Pilz PNOZ mm0p 24VDC User Manual
PNOZmulti communication interfaces
Configurable Control System PNOZmulti
Operating Manual-1001154-EN-13
Preface
This document is a translation of the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for internal purposes. Suggestions and comments for improving this documentation will be
gratefully received.
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 RS232/ETH interfaces 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) 13
4.1.2 Output data (from the PNOZmulti) 13
4.1.3 Note on the PNOZ mc6p (CANopen) 14
4.1.4 Assignment of Byte 0 ... Byte 3 16
4.1.5 Assignment of Byte 4 ... Byte 18 17
4.1.5.1 Example 1 20
4.1.5.2 Example 2 21
4.2 PNOZ mc2p, PNOZ mc2.1p, PNOZ mmc11p (SDO and PDO) 21
4.2.1 Overview 21
4.2.1.1 PNOZ mc2p 21
4.2.1.2 PNOZ mc2.1p/PNOZ mmc11p 22
4.2.2 Object Directory (Manufacturer Specific Profile Area) 23
4.2.2.1 SDO Index 0x2000 23
4.2.2.2 SDO Index 0x2001 and Index 0x2002 28
4.2.2.3 SDO Index 0x2003 29
4.2.2.4 SDO Index 0x2100 34
4.2.2.5 SDO Index 0x2004 34
4.2.2.6 SDO Index 0x2005 37
4.3 PNOZ mc6p, PNOZ mc6.1p, PNOZ mmc6p, PNOZ mc12p (SDO) 38
4.3.1 Overview 38
4.3.2 System requirements 38
4.3.3 Object Directory 39
4.3.3.1 Index 2000 39
4.3.3.2 Index 2001 and 2002 42
4.3.3.3 Index 2003 44
4.3.3.4 Index 2004 48
4.3.3.5 Index 2005 51
4.3.3.6 Index 2100 51
4.4 PNOZ mc8p Ethernet IP / Modbus TCP 51
4.4.1 Introduction 51
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
3
Content
4.4.2 Overview 51
4.4.3 Module features 52
4.4.4 Assigning the IP address to your PC 52
4.4.5 Setting the IP address of the expansion module 52
4.4.6 Changing IP settings 52
4.4.7 Data exchange 53
4.4.7.1 Ethernet IP 53
4.4.7.2 Modbus TCP 53
4.4.8 Web interface for commissioning and testing 54
4.4.9 Restricting access 54
4.4.10 Input and output data 55
4.4.10.1 Assigning the inputs/outputs in the PNOZmulti Configurator to the Ether-
55
net IP/Modbus TCP input/output data
4.5 PNOZ mc10p sercos III 56
4.5.1 Overview 56
4.5.2 System requirements 56
4.5.3 Object buffer 57
4.5.3.1 Output data 57
4.5.3.2 Diagnostic word 59
4.5.3.3 Status of the inputs, outputs and LEDs 60
4.5.3.4 Configuration 64
4.5.3.5 Element types 67
4.5.3.6 Input data 67
4.5.3.7 Diagnostic data 68
4.5.4 Firmware/FPGA update 69
4.5.5 Forcing the virtual input data 70
4.5.6 Communication with the sercos III Master 70
4.5.6.1 Synchronous data exchange 70
4.5.6.2 Asynchronous data access 71
4.5.7 Sercos Master interface 72
4.5.7.1 Supported profiles 72
4.5.7.2 Default settings 73
4.5.7.3 Description of IDNs 73
4.5.7.4 Communication channels with the PNOZmulti 74
4.5.7.5 Diagnostics 74
Section 5 RS232/Ethernet interfaces 75
5.1 Overview 75
5.2 System requirements 75
5.3 Interface description 75
5.3.1 Ethernet interfaces 75
5.3.1.1 RJ45 interfaces ("Ethernet") 76
5.3.1.2 Requirements of the connection cable and connector 76
5.3.1.3 Interface configuration 77
5.3.1.4 RJ45 connection cable 77
5.3.1.5 Process data exchange 77
5.3.2 Serial interface RS232 78
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
4
Content
5.4 Communication procedure 78
5.5 Telegram structure 79
5.5.1 Header 80
5.5.2 Usable data 80
5.5.3 Information data 80
5.6 Usable data 81
5.6.1 Virtual inputs (Input Byte 0 ... Input Byte 15) 81
5.6.1.1 Mask (Mask Byte 0 ... Mask Byte 15) 81
5.6.1.2 Watchdog 81
5.6.2 Virtual outputs (Output Byte 0 ... Output Byte 15) 81
5.6.3 LED status 82
5.6.4 Tables 82
5.7 Requests 82
5.7.1 Send virtual inputs to the PNOZmulti 83
5.7.2 Send virtual inputs to the PNOZmulti, request state of the virtual outputs
84
and LED status from the PNOZmulti
5.7.2.1 Control Byte (Byte 40) 85
5.7.3 Request state of virtual inputs and outputs from PNOZmulti 86
5.7.4 Send data from the PNOZmulti in table form 87
5.7.5 Send input and output data (cf. fieldbus communication) 88
5.7.5.1 Input data (to the PNOZmulti) 88
5.7.5.2 Output data (from the PNOZmulti) 89
5.7.5.3 Control Byte (Byte 5) 90
5.8 Troubleshooting 91
5.8.1 Request format does not meet specifications 91
5.8.2 Error while executing a request 91
Section 6 Modbus/TCP 93
6.1 System requirements 93
6.2 Modbus/TCP - Basics 93
6.3 Modbus/TCP with PNOZmulti 94
6.4 Data areas 95
6.4.1 Overview 95
6.4.2 Function codes 95
6.4.3 Data transfer limits 96
6.4.4 Assignment of data areas 97
6.4.4.1 Virtual inputs 97
6.4.4.2 Control Register 98
6.4.4.3 Virtual outputs 99
6.4.4.4 LEDs 99
6.4.4.5 Configuration 100
6.4.4.6 State of the inputs from the base unit and expansion modules 102
6.4.4.7 State of the outputs from the base unit and expansion modules 104
6.4.4.8 LED status 105
6.4.4.9 Diagnostic word, element types 108
6.4.4.10 Current state of the virtual inputs 114
6.4.4.11 Current states of the virtual inputs for the safe Ethernet connection 115
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
5
Content
6.4.4.12 State of process data 115
6.4.4.13 Safe Ethernet connection 116
6.4.5 Updating the data areas 116
6.4.6 Bit addressing in a Register 117
6.5 Example 118
Section 7 Safe Ethernet connection 119
7.1 Overview 119
7.2 System requirements 119
7.3 Function description 119
7.4 Configuration in the PNOZmulti Configurator 119
7.5 Modbus configuration 120
7.6 Reaction time 121
7.7 Application guidelines 124
Section 8 Diagnostic word 128
8.1 Introduction 128
8.2 Elements with diagnostic word 128
8.3 Structure of the diagnostic word 129
8.4 Evaluate diagnostic word 129
8.4.1 Example 131
8.5 Compilation of the diagnostic words 131
8.5.1 Function elements 132
8.5.2 Cascading 134
8.5.3 Logic elements 134
8.5.4 Output elements 141
Section 9 Appendix 143
9.1 Table assignment 143
9.2 Table 1 143
9.3 Table 3 149
9.4 Table 4 151
9.5 Table 5 155
9.6 Table 7 159
9.7 Table 8 166
9.8 Table 9 169
9.9 Table 10 172
9.10 Table 11 172
9.11 Element types 173
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
6
Introduction
1
1.1
Introduction
Definition of symbols
Information that is particularly important is identified as follows:
DANGER!
This warning must be heeded! It warns of a hazardous situation that poses
an immediate threat of serious injury and death and indicates preventive
measures that can be taken.
WARNING!
This warning must be heeded! It warns of a hazardous situation that could
lead to serious injury and death and indicates preventive measures that can
be taken.
ATTENTION!
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.
CAUTION!
This describes a situation in which the product or devices 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.
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
7
Overview - Communication options
2
2.1
Fieldbus modules Base units
PNOZmulti fieldbus modules
PNOZ mcXp
Overview - Communication options
Communication via the fieldbus modules
With communication via the fieldbus modules, the data area provided by the PNOZmulti for
communication is divided into subsections, which are stored in tables. Each table consists
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 virtual input and output data is also transmitted in each telegram
(exception: communication with CANopen).
Communication via the fieldbus modules is described in detail in the chapter entitled "Fieldbus modules".
The following device combinations are possible:
PNOZmulti base units with integrated RS232 interface
PNOZ mXp
PNOZmulti fieldbus modules
PNOZ mcXp
PNOZmulti Mini fieldbus modules
PNOZ mmcXp
PNOZmulti base units with integrated Ethernet interface
PNOZ mXp ETH
Base units PNOZmulti Mini
Information
If fieldbus modules are used for communication, the integrated RS232/Ethernet interface is only used to download the project during commissioning
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
8
Overview - Communication options
2.2
Base units PNOZmulti with integrated interface
Base units with integrated RS232 interface
PNOZ mXp
Communication via the RS232/ETH interfaces
With communication via the integrated RS232 or Ethernet interface, data exchange is defined via a special protocol. This protocol is described in more detail in the chapter entitled
RS232/Ethernet interfaces [
The following device combinations are possible:
75].
Base units PNOZmulti Mini + communication
module
Base units PNOZmulti
Mini PNOZ mmXp
+
Communication module with RS232 interface
PNOZ mmc2p
Base units with integrated Ethernet interface
PNOZ mXp ETH
Base units PNOZmulti
Mini PNOZ mmXp
+
Communication module with Ethernet interface PNOZ mmc1p
Information
For communication via the integrated RS232 or Ethernet interface, the interface "Inputs/outputs that are downloaded via the integrated interface" must
be configured in the hardware configuration in the PNOZmulti Configurator.
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
9
Overview - Communication options
2.3
Base units PNOZmulti with integrated interface
PNOZmulti base units
with Ethernet interface
PNOZ mXp ETH
Communication via Modbus/TCP
For data exchange with Modbus/TCP, the PNOZmulti 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 [
The following device combinations are possible:
93].
Base units PNOZmulti Mini +
Communication module
Base units PNOZmulti
Mini
+
Communication module with Ethernet interface
PNOZ mmc1p
Information
For communication with Modbus/TCP, the interface "Inputs/outputs that are
downloaded via the integrated interface" must be configured in the hardware configuration in the PNOZmulti Configurator.
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
10
Safety
3
3.1
3.2
Safety
Intended use
The communication interface on the configurable control system PNOZmulti is used to
transfer diagnostic data to an application program. The data may only be used for non-safety purposes, e.g. visualisation.
CAUTION!
For details of the intended use and application of the configurable control
system PNOZmulti, please refer to the operating instructions for the respective 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.
Safety regulations
3.2.1
3.2.2
Use of qualified personnel
The products may only be assembled, installed, programmed, commissioned, operated,
maintained and decommissioned by competent persons.
A competent person is someone who, because of their training, experience and current 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 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.
Warranty and liability
All claims to warranty and liability will be rendered invalid if
} The product was used contrary to the purpose for which it is intended
} Damage can be attributed to not having followed the guidelines in the manual
} Operating personnel are not suitably qualified
} Any type of modification has been made (e.g. exchanging components on the PCB
boards, soldering work etc.).
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
11
Safety
3.2.3
Disposal
} In safety-related applications, please comply with the mission time tM in the safety-relat-
ed characteristic data.
} When decommissioning, please comply with local regulations regarding the disposal of
electronic devices (e.g. Electrical and Electronic Equipment Act).
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
12
Fieldbus modules
4
4.1
4.1.1
Fieldbus modules
Basics
The input and output range is each reserved an area of 20 Bytes for communication via
fieldbuses; this is updated approx. every 15 ms. The Master (PC, PLC) can send 20 Bytes
to the PNOZmulti and receive 20 Bytes from the PNOZmulti. The Master can process the
information in bytes, words or in double words.
Input data (to the PNOZmulti)
Double Word Word Byte Content
0 0 0
1
1 2
3 Reserved
1 2 4 Table number
5 Segment number
3 6 Reserved
7 Reserved
State of virtual inputs
4.1.2
2 4 8 Reserved
9 Reserved
5 10 Reserved
11 Reserved
3 6 12 Reserved
13 Reserved
7 14 Reserved
15 Reserved
4 8 16 Reserved
17 Reserved
9 18 Reserved
19 Reserved
Output data (from the PNOZmulti)
Double Word Word Byte Content
0 0 0
1
State of virtual outputs
1 2
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
3 LED status
13
Fieldbus modules
Double Word Word Byte Content
1 2 4 Table number
5 Segment number
3 6 Byte 0 of Table x, Segment y
7 Byte 1 of Table x, Segment y
2 4 8 .
9 .
5 10 .
11 .
3 6 12 .
13 .
7 14 .
15 .
4 8 16 .
4.1.3
17 .
9 18 Byte 12 of Table x, Segment y
19 Reserved
Note on the PNOZ mc6p (CANopen)
The output data on the PNOZmulti is stored as follows:
Object Index
Byte
0 2000 1 TPDO 1 180h
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
9 2000 A
(hex)
Sub Index
(hex) PDO COB-ID
+ node address
+ node address
10 2000 B
11 2000 C
12 2000 D
13 2000 E
14 2000 F
15 2000 10
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
14
Fieldbus modules
Byte
Object Index
(hex)
Sub Index
(hex) PDO COB-ID
16 2000 11 TPDO 3 PNOZ mc6p: 1C0h + node
17 2000 12
18 2000 13
19 2000 14
address PNOZ mc6.1p,
PNOZ mmc6p:
380h
+ node address
The input data on the PNOZmulti is stored as follows:
Byte
Object Index
(hex)
Sub Index
(hex) PDO COB-ID
0 2100 1 RPDO 200h
1 2100 2
+ node address
2 2100 3
3 2100 4
4 2100 5
5 2100 6
6 2100 7
7 2100 8
8 2100 9 RPDO 2 300h
9 2100 A
+ node address
10 2100 B
11 2100 C
12 2100 D
13 2100 E
14 2100 F
15 2100 10
16 2100 11 RPDO 3 PNOZ mc6p:
17 2100 12
18 2100 13
19 2100 14
240h
+ node address
PNOZ mc6.1p, PNOZ
mmc6p:
400h
+ node address
Key to abbreviations:
TPDO: Transmit Process Data Object
RPDO: Receive Process Data Object
COB-ID: Communication Object Identifier
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
15
Fieldbus modules
4.1.4
Assignment of Byte 0 ... Byte 3
The current status of the virtual outputs configured for the fieldbus plus the current status of
the LED are always stored in Byte 0 ... Byte 3. All other information is stored in various tables (see Appendix).
Input area
The virtual inputs are defined by the Master and transferred to the PNOZmulti. Each input
has a number, e.g. input bit 4 of byte 1 has the number i12.
Byte
0 i7 i6 i5 i4 i3 i2 i1 i0
1 i15 i14 i13 i12 i11 i10 i9 i8
2 i23 i22 i21 i20 i19 i18 i17 i16
3 Reserved
Output area
The virtual outputs are defined in the PNOZmulti Configurator. Each output that is used is
given a number there, e.g. o0, o5... . The status of output o0 is stored in bit 0 of byte 0; the
status of output o5 is stored in bit 5 of byte 0 etc.
Byte
0 o7 o6 o5 o4 o3 o2 o1 o0
1 o15 o14 o13 o12 o11 o10 o9 o8
2 o23 o22 o21 o20 o19 o18 o17 o16
The status of the LEDs is stored in Byte 3 (output area only):
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
Bit 4 = 1: LED RUN is lit
Bit 5: Communication between the PNOZmulti and the fieldbus is working
Bit 6: Reserved
Bit 7: Reserved
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
16
Fieldbus modules
4.1.5
Assignment of Byte 4 ... Byte 18
Byte Table
4 Table number
5 Segment number
6 Byte 0 of Table Segment 1
7 Byte 1 of Table Segment 1
8 Byte 2 of Table Segment 1
9 Byte 3 of Table Segment 1
10 Byte 4 of Table Segment 1
11 Byte 5 of Table Segment 1
12 Byte 6 of Table Segment 1
13 Byte 7 of Table Segment 1
14 Byte 8 of Table Segment 1
15 Byte 9 of Table Segment 1
16 Byte 10 of Table Segment 1
17 Byte 11 of Table Segment 1
18 Byte 12 of Table Segment 1
Segment 1
6 Byte 0 of Table Segment 2
7 Byte 1 of Table Segment 2
8 Byte 2 of Table Segment 2
9 Byte 3 of Table Segment 2
10 Byte 4 of Table Segment 2
11 Byte 5 of Table Segment 2
12 Byte 6 of Table Segment 2
13 Byte 7 of Table Segment 2
14 Byte 8 of Table Segment 2
15 Byte 9 of Table Segment 2
16 Byte 10 of Table Segment 2
17 Byte 11 of Table Segment 2
18 Byte 12 of Table Segment 2
.
.
.
. .
.
.
Segment 2
.
.
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
17
Fieldbus modules
Byte Table
6 Byte 0 of Table Segment n
7 Byte 1 of Table Segment n
8 Byte 2 of Table Segment n
9 Byte 3 of Table Segment n
10 Byte 4 of Table Segment n
11 Byte 5 of Table Segment n
12 Byte 6 of Table Segment n
13 Byte 7 of Table Segment n
14 Byte 8 of Table Segment n
15 Byte 9 of Table Segment n
16 Byte 10 of Table Segment n
17 Byte 11 of Table Segment n
18 Byte 12 of Table Segment n
Segment n
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 (e.g. PNOZ mc3p) repeats the two numbers and
sends the requested data. If data is requested that is not available, the Slave sends the error message “FF” instead of the segment number. The segments may be requested in any
sequence.
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
18
Fieldbus modules
Exception: Table 9 segment 1:
With this table you can set the expanded inputs 24 - 127 and upload the expanded outputs
24 - 127. In contrast to the other tables, in this case the Master not only requests data but
also sends input data to the PNOZmulti via the fieldbus module. Each input is assigned a
Bit in the segment Bytes 0 ... 12 of the input data, each output is assigned a Bit in the segment Bytes 0 ... 12 of the output data.
ATTENTION!
The expanded input Bits are only updated when table 9 segment 1 is accessed. In the event of a fieldbus error, input bits i24 ... i127 in the PNOZmulti are frozen!
Table Number 9
Segment Number 1
Segment Byte 0 (i24 ... i31)
Segment Byte 12 (i120 ... i127)
Table Number 9
Segment Number 1
Segment Byte 0 (o24 ... o31)
Segment Byte 12 (o120 ... o127)
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
19
Fieldbus modules
4.1.5.1
Example 1
The Master requests segment 2 from table 1. The fieldbus module repeats both these details and sends segment 2. Then the data from segment 12.70 cm table 1 is transmitted.
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
20
Fieldbus modules
4.1.5.2
Example 2
The Master requests segment 1 from table 3. The fieldbus module repeats both of these
details and sends segment 1. Then the Master requests segment 25 from table 5. As this
table does not contain a segment 25, the Slave registers an error and sends back "FF".
4.2
4.2.1
4.2.1.1
PNOZ mc2p, PNOZ mc2.1p, PNOZ mmc11p (SDO and PDO)
Overview
PNOZ mc2p
All the objects (variables and parameters) that are relevant for these units are entered in
the object directory. Service Data Objects (SDOs) are used for read and write access. The
object directory is available as an EDS file (Electronic Data Sheet), enabling SDOs to be
used in the PNOZ mc2p.
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
21
Fieldbus modules
The manufacturer-specific part of the object directory is structured as follows:
Sub-In-
PDO Size Name Index
dex Content
0x1A00 128 TxPDO 0x2000 0x01–
0x80
0x1A01 128 TxPDO 0x2001 0x01–
0x80
0x1A02 128 TxPDO 0x2002 0x01–
0x80
0x1A03 128 TxPDO 0x2003 0x01–
0x80
0x1600 20 RxPDO 0x2100 0x01–
0x14
Information
Data with indices 2001 to 2003 is only updated by the PNOZmulti piece by
piece in each cycle. This may mean that interdependent data is inconsistent. Updating all of the data can take up to 500 ms.
Output data
Diagnostic word (Low Byte)
Diagnostic word (High Byte)
Status of inputs
Status of input LED
State of outputs
Status of LED
Input data
4.2.1.2
PNOZ mc2.1p/PNOZ mmc11p
All the objects (variables and parameters) that are relevant for these units are entered in
the object directory. Service Data Objects (SDOs) are used for read and write access.
The SDOs in the PNOZ mc2.1p, PNOZ mmc11p are integrated in an ESI file (Ethercat
Slave Information). The ESI file is incorporated in the EtherCAT Configurator for use of
SDOs in the PNOZ mc2.1p, PNOZ mmc11p.
The manufacturer-specific part of the object directory is structured as follows:
PDO Size Name Index Sub-Index Content
0x1A00 20 TxPDO 0x2000 0x01–0x14 Output data
0x1A01 128 TxPDO Configurable Configurable Default configuration of im-
portant SDOs
0x1600 20 RxPDO 0x2100 0x01–0x14 Input data
Information
Data with indices 2001 to 2003 is only updated by the PNOZmulti piece by
piece in each cycle. This may mean that interdependent data is inconsistent. Updating all of the data can take up to 500 ms.
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
22
Fieldbus modules
Information
The data length and content of the PDOs can be freely configured by the
EtherCAT Master. The maximum length is stated under "Size".
4.2.2
4.2.2.1
Index (hex) Name Content Example/explanation
0x2000:01 Input Byte 0 Outputs Bit 0 … 7
0x2000:02 Input Byte 1 Outputs Bit 8 … 15
0x2000:03 Input Byte 2 Outputs Bit 16 … 23
0x2000:04 Input Byte 3 LED status
0x2000:05 Input Byte 4 Table number
0x2000:06 Input Byte 5 Segment number
0x2000:07 Input Byte 6 Byte 0
0x2000:08 Input Byte 7 Byte 1
0x2000:09 Input Byte 8 Byte 2
Object Directory (Manufacturer Specific Profile Area)
SDO Index 0x2000
This index contains the output data
Fieldbus module
Fieldbus module
Fieldbus module
0x2000:A Input Byte 9 Byte 3
0x2000:B Input Byte 10 Byte 4
0x2000:C Input Byte 11 Byte 5
0x2000:D Input Byte 12 Byte 6
0x2000:E Input Byte 13 Byte 7
0x2000:F Input Byte 14 Byte 8
0x2000:10 Input Byte 15 Byte 9
0x2000:11 Input Byte 16 Byte 10
0x2000:12 Input Byte 17 Byte 11
0x2000:13 Input Byte 18 Byte 12
0x2000:14
…
0x2000:3F
Input Byte 19
...
Input Byte 62
Reserved
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
23
Fieldbus modules
Index (hex) Name Content Example/explanation
0x2000:40 Input Byte 63 i0 ... i7 Safe
Ethernet connection
0x2000:41 Input Byte 64 i8 ... i15 Safe
Ethernet connection
0x2000:42 Input Byte 65 i16 ... i23 Safe
Ethernet connection
0x2000:43 Input Byte 66 i24 ... i31 Safe
Ethernet connection
0x2000:44 Input Byte 67 i32 ... i39 Safe
Ethernet connection
0x2000:45 Input Byte 68 i40 ... i47 Safe
Ethernet connection
0x2000:46
…
0x2000:47
Input Byte 69
…
Input Byte 70
Reserved.
0x2000:48 Input Byte 71 o0 ... o7 Safe
Ethernet connection
0x2000:49 Input Byte 72 o8 ... o15 Safe
Ethernet connection
0x2000:4A Input Byte 73 o16 ... o23 Safe
Ethernet connection
Inputs, safe Ethernet connection
Outputs, safe Ethernet connection
0x2000:4B Input Byte 74 o24 ... o31 Safe
Ethernet connection
0x2000:4C Input Byte 75 o32 ... o39 Safe
Ethernet connection
0x2000:4D Input Byte 76 i40 ... i47 Safe
Ethernet connection
0x2000:4E
…
0x2000:4F
Input Byte 77
…
Input Byte 78
Reserved.
0x2000: 50 Input Byte 79 I0 ... I7
1st expansion module,
left
0x2000:51 Input Byte 80 I8 ... I15
1st expansion module,
left
0x2000:52 Input Byte 81 I16 ... I23
1st expansion module,
left
0x2000:53 Input Byte 82 I24 ... I31
1st expansion module,
left
Virtual inputs on the 2nd link module PNOZ ml1p:
Sub-Index 54:
I7 I6 I5 I4 I3 I2 I1 I0
Sub-Index 55:
I15 I14 I13 I12 I11 I10 I9 I8
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
24
Fieldbus modules
Index (hex) Name Content Example/explanation
0x2000:54 Input Byte 83 I0 ... I7
2nd expansion module,
left
0x2000:55 Input Byte 84 I8 ... I15
2nd expansion module,
left
0x2000:56 Input Byte 85 I16 ... I23
2nd expansion module,
left
0x2000:57 Input Byte 86 I24 ... I31
2nd expansion module,
left
0x2000:58 Input Byte 87 I0 ... I7
3rd expansion module,
left
0x2000:59 Input Byte 88 I8 ... I15
3rd expansion module,
left
0x2000:5A Input Byte 89 I16 ... I23
3rd expansion module,
left
Sub-Index 56:
I23 I22 I21 I20 I19 I18 I17 I16
Sub-Index 57:
I31 I30 I29 I28 I27 I26 I25 I24
If an output has a high signal, the corresponding
Bit will contain "1"; if the output is open (low signal), the Bit will contain "0".
0x2000:5B Input Byte 90 I24 ... I31
3rd expansion module,
left
0x2000:5C Input Byte 91 I0 ... I7
4th expansion module,
left
0x2000:5D Input Byte 92 I8 ... I15
4th expansion module,
left
0x2000:5E Input Byte 93 I16 ... I23
4th expansion module,
left
0x2000:5F Input Byte 94 I24 ... I31
4th expansion module,
left
0x2000:60 Input Byte 95 I0 ... I7
5th expansion module,
left
0x2000:61 Input Byte 96 I8 ... I15
5th expansion module,
left
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
25
Fieldbus modules
Index (hex) Name Content Example/explanation
0x2000:62 Input Byte 97 I16 ... I23
5th expansion module,
left
0x2000:63 Input Byte 98 I24 ... I31
5th expansion module,
left
0x2000:64 Input Byte 99 I0 ... I7
6th expansion module,
left
0x2000:65 Input Byte 100 I8 ... I15
6th expansion module,
left
0x2000:66 Input Byte 101 I16 ... I23
6th expansion module,
left
0x2000:67 Input Byte 102 I24 ... I31
6th expansion module,
left
0x2000:68 Input Byte 103 O0 ... O7
1st expansion module,
left
0x2000:69 Input Byte 104 O8 ... O15
1st expansion module,
left
0x2000:6A Input Byte 105 O16 ... O23
1st expansion module,
left
0x2000:6B Input Byte 106 O24 ... O31
1st expansion module,
left
0x2000:6C Input Byte 107 O0 ... O7
2nd expansion module,
left
0x2000:6D Input Byte 108 O8 ... O15
2nd expansion module,
left
0x2000:6E Input Byte 109 O16 ... O23
2nd expansion module,
left
Virtual outputs on the 3rd link module PNOZ
ml1p:
Sub-Index 70:
O7 O6 O5 O4 O3 O2 O1 O0
Sub-Index 71:
O15 O14 O13 O12 O11 O10 O9 O8
Sub-Index 72:
O23 O22 O21 O20 O19 O18 O17 O16
Sub-Index 73:
O31 O30 O29 O28 O27 O26 O25 O24
If an output has a high signal, the corresponding
Bit will contain "1"; if the output is open (low signal), the Bit will contain "0".
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
26
Fieldbus modules
Index (hex) Name Content Example/explanation
0x2000:6F Input Byte 110 O24 ... O31
2nd expansion module,
left
0x2000:70 Input Byte 111 O0 ... O7
3rd expansion module,
left
0x2000:71 Input Byte 112 O8 ... O15
3rd expansion module,
left
0x2000:72 Input Byte 113 O16 ... O23
3rd expansion module,
left
0x2000:73 Input Byte 114 O24 ... O31
3rd expansion module,
left
0x2000:74 Input Byte 115 O0 ... O7
4th expansion module,
left
0x2000:75 Input Byte 116 O8 ... O15
4th expansion module,
left
0x2000:76 Input Byte 117 O16 ... O23
4th expansion module,
left
0x2000:77 Input Byte 118 O24 ... O31
4th expansion module,
left
0x2000:78 Input Byte 119 O0 ... O7
5th expansion module,
left
0x2000:79 Input Byte 120 O8 ... O15
5th expansion module,
left
0x2000:7A Input Byte 121 O16 ... O23
5th expansion module,
left
0x2000:7B Input Byte 122 O24 ... O31
5th expansion module,
left
0x2000:7C Input Byte 123 O0 ... O7
6th expansion module,
left
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
27
Fieldbus modules
Index (hex) Name Content Example/explanation
0x2000:7D Input Byte 124 O8 ... O15
6th expansion module,
left
0x2000:7E Input Byte 125 O16 ... O23
6th expansion module,
left
0x2000:7F Input Byte 126 O24 ... O31
6th expansion module,
left
0x2000:80 Input Byte 127 Reserved
4.2.2.2
SDO Index 0x2001 and Index 0x2002
This index contains the diagnostic words and the output bits for the Element IDs.
Index (hex) Name Content Example/explanation
0x2001:01 Input Byte 128 Low Byte diag-
nostic word.
Element ID=1
The diagnostic word is displayed in the PNOZmulti Configurator and on the PVIS expanded diagnostics (see chapter
entitled Diagnostic word [
PNOZmulti Configurator)
... ...
0x2001:64 Input Byte 227 Low Byte diag-
nostic word.
Element ID=100
Element-ID = 1,
e.g. diagnostic word of E-STOP:
Low Byte:
0 0 0 0 0 0 1 0
Message: Pushbutton operated
0x2001:65
...
0x2001:71
Input Byte 228
...
Input Byte 240
Output Bits of
Element ID = 1
... 100
Each element is assigned an ID in the PNOZmulti Configurator. If the element's output = 0 (no enable), the corresponding bit is set.
Sub
Index
65 8 7 6 5 4 3 2 1
128] and the online help for the
Element ID
0x2001:72
...
0x2001:80
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
Input Byte 241
...
Input Byte 255
Reserved
66 16 15 14 13 12 11 10 9
67 24 23 22 21 20 19 18 17
...
6F 88 87 86 85 84 83 82 81
70 96 95 94 93 92 91 90 89
71 - - - - 100 99 98 97
28
Fieldbus modules
Index (hex) Name Content Example/explanation
0x2002:01 Input Byte 256 High Byte diag-
nostic word.
Element ID=1
... ... ...
0x2002:64 Input Byte 355 High Byte diag-
nostic word.
Element ID=100
0x2002:65
...
0x2002:80
4.2.2.3
Input Byte 356
...
Input Byte 383
SDO Index 0x2003
Reserved
This index contains the state of the inputs/outputs plus the LED status
Index
(hex)
Input
Byte Content Example/Comment
0x2003:01 384 I0 ... I7 base unit
IM0 ... I7 base unit Mini For example: The safety system consists of one base unit
0x2003:02 385 I8 ... I15 base unit,
I8 ... I15 base unit Mini
See Index 2001 for comment
Element ID = 1,
e.g. diagnostic word of E-STOP:
High Byte:
0 0 0 0 0 0 0 1
Message: Wiring error, clock error
PNOZ m1p and one expansion module PNOZ mi1p
0x2003:03 386 I16 ... I19 base unit
IM16 ... IM19 base unit
Mini
0x2003:04 387 0 Sub-Index 1: PNOZ m1p
I7 I6 I5 I4 I3 I2 I1 I0
0x2003:05 388 0 Sub-Index 2: PNOZ m1p
I15 I14 I13 I12 I11 I10 I9 I8
0x2003:06 389 I0 ... I7 1st expansion
module, right
0x2003:07 390 I0 ... I7 2nd expansion
module, right
0x2003:08 391 I0 ... I7 3rd expansion
module, right
0x2003:09 392 I0 ... I7 4th expansion
module, right
Sub-Index 3: PNOZ m1p
0 0 0 0 I19 I18 I17 I16
Sub-Index 4:
0 0 0 0 0 0 0 0
Sub-Index 5:
0 0 0 0 0 0 0 0
Sub-Index 6: PNOZ mi1p
I7 I6 I5 I4 I3 I2 I1 I0
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
29
Fieldbus modules
Index
(hex)
Input
Byte Content Example/Comment
0x2003:A 393 I0 ... I7 5th expansion
module, right
0x2003:B 394 I0 ... I7 6th expansion
module, right
0x2003:C 395 I0 ... I7 7th expansion
module, right
0x2003:D 396 I0 ... I7 8th expansion
module right
0x2003:E
...
0x2003:10
397
...
399
Reserved
0x2003:11 400 LED I0 ... I7 base unit
0x2003:12 401 LED I8 ... I15 base unit
If an input has a high signal, the corresponding bit will be
"1"; if an input has a low signal, the bit will be "0".
INFORMATION:
On the base units PNOZmulti Mini, the status of the configurable inputs/outputs is only displayed if they are configured as inputs in the PNOZmulti Configurator.
Assignment of Bytes on the base units PNOZmulti Mini:
Sub-Index 1: PNOZ mmxp
I7 I6 I5 I4 IM3 IM2 IM1 IM0
Sub-Index 2: PNOZ mmxp
I15 I14 I13 I12 I11 I10 I9 I8
Sub-Index 3: PNOZ mmxp
0 0 0 0 IM19 IM18 IM17 IM16
For example: The safety system consists of one base unit
PNOZ m1p and one expansion module PNOZ mi1p
0x2003:13 402 LED I16 ... I19 base unit
0x2003:14 403 0 Sub-Index 11: PNOZ m1p
I7 I6 I5 I4 I3 I2 I1 I0
0x2003:15 404 0 Sub-Index 12: PNOZ m1p
I15 I14 I13 I12 I11 I10 I9 I8
0x2003:16 405 LED I0 ... I7 1st expan-
sion module, right
0x2003:17 406 LED I0 ... I7 2nd expan-
sion module, right
0x2003:18 407 LED I0 ... I7 3rd expan-
sion module, right
0x2003:19 408 LED I0 ... I7 4th expan-
sion module, right
Sub-Index 13: PNOZ m1p
0 0 0 0 I19 I18 I17 I16
Sub-Index 14:
0 0 0 0 0 0 0 0
Sub-Index 15:
0 0 0 0 0 0 0 0
Sub-Index 16: PNOZ mi1p
I7 I6 I5 I4 I3 I2 I1 I0
Operating Manual PNOZmulti communication interfaces
1001154-EN-13
30
Loading...