Pilz PNOZ mm0p 24VDC User Manual

PNOZmulti communication interfaces

Configurable Control System PNOZmulti

Operating Manual-1001154-EN-13

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

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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

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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

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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

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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.

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.

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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 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:

	Fieldbus modules	Base units
	PNOZmulti fieldbus modules	PNOZmulti base units with inte-
	PNOZ mcXp	grated RS232 interface
		PNOZ mXp

	PNOZmulti fieldbus modules	PNOZmulti base units with inte-
	PNOZ mcXp	grated Ethernet interface
		PNOZ mXp ETH

PNOZmulti Mini fieldbus mod-	Base units PNOZmulti Mini
ules
PNOZ mmcXp

Information

If fieldbus modules are used for communication, the integrated RS232/Ethernet interface is only used to download the project during commissioning

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Overview - Communication options

2.2Communication 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 [ 75].

The following device combinations are possible:

	Base units PNOZmulti Mini + communication
Base units PNOZmulti with integrated interface	module
Base units with inte-	Base units PNOZmulti
grated RS232 interface	Mini PNOZ mmXp
PNOZ mXp	+
	Communication mod-
	ule with RS232 inter-
	face
	PNOZ mmc2p

	Base units with inte-	Base units PNOZmulti
	grated Ethernet inter-	Mini PNOZ mmXp
	face	+
	PNOZ mXp ETH
		Communication mod-
		ule with Ethernet inter-
		face 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.

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Overview - Communication options

2.3Communication 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 [ 93].

The following device combinations are possible:

		Base units PNOZmulti Mini +
Base units PNOZmulti with integrated interface		Communication module
PNOZmulti base units		Base units PNOZmulti
with Ethernet interface		Mini
PNOZ mXp ETH		+
		Communication mod-
		ule with Ethernet inter-
		face
		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.

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Safety

3 Safety

3.1Intended 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-safe- ty 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.

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 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 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 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).

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Fieldbus modules

4	Fieldbus modules

4.1Basics

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.

4.1.1Input data (to the PNOZmulti)

Double Word	Word	Byte	Content
0	0	0
			State of virtual inputs
		1
	1	2
		3	Reserved
1	2	4	Table number
		5	Segment number
	3	6	Reserved
		7	Reserved
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

19Reserved

4.1.2Output data (from the PNOZmulti)

Double Word	Word	Byte	Content
0	0	0
			State of virtual outputs
		1
	1	2
		3	LED status

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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	.
		17	.
	9	18	Byte 12 of Table x, Segment y
		19	Reserved

4.1.3Note on the PNOZ mc6p (CANopen)

The output data on the PNOZmulti is stored as follows:

	Object Index	Sub Index
Byte	(hex)	(hex)	PDO	COB-ID
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

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Fieldbus modules

	Object Index	Sub Index
Byte	(hex)	(hex)	PDO	COB-ID
16	2000	11	TPDO 3	PNOZ mc6p: 1C0h + node
				address PNOZ mc6.1p,
17	2000	12
				PNOZ mmc6p:
18	2000	13
				380h
19	2000	14		+ node address

The input data on the PNOZmulti is stored as follows:

	Object Index	Sub Index
Byte	(hex)	(hex)	PDO	COB-ID
0	2100	1	RPDO	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	PNOZ mc6p:
				240h
17	2100	12
				+ node address
18	2100	13
				PNOZ mc6.1p, PNOZ
19	2100	14
				mmc6p:
				400h
				+ node address
Key to abbreviations:
TPDO: Transmit Process Data Object
RPDO: Receive Process Data Object
COB-ID: Communication Object Identifier

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Fieldbus modules

4.1.4Assignment 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

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Fieldbus modules

4.1.5Assignment 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	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
	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	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
	.	.	.
	.		.
		.
	.		.
		.

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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	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

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.

Master	Fieldbus module
Byte

4Table No.

5Segment No.

60

..

. .

..

18 0

Byte
4
		Table No.
5		Segment No.
6		x
	.	.
.		.
.		.
18
		x

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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!

Byte	Master	Fieldbus module
4
	Table Number 9

5Segment Number 1

6Segment Byte 0 (i24 ... i31)

..

. .

..

18 Segment Byte 12 (i120 ... i127)

Byte
4
		Table Number 9
5		Segment Number 1
6		Segment Byte 0 (o24 ...	o31)
	.	.
.		.
.		.

18 Segment Byte 12 (o120 ... o127)

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Fieldbus modules

4.1.5.1Example 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.

Master

Fieldbus module

41

52

60

..

. .

..

18 0

4	1
5	2
6	x
.	.
.	.
.	.
18
	x

41

55

60

..

. .

..

18 0

4	1
5	5
6	x
.	.
.	.
.	.
18
	x

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Fieldbus modules

4.1.5.2Example 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".

Master

Fieldbus module

43

51

60

..

. .

..

18 0

4	3
5	1
6	x
.	.
.	.
.	.
18
	x

45

525

60

..

. .

..

18 0

4	5
5	FF
6	x
.	.
.	.
.	.
18
	x

4.2PNOZ mc2p, PNOZ mc2.1p, PNOZ mmc11p (SDO and PDO)

4.2.1Overview

4.2.1.1PNOZ 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.

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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–	Output data
				0x80
0x1A01	128	TxPDO	0x2001	0x01–	Diagnostic word (Low Byte)
				0x80
0x1A02	128	TxPDO	0x2002	0x01–	Diagnostic word (High Byte)
				0x80
0x1A03	128	TxPDO	0x2003	0x01–	Status of inputs
				0x80
					Status of input LED
					State of outputs
					Status of LED
0x1600	20	RxPDO	0x2100	0x01–	Input data
				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.

4.2.1.2PNOZ 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.

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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".

4.2.2Object Directory (Manufacturer Specific Profile Area)

4.2.2.1SDO Index 0x2000

This index contains the output data

Index (hex)	Name	Content	Example/explanation
0x2000:01	Input Byte 0	Outputs Bit 0 … 7
		Fieldbus module
0x2000:02	Input Byte 1	Outputs Bit 8 … 15
		Fieldbus module
0x2000:03	Input Byte 2	Outputs Bit 16 … 23
		Fieldbus module
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
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	Input Byte 19	Reserved

…...

0x2000:3F Input Byte 62

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Fieldbus modules

Index (hex)	Name	Content	Example/explanation
0x2000:40	Input Byte 63	i0 ... i7 Safe	Inputs, safe Ethernet connection
		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	Input Byte 69	Reserved.
…	…
0x2000:47	Input Byte 70
0x2000:48	Input Byte 71	o0 ... o7 Safe	Outputs, safe Ethernet connection
		Ethernet connection
0x2000:49	Input Byte 72	o8 ... o15 Safe
		Ethernet connection
0x2000:4A	Input Byte 73	o16 ... o23 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	Input Byte 77	Reserved.
…	…
0x2000:4F	Input Byte 78
0x2000: 50	Input Byte 79	I0 ... I7	Virtual inputs on the 2nd link module PNOZ ml1p:
		1st expansion module,
		left
0x2000:51	Input Byte 80	I8 ... I15
		1st expansion module,
		left
0x2000:52	Input Byte 81	I16 ... I23	Sub-Index 54:
		1st expansion module,
			I7	I6	I5	I4	I3	I2	I1	I0
		left
0x2000:53	Input Byte 82	I24 ... I31	Sub-Index 55:
		1st expansion module,
			I15	I14	I13	I12	I11	I10	I9	I8
		left

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Sub-Index 57:

Sub-Index 56:

Example/explanation

2nd expansion module, I31 I30 I29 I28 I27 I26 I25 I24 left

I16 ... I23

2nd expansion module, If an output has a high signal, the corresponding left Bit will contain "1"; if the output is open (low sig- I24 ... I31 nal), the Bit will contain "0".

2nd expansion module, left

I0 ... I7

3rd expansion module, left

I8 ... I15

3rd expansion module, left

I16 ... I23

3rd expansion module, left

I24 ... I31

3rd expansion module, left

I0 ... I7

4th expansion module, left

I8 ... I15

4th expansion module, left

I16 ... I23

4th expansion module, left

I24 ... I31

4th expansion module, left

I0 ... I7

5th expansion module, left

I8 ... I15

5th expansion module, left

I8 ... I15

I19 I18 I17 I16

2nd expansion module, I23 I22 I21 I20 left

I0 ... I7

Content

Fieldbus modules

Index (hex)	Name
0x2000:54	Input Byte 83
0x2000:55	Input Byte 84
0x2000:56	Input Byte 85
0x2000:57	Input Byte 86
0x2000:58	Input Byte 87
0x2000:59	Input Byte 88
0x2000:5A	Input Byte 89
0x2000:5B	Input Byte 90
0x2000:5C	Input Byte 91
0x2000:5D	Input Byte 92
0x2000:5E	Input Byte 93
0x2000:5F	Input Byte 94
0x2000:60	Input Byte 95
0x2000:61	Input Byte 96

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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	Virtual outputs on the 3rd link module PNOZ
		1st expansion module,		ml1p:
		left
0x2000:69	Input Byte 104	O8	... O15	Sub-Index 70:
		1st expansion module,
				O7	O6	O5	O4	O3	O2	O1	O0
		left
0x2000:6A	Input Byte 105	O16 ... O23		Sub-Index 71:
		1st expansion module,
				O15	O14	O13	O12	O11	O10	O9	O8
		left
0x2000:6B	Input Byte 106	O24 ... O31		Sub-Index 72:
		1st expansion module,
				O23	O22	O21	O20	O19	O18	O17	O16
		left
0x2000:6C	Input Byte 107	O0	... O7	Sub-Index 73:
		2nd expansion module,
				O31	O30	O29	O28	O27	O26	O25	O24
		left
0x2000:6D	Input Byte 108	O8	... O15
		2nd expansion module,		If an output has a high signal, the corresponding
		left		Bit will contain "1"; if the output is open (low sig-
				nal), the Bit will contain "0".
0x2000:6E	Input Byte 109	O16 ... O23
		2nd expansion module,
		left

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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

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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

4.2.2.2SDO 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-	The diagnostic word is displayed in the PNOZmulti Config-
			nostic word.	urator and on the PVIS expanded diagnostics (see chapter
			Element ID=1	entitled Diagnostic word [							128] and the online help for the
				PNOZmulti Configurator)
...	...
				Element-ID = 1,
0x2001:64	Input Byte 227		Low Byte diag-
				e.g. diagnostic word of E-STOP:
			nostic word.
				Low Byte:
			Element ID=100
				0		0		0		0		0		0		1		0
				Message: Pushbutton operated
0x2001:65	Input Byte 228		Output Bits of	Each element is assigned an ID in the PNOZmulti Configu-
...	...		Element ID = 1	rator. If the element's output = 0 (no enable), the corre-
			... 100	sponding bit is set.
0x2001:71	Input Byte 240
				Sub								Element ID
				Index
				65	8		7		6		5		4		3		2		1
				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
0x2001:72	Input Byte 241		Reserved
...	...
0x2001:80	Input Byte 255

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Fieldbus modules

Index (hex)	Name	Content	Example/explanation
0x2002:01	Input Byte 256	High Byte diag-	See Index 2001 for comment
		nostic word.	Element ID = 1,
		Element ID=1
			e.g. diagnostic word of E-STOP:
...	...	...	High Byte:
0x2002:64	Input Byte 355	High Byte diag-
			0	0	0		0	0	0	0	1
		nostic word.
			Message: Wiring error, clock error
		Element ID=100
0x2002:65	Input Byte 356	Reserved
...	...
0x2002:80	Input Byte 383

4.2.2.3SDO Index 0x2003

This index contains the state of the inputs/outputs plus the LED status

Index

Input

(hex)

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

PNOZ m1p and one expansion module PNOZ mi1p

0x2003:02

385

I8

... I15 base unit,

I8

... I15 base unit Mini

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

Sub-Index 3: PNOZ m1p

module, right

0

0

0

0

I19

I18

I17

I16

0x2003:07

390

I0

... I7 2nd expansion

Sub-Index 4:

module, right

0

0

0

0

0

0

0

0

0x2003:08

391

I0

... I7 3rd expansion

Sub-Index 5:

module, right

0

0

0

0

0

0

0

0

0x2003:09

392

I0

... I7 4th expansion

Sub-Index 6: PNOZ mi1p

module, right

I7

I6

I5

I4

I3

I2

I1

I0

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Fieldbus modules

Index

Input

(hex)

Byte

Content

Example/Comment

0x2003:A

393

I0 ... I7 5th expansion

module, right

If an input has a high signal, the corresponding bit will be

0x2003:B

394

I0 ... I7 6th expansion

"1"; if an input has a low signal, the bit will be "0".

module, right

0x2003:C

395

I0 ... I7 7th expansion

INFORMATION:

module, right

On the base units PNOZmulti Mini, the status of the con-

0x2003:D

396

I0 ... I7 8th expansion

figurable inputs/outputs is only displayed if they are con-

module right

figured as inputs in the PNOZmulti Configurator.

0x2003:E

397

Reserved

Assignment of Bytes on the base units PNOZmulti Mini:

...

...

Sub-Index 1: PNOZ mmxp

0x2003:10

399

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

0x2003:11

400

LED I0 ... I7 base unit

For example: The safety system consists of one base unit

PNOZ m1p and one expansion module PNOZ mi1p

0x2003:12

401

LED I8 ... I15 base unit

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-

Sub-Index 13: PNOZ m1p

sion module, right

0

0

0

0

I19

I18

I17

I16

0x2003:17

406

LED I0 ... I7 2nd expan-

Sub-Index 14:

sion module, right

0

0

0

0

0

0

0

0

0x2003:18

407

LED I0 ... I7 3rd expan-

Sub-Index 15:

sion module, right

0

0

0

0

0

0

0

0

0x2003:19

408

LED I0 ... I7 4th expan-

Sub-Index 16: PNOZ mi1p

sion module, right

I7

I6

I5

I4

I3

I2

I1

I0

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