i0 – i31		4 Input Bytes
Virtual inputs i32	– i63	4 Input Bytes
Virtual inputs i64	– i95	4 Input Bytes
Virtual inputs i96	– i127	4 Input Bytes

Output data

The Master reads the virtual outputs of the PNOZmulti 2.

Description		Output data from PNOZmulti 2
Virtual outputs o0 – o31		4 Output Bytes
Virtual outputs o32	– o63	4 Output Bytes
Virtual outputs o64	– o95	4 Output Bytes
Virtual outputs o96	– o127	4 Output Bytes

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Fieldbus Modules

4.2.2Access to table segments

The data in the Tables [ 101] can be requested via the following objects.

Input data

The Master requests a table segment in the form:

Description	Input data from PNOZmulti 2
Table and segment number	2 Input Bytes
Output data
The PNOZmulti 2 replies in the form:
Description	Output data from PNOZmulti 2
Table and segment number + 13 Byte payload	15 Output Bytes

A detailed description is available in the chapter entitled Access to table segments [ 15].

4.2.3LED status

The LED status of the PNOZmulti 2 can be requested directly via the following object.

Description	Output data from PNOZmulti 2
LED status	1 Output Byte

}Bit 0 = 1: LED OFAULT is lit or flashes

}Bit 1 = 1: LED IFAULT is lit or flashes

}Bit 2 = 1: LED FAULT is lit or flashes

}Bit 3 = 1: LED DIAG is lit or flashes

}Bit 4 = 1: LED RUN is lit

}Bit 5­7: Reserved

4.2.4Diagnostic data PNOZ m ES Profibus

These bits contain the diagnostic data

Un­	Content
it_Diag_Bit
00	RUN, base unit is in RUN condition
01	STOP, base unit is in STOP condition
02	Base unit was stopped by the Configurator
03	Reserved
04	External error
05	Internal error
06	External error on the inputs

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Fieldbus Modules

Un­
it_Diag_Bit Content
07	Internal error on the inputs
08	External error on the outputs

09Internal error on the outputs

10No connection to base unit

11Reserved

…

21

22Error on the base unit

23Reserved

24Error on the 1st expansion module, right

25Error on the 2nd expansion module, right

26Error on the 3rd expansion module, right

27Error on the 4th expansion module, right

28Fault on the 5th expansion module, right

29Fault on the 6th expansion module, right

30Reserved

…

39

40Fault on 1st expansion module, left

41Fault on 2nd expansion module, left

42Fault on 3rd expansion module, left

43Fault on 4th expansion module, left

44Reserved

...

45

46Error on the communication module

47Reserved

…

55

56Error in the configuration, F_81

57Error in the application program, F_82

58Error in the periphery, F_83

59Error on the speed monitor, F_84

60Error on the bus module, F_85

61Error on the link module, F_86

62Error on the analogue input module, F_87

63Reserved

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Fieldbus Modules

Un­

it_Diag_Bit Content

64Error on the input/output module, F_89

65Error on the Ethernet module, F_8A

66Internal error on the left­hand expansion module, F_90

67Internal periphery error, F_93

68Internal error on the right­hand expansion module, F_94

69Internal error on the right­hand expansion module, F_95

70Internal self test error, F_B0

71Internal data error, F_B1

72Internal parameter error, F_B2

73Internal serial/I2C error, F_B3

74Internal time error, F_B4

75Internal processor error, F_B5

76Internal parameter error, F_B6

77Internal compare error, F_B7

78Internal sequence error, F_B8

79Internal periphery error, F_B9

80Internal error on bus module, F_BA

81Internal error on link module, F_BB

82Internal error on speed monitor, F_BC

83Internal error on analogue input module, F_BD

84Internal error on link module, F_BE

85Internal error on link module, F_BF

86Internal error on the left­hand expansion module, F_C0

87Internal error on the left­hand expansion module, F_C1

88Internal error on the Ethernet module, F_C2

89Internal compare error, F_C3

90Internal error on the right­hand expansion module, F_C4

91Internal error on the right­hand expansion module, F_C5

92Reserved

…

95

}Explanation: Bits 56 to 91 display the last content of the error stack (corresponds to the error class). The bits are deleted as soon as PNOZmulti 2 returns to a RUN state.

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Fieldbus Modules

4.3PNOZ m ES CANopen

4.3.1Service Data Objects (SDOs)

All the relevant device parameters and current process data of the PNOZmulti 2 are entered in the object directory of the CANopen. These can be read and written via Service Data Objects (SDOs).

To enable the fieldbus module to be incorporated easily within a CANopen network, the ob­ ject directory is available as an EDS file (see Object directory, Service Data Objects (SDOs) [ 124].

4.3.2Process Data Objects (PDOs)

The output data is stored as follows:

Byte	Object Index	Sub Index	PDO	COB­ID
	(hex)	(hex)
0	2000	1	TPDO 1	180h
				+ node address
1	2000	2
2	2000	3
3	2000	4
4	2000	5
5	2000	6
6	2000	7
7	2000	8
8	2000	9	TPDO 2	280h
				+ node address
9	2000	A
10	2000	B
11	2000	C
12	2000	D
13	2000	E
14	2000	F
15	2000	10
16	2000	11	TPDO 3	380h
				+ node address
17	2000	12
18	2000	13
19	2000	14
20	2000	15
21	2000	16
22	2000	17
23	2000	18

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Fieldbus Modules

Byte	Object Index	Sub Index	PDO	COB­ID
	(hex)	(hex)
24	2000	19	TPDO 4	480h
				+ node address
25	2000	1A
26	2000	1B
27	2000	1C
28	2000	1D
29	2000	1E
30	2000	1F
31	2000	20

The input data is stored as follows:

	Byte	Object Index	Sub Index	PDO	COB­ID
		(hex)	(hex)
	0	2100	1	RPDO 1	200h
					+ node address
	1	2100	2
	2	2100	3
	3	2100	4
	4	2100	5
	5	2100	6
	6	2100	7
	7	2100	8
	8	2100	9	RPDO 2	300h
					+ node address
	9	2100	A
	10	2100	B
	11	2100	C
	12	2100	D
	13	2100	E
	14	2100	F
	15	2100	10
	16	2100	11	RPDO 3	400h
					+ node address
	17	2100	12
	18	2100	13
	19	2100	14
	20	2100	15
	21	2100	16
	22	2100	17
	23	2100	18
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Fieldbus Modules

Byte	Object Index	Sub Index	PDO	COB­ID
	(hex)	(hex)
24	2100	19	RPDO 4	500h
				+ node address
25	2100	1A
26	2100	1B
27	2100	1C
28	2100	1D
29	2100	1E
30	2100	1F
31	2100	20

Key to abbreviations:

TPDO: Transmit Process Data Object

RPDO: Receive Process Data Object

COB­ID: Communication Object Identifier

4.4PNOZ m ES EtherCAT

4.4.1Service Data Objects (SDOs)

All the relevant device parameters and current process data of the PNOZmulti 2 are entered in the object directory of the EtherCAT. These can be read and written via Service Data Objects (SDOs).

To enable the fieldbus module to be incorporated easily within a EtherCAT network, the ob­ ject directory is available as an EDS file (see Object directory, Service Data Objects (SDOs) [ 124].

4.4.2Process Data Objects (PDOs)

The manufacturer­specific part of the object directory is structured as follows:

	PDO (hex)	Size	Name	Index (hex)	Sub­Index(hex)		Content
	0x1A00	32	TxPDO	2000	01	­ 20	Output data (from the
							PNOZmulti)
	0x1A01	128	TxPDO	2000	01	­ 11	Default configuration
							(freely configurable)
				2001	01	­ 08
				2001	49	­ 50
				2002	01	­ 08
				2002	25	– 2C
				2002	49–50
				2007	01–08
				2007	25–2C
				2007	49–50
				200A	01–2E
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PDO (hex)	Size	Name	Index (hex)	Sub­Index(hex)	Content
0x1600	19	RxPDO	2100	01­13	Input data (to the PNOZmulti)

Key to abbreviations:

TxPDO: Transmit Process Data Object

RxPDO: Receive Process Data Object

4.5PNOZ m ES Powerlink

4.5.1Service Data Objects (SDOs)

All the relevant device parameters and current process data of the PNOZmulti 2 are entered in the object directory of the Ethernet POWERLINK. These can be read and written via Service Data Objects (SDOs).

To enable the fieldbus module to be incorporated easily within a Ethernet POWERLINK network, the object directory is available as an EDS file (see Object directory, Service Data Objects (SDOs) [ 124].

4.5.2Process Data Objects (PDOs)

A PDO can be assembled individually from the SDOs.

Maximum size for the PDOs:

}254 Bytes input data

}32 Bytes output data

The inputs and outputs are viewed from the Managing Node.

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5	Communication modules

5.1Overview

The communication module on the configurable control system PNOZmulti 2 is used to

}Download and upload the project,

}Read the diagnostic words,

}Read the error stack.

The following combinations are possible:

}Serial interface RS232

–Base unit PNOZ m B0 + PNOZ m ES RS232

}Ethernet interfaces

–Base unit PNOZ m B0 + PNOZ m ES ETH

5.2PNOZ m ES RS232

The connection to the RS 232 interface of the communication partner and the communica­ tion module PNOZ m ES RS232 is established via a null modem cable.

Transmission rate:

19.2 kBit with

}8 bits of data

}1 start bit

}2 stop bits

}1 parity bit

}Even parity

5.3PNOZ m ES ETH

5.3.1Introduction

This chapter describes the special features of communication with the expansion module PNOZ m ES ETH via Ethernet and Modbus/TCP. Access to data from the PNOZmulti 2 via tables and segments is described in Chapter Basics [ 13].

5.3.2Overview

The expansion module PNOZ m ES ETH provides an interface to Ethernet. Via this inter­ face, the configurable control system PNOZmulti 2 can be connected via Ethernet to control systems that support Modbus/TCP. Modbus/TCP is designed for fast data exchange at field level. The expansion module PNOZ m ES ETH is a passive Modbus/TCP subscriber (Server). The basic functions of communication with Ethernet or Modbus/TCP conform to IEEE 802.3. The central controller (Client) reads output information from the Servers and writes input information to the Servers as part of each cycle. In addition to the cyclical pay­ load transmission, the PNOZ m ES ETH also has diagnostic functions.

The connections are established via two RJ45 sockets.

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The Ethernet interface is configured in the PNOZmulti Configurator (for description see on­ line help for the PNOZmulti Configurator).

The communication module PNOZ m ES ETH supports Modbus/TCP [ 45].

The module can manage up to 8 Modbus/TCP connections and up to 4 PG port (Port 9000) connections.

5.3.3Module features

}Can be configured in the PNOZmulti Configurator

}Network protocols: TCP/IP, Modbus/TCP

}Status indicators for communication and for errors

}Transmission rate 10 MBit/s (10BaseT) and 100 MBit/s (100BaseTX), full and half du­ plex

5.3.4Modbus/TCP

There is no need to configure a connection on the PNOZ m ES ETH. Port 502 is used in accordance with the Modbus/TCP specification.

For details of Modbus/TCP Modbus/TCP [ 45]

5.3.5RJ45 interfaces ("Ethernet")

Two free switch ports are provided as Ethernet interfaces via an internal autosensing switch. The autosensing switch automatically detects whether data transfer is occurring at 10 Mbit/s or 100 Mbit/s.

INFORMATION

The connected subscribers must support the autosensing/autonegotiation function. If not, the communication partner must be set permanently to "10 Mbit/s, half duplex".

The switch's automatic crossover function means there is no need to distinguish on the connection cable between patch cable (uncrossed data line connection) and crossover cable (crossover data line connection). The switch automatically creates the correct data line connection internally. Patch cable can therefore be used as the connection cable for end devices as well as cascading.

Both Ethernet interfaces use RJ45 technology.

5.3.6Requirements of the connection cable and connector

The following minimum requirements must be met:

}Ethernet standards (min. Category 5) 10BaseT or 100BaseTX

}Double­shielded twisted pair cable for industrial Ethernet use

}Shielded RJ45 connectors (industrial connectors)

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5.3.7Interface configuration

RJ45 socket

8­pin

PIN

Standard

Crossover

1

TD+ (Transmit+)

RD+ (Receive+)

2

TD­ (Transmit­)

RD­ (Receive­)

3

RD+ (Receive+)

TD+ (Transmit+)

8

1

4

n.c.

n.c.

5

n.c.

n.c.

6

RD­ (Receive­)

TD­ (Transmit­)

7

n.c.

n.c.

8

n.c.

n.c.

5.3.8RJ45 connection cable

RJ45 connector

8­pin

10BaseT cable or 100BaseTX cable

max. 100 m

8

1

NOTICE

With the plug­in connection please note that the data cable and connector have a limited mechanical load capacity. Appropriate design measures should be used to ensure that the plug­in connection is insensitive to in­ creased mechanical stress (e.g. through shock, vibration). Such measures include fixed routing with strain relief, for example.

5.3.9Process data exchange

The RJ45 interfaces on the internal autosensing switch enable process data to be ex­ changed with other Ethernet subscribers within a network.

The PNOZ m ES ETH can also be connected to Ethernet via a hub (hub or switch).

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	Ethernet
Hub/Switch	Hub/Switch
Ethernet subscriber	Ethernet subscriber
	PC with PNOZmulti
PNOZ m B0 +	Configurator
PNOZ m ES ETH
	PNOZ m B0 +
	PNOZ m ES ETH

Fig.: PNOZmulti 2 as Ethernet subscriber ­ possible topologies

5.4Communication procedure

The PNOZmulti 2 is always the connection's Server in the communication; the communica­ tion partner (PC, SPS) is the Client.

INFORMATION

For communication via Ethernet, the Ethernet interface must be set up in the PNOZmulti Configurator. The procedure is described in the PNOZmulti Configurator's online help.

Each communication is started by sending a request to the PNOZmulti 2. Requests are used to receive data from the PNOZmulti 2 or send data to the PNOZmulti 2 :

1. Request:

The user sends a request to the PNOZmulti 2 via the communications partner.

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2. Response:

The PNOZmulti 2 sends a response to the communications partner after approx. 20 to 30 ms, confirming that the request has been received without error. Data is sent in accordance with the request.

5.5Telegram structure

The telegram used for communication consists of:

}a header,

}the payload,

}a footer.

Telegram	Byte	Request		Byte	Response
section
	0	0x05		0	0x05
	1	0x15		1	0x15
Header	2	0x00		2	0x00
	3	Payload amount +5		3	Payload amount +5
	4	Request No.		4	Confirmation/error
	5	Segment No. HB		5	Segment No. HB
	6	Segment No. LB		6	Segment No. LB
	7	0x00		7	Reserved
	8	Payload Byte 0		8	Payload Byte 0
	9	Payload Byte 1		9	Payload Byte 1
Payload	10	Payload Byte 2		10	Payload Byte 2
	...	...		...	...
	Payload	Payload Byte n		Payload	Payload Byte n
	amount +7			amount +7
	Payload	BCC		Payload	BCC
	amount +8			amount +8
Footer	Payload	0x10		Payload	0x10
	amount +9			amount +9

5.5.1	Header
	Byte 0 ... Byte 7 form the data block's header

}Byte 0: Always 0x05

}Byte 1: Always 0x15

}Byte 2: Always 0x00

}Byte 3: Payload amount plus 5

}Byte 4

–Request: Request number

A request is defined via the request number Requests [ 33]

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