Pilz PSSu H CAN User Manual

Operating Manual PSSu H CAN(-T)

Operating Manual PSSu H CAN(-T)

PSSu H CAN(-T)

Decentralised system PSSuniversal I/O

Operating Manual — No. 21560-EN-02

This document is a translation of the original document.

All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made
for internal purposes.

Suggestions and comments for improving this documentation will be gratefully received.

Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®, SafetyEYE®,
SafetyNET p®, the spirit of safety® are registered and protected trademarks of
Pilz GmbH & Co. KG in some countries.

SD means Secure Digital.

Preface

Contents

Contents

Contents Page

Chapter 1 Introduction

1.1 Validity of documentation 1-1

1.1.1 Retaining the documentation 1-1

1.2 Overview of documentation 1-2

1.3 Definition of symbols 1-3

Chapter 2 Overview

2.1 Module features 2-1

2.2 Front view 2-2

Chapter 3 Safety

3.1 Intended use 3-1

3.2 Safety regulations 3-3

3.2.1 Use of qualified personnel 3-3

3.2.2 Warranty and liability 3-3

3.2.3 Disposal 3-3

Chapter 4 Function description

4.1 Module features 4-1

4.1.1 Integrated protection mechanisms 4-1

4.1.2 Supply voltage 4-1

4.2 CANopen 4-2

4.2.1 Connection to CANopen 4-2

4.2.2 Selector switch for setting the
transmission rate

4.2.3 Selector switch for setting the station
address

4.3 USB port 4-5

Chapter 5 Installation

5.1 General installation guidelines 5-1

5.1.1 Dimensions 5-1

5.2 Installing the head module 5-2

Chapter 6 Interfaces

6.1 Interface configuration 6-1

6.1.1 Connection to CANopen 6-1

6.1.2 Connection via USB 6-1

4-3

4-4

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

Contents

Chapter 7 Operation

7.1 Messages 7-1

7.2 Display elements 7-2

7.2.1 Display elements for system diagnostics 7-2

7.2.2 Display elements for CANopen diagnostics 7-4

7.3 CANopen object description 7-7

7.3.1 Communication profile 7-7

7.3.2 Device profile 7-8

7.3.3 Manufacturer-specific objects 7-9

7.3.4 Object overview 7-11

Chapter 8 Technical details

8.1 Technical details 8-1

8.2 Order reference 8-3

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

2

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

1 Introduction

1.1 Validity of documentation

11000IntroductionIntroduction1-1.1Validity of docume ntation1100Validity of documenta tion1-][BA Einf Gültigkeit Kopfmodul ohne S B T-Variante

This documentation is valid for the product PSSu H CAN and
PSSu H CAN-T. It is valid until new documentation is published.

Please also refer to the following documents:

 PSSuniversal System Description

Einf Einleitung

1.1.1 Retaining the documentation

Retaining the documentation1-Einf Aufbewahren

 PSSuniversal Installation Manual

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

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

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

1-1

1 Introduction

1.2 Overview of documentation

1.2Overview of documentation1200Overview of documentation1-][BA_Einführung Übersicht Kopfmodule

1 Introduction

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

2 Overview

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

3 Safety

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

4 Function Description

This chapter describes the module's individual components.

5 Installation

This chapter explains how to install the module.

6 Interfaces

This chapter describes the module's interfaces.

7 Operation

This chapter explains the display elements and advises on what to do if
a fault occurs.

8 Technical Details

This chapter contains the product's technical details and order refer­ence.

1-2

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1 Introduction

1.3 Definition of symbols

1.3Definition of symbols1300Definition of symbols1-Einfhrung Zeichen

Information that is particularly important is identified as follows:

DANGER!

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

WARNING!

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

CAUTION!

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

NOTICE

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

INFORMATION

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

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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1-3

1 Introduction

1-4

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2 Overview

2.1 Module features

22000OverviewOverview2-2.1Module features2100Module features2-Geraetemerkmale_Zusatz BA Einleitung

][Merkmale_Schnittstelle S T-Bus

][Merkmale_LED ST -Bus

][Merkmale_E-Module ST-Bus

][Geraetemerkmal_T

The product has the following features:

 CANopen-Interface for switching

– Standard inputs/outputs

 USB port for connection to a PC for

– Commissioning
– Service

 LEDs for:

– System status
–USB status
– Status of the CANopen interface

 Electronic modules that can be used for input/output:

– All standard modules

(PSSu E S...)

 Coated version of the module:

PSSu H CAN-T: for increased environmental requirements

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

2 Overview

CANopen

PSSu H
CAN

Usb Dev

USB

2

D -

3

D +

5

G N D

USB

312 047

0000000

HW 000

000

ADDRESS

OFF

ON

S1
64
32
16

8
4
2
1

S2

S2

BAUD

AUTO

OFF

500K

OFF

250K

OFF

ON

S1 OFF ONONON

BAUD

125K

Run
Err

1

2

3

4
5
6

7

8
9

10

2.2 Front view

2.2Front view2200Front view2-BA_Fron tansicht

Key:

 1: Selector switch for setting the station address and transmission

rate (CANopen)

 2: Labelling strip with guidelines for setting the transmission rate

(CANopen)

 3: CANopen interface
 4: LEDs for system diagnostics
 5: Labelling strip with:

– Order number
– Serial number
– Hardware version number
– Firmware version number on delivery

 6: Field for 2D code
 7: Labelling strip with interface configuration of the USB port
 8: LEDs for CANopen diagnostics
 9: Description of head module
 10: USB port (Mini-B)

2-2

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3 Safety

3.1 Intended use

33000SafetySafety3-3.1Intended use3100Intended use3-][Bestimmu ng ST-Bus

Bestimm_Verwend_ Zusatz-(T)

Bestimmung/Gertebeschreibung_Ausschluss

The module is designed for use in:

 Non-safety-related applications with

–CANopen

The module PSSu H CAN-T is suitable for use where there are increased
environmental requirements (see Technical Details).

Intended use includes making the electrical installation EMC-compliant.
Please refer to the guidelines stated in the "PSSuniversal Installation
Manual". The module is designed for use in an industrial environment. It
is not suitable for use in a domestic environment, as this can lead to in­terference.

Bestimm_Verwend_Info_PSSu_ab_1.4.0

BA_Bestimmung Ausschluss Zusatz Kopf - E-Modul

The following is deemed improper use in particular:

 Any component, technical or electrical modification to the module
 Use of the module outside the areas described in this manual
 Use of the module outside the technical details (see chapter entitled

"Technical Details")

INFORMATION

The module is supported by the PSSuniversal Configurator and
PSSuniversal Assistant from Version 1.4.0. We recommend that
you always use the latest version (download from www.pilz.de).

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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3-1

3 Safety

3.1 Intended use

The head module may be used in conjunction with the following elec-

][BA_Sicherheit E-Module ST

Module type Module name

Voltage supply PSSu E F PS(-T)

Digital input/output modules PSSu E S 4DI(-T)

Analogue input/output modules PSSu E S 2AI I se(-T)

Counter modules PSSu E S ABS SSI(-T)

Voltage distribution PSSu E PD(-T)

][BA Bestimmung Firmware

tronic modules:

PSSu E F PS1(-T)
PSSu E F PS-P(-T)

PSSu E S 4DO 0.5(-T)
PSSu E S 2DO 2(-T)

PSSu E S 4AI U(-T)
PSSu E S 2AI U(-T)
PSSu E S 2AO I(-T)
PSSu E S 4AO U(-T)
PSSu E S 2AO U(-T)

PSSu E S INC(-T)

PSSu E PD1(-T)

The module's firmware can be updated to a later version using the
Firmware Manager on the PSSuniversal Assistant. For the reason, the
module's actual firmware version may not always match the firmware
version printed on the front of the unit. Updating the firmware can also
expand the module's functionality.

INFORMATION

The module's actual firmware version can only be established
using the Firmware Manager on the PSSuniversal Assistant.

3-2

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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3 Safety

3.2 Safety regulations

3.2Safety regulations3200Safety regulations3-

3.2.1 Use of qualified personnel

Use of qualified personnel3-Sich Qualif. Personal

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

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

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

 Are familiar with the basic regulations concerning health and safety /

accident prevention

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

tion

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

plicable to the specific application.

3.2.2 Warranty and liability

Warranty and liability3-Sich Gewhrleistung

3.2.3 Disposal

Disposal3-Si ch Entsorgung

All claims to warranty and liability will be rendered invalid if:

 The product was used contrary to the purpose for which it is intended
 Damage can be attributed to not having followed the guidelines in the

manual

 Operating personnel are not suitably qualified
 Any type of modification has been made (e.g. exchanging compo-

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

 In safety-related applications, please comply with the mission time t

M

in the safety-related characteristic data.

 When decommissioning, please comply with local regulations regard-

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

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

3-3

3 Safety

3-4

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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4 Function description

4.1 Module features

44000Function descriptionFunction description4-4.1Module features4100Module features4-

4.1.1 Integrated protection mechanisms

Integrated protection mechanisms4-][Schutzmechanismen ST-BUS

The module has the following protection mechanisms:

 Potentially isolated CANopen interface
 When the PSSu E F PS1(-T) is used to supply the system, the module

supply is buffered for 20 ms if the supply voltage is interrupted.

4.1.2 Supply voltage

Supply voltage4-][Funktionsbeschreibung Module Supply

Module supply

 The module supply provides the module with voltage.

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4-1

4 Function description

CANopen
Master

CANopen
Slave 1

PSSu
CANopen
Slave 2

CANopen
Slave n

4.2 CANopen

4.2CANopen4200CANopen4-

4.2.1 Connection to CANopen

Connection to CANopen4-][Funktionsbeschreibung_BA_Zusatz CAN Kopplung

A PSSu system with CANopen interface is a passive subscriber (Slave)
of the CANopen fieldbus.

The basic communication functions with CANopen conform to
CiA DS-301 V3.0. The central controller (Master) reads input information
from the slaves and writes output information to the slaves as part of
each cycle.

Bus termination must be activated on both ends of the bus.

4-2

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4 Function description

ADDRESS

OFF

ON

S2
S1

32
16

8
4
2
1

BAUD

64

4.2 CANopen

4.2.2 Selector switch for setting the transmission rate

Selector switch for setting the transmission rate4-][Funktionsbeschreibung_BA_Zusatz CAN Übertragung

The transmission rate of a PSSu is set via the “BAUD” DIP switches S1
and S2.

“BAUD” DIP switch Key Example:
Switch designation AUTO 500

KBit/s

S2 OFF OFF ON ON
S1 OFF ON OFF ON
64
32
16
8
4
2
1

Station address

250
kBit/s

125
kBit/s

Transmission rate
500 kBit/s

INFORMATION

The transmission rate should only be set when the module is
switched off (no voltage applied).
The settings are only transferred when booting. Any changes
made to the settings during operation will not be transferred.

If the PSSu station has lots of telegrams to send via the CANopen field­bus, make sure that the transmission rate is high enough, e.g. when sev­eral analogue input/output modules are used. If the transmission rate is
too low, the PSSu may not be able to establish a connection to the
CANopen fieldbus.

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

4-3

4 Function description

ADDRESS

OFF

ON

S2
S1

32
16

8
4
2
1

BAUD

64

4.2 CANopen

4.2.3 Selector switch for setting the station address

Selector switch for setting the station address4-][Funktionsbeschreibung_BA_Zusatz CAN Station

The station address of a PSSu (“Node ID”) is set via the “ADDRESS” DIP
switches (“1”, “2”, “4”, “8”, “16”, “32” and “64”). The DIP switches are
binary coded. Permitted station addresses are in the range 0

A station address is set via a combination of the relevant binary coded
switches:

“ADDRESS” DIP switch Key Example
Switch designation OFF ON Station address 116

S2 Transmission rate
S1
64 0 64
32 0 32
16 0 16
808
404
202
101

D

D

D

D

D

D

D

... 127D.

D

D

4-4

INFORMATION

The station address should only be set when the module is
switched off (no voltage applied).
The settings are only transferred when booting. Any changes
made to the settings during operation will not be transferred.
Each station address on a CANopen network must be unique.

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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4 Function description

4.3 USB port

4.3USB port4300USB port4-][Funktion_BA_Zusatz USB

The following functions are available via the USB port:

 Show actual hardware
 Comparison of actual/registered hardware
 Display and update firmware versions
 Setting the parameters for the ST section

Parameters for the module's ST section can either be set via the fieldbus
interface or via the USB port. Parameter setting via the USB port has pri­ority over parameter setting via the fieldbus interface. Once parameters
for the the head module have been set via the USB port, the ability to set
parameters for the module via the fieldbus interface is disabled. The dis­able can be lifted in the PSSuniversal Assistant.

Procedure for connecting the head module via the USB port:

 Connect PC to head module via USB cable.
 Install USB driver.
 View the actual hardware registry in the PSSuniversal Assistant and

call up other functions.

This way it is possible to copy and edit an existing configuration in the
PSSuniversal Assistant.

INFORMATION

The USB driver can be found on the PSSuniversal Assistant
CD-ROM, in the subdirectory \bin\PILZ_USB_DRIVER

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4-5

4 Function description

4-6

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5 Installation

56,4 mm

125,6 mm

72,6 mm

75,2 mm

69,2 mm

2,8 mm

21,6 mm

(2.448")(2.22")

(0.11")

(4.945")

(2.858")

(0.85")

(2.96")

5.1 General installation guidelines

55000InstallationInstallation5-5.1General installation guidelines5100General installation guidelines5-][Montage BA Kopfmodul Allgemein

Please also refer to the PSSuniversal Installation Manual.

The description below assumes that the mounting rail is already in-

Montage_EMV ESD

stalled.

CAUTION!

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

5.1.1 Dimensions

Dimensions5-][Abmessungen SB p und ST-Bus

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5-1

5 Installation

[2]

[1]

5.2 Installing the head module

5.2Installing the head module5200Installing the head module5-][Montage Kopfmodul

Prerequisite:

 The mounting rail must be installed.

Procedure:

 Install an end bracket to the left of the head module or leave enough

space for one.

 Slot the groove on the head module on to the mounting rail from be-

low [1].

 Push the head module back [2] until you hear it lock into position.

Schematic representation:

5-2

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6 Interfaces

1

5

6

9

1
5

6.1 Interface configuration

66000InterfacesInterfaces6-6.1Interface configuration6100Interface configuration6-][A nschluss CAN

CANopen Layout

Male 9-pin D-SUB connector 1: n.c.

2: CAN_L
3: CAN_GND
4: n.c.
5: CAN_SHLD
6: GND
7: CAN_H
8: n.c.
9: n.c.

USB Layout

Mini-B USB connector 1: n.c.

2: D- USB Data –
3: D+ USB Data +
4: n.c.
5: GND Ground

 n.c. = not connected



(1)

(1)

Not required for operation

6.1.1 Connection to CANopen

Connection to CANopen6-][BA_Ve rdrahtung CAN

The connection cable must conform to the requirements of CiA DS 102
V2.0.

Only shielded cable should be used as the CANopen connection cable.
Connect the cable shield on the CANopen connection cable to Pin 5 of
the 9-pin D-Sub connector. The relationship of the cable runs to the bit
rate must be maintained.

6.1.2 Connection via USB

Connection via USB6-][ BA_Verdrahtung USB

Please note the requirements of the USB standard for USB 2.0 and for
Mini-B USB ports.

The maximum cable runs for USB connection cable are 5 m.

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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6-1

6 Interfaces

6-2

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7 Operation

7.1 Messages

77000OperationOperation7-7.1Messages71 00Messages7-][BA_ Betrieb Meldungen ST-Bu s

All errors and faults detected by the electronic modules on a PSSu are
signalled to the head module and entered in the head module's error

][BA_Betrieb Tabelle Meldungen ST

Module error Explanation Remedy

Start-up error Error as the PSSu system starts up Change faulty module.
Configuration Error Incorrect module type configured. The configured hardware registry does

ST communication error Error during ST communication Change faulty module.
Bus termination error There is no terminating plate or there is

Temperature error: Too warm (1) Ambient temperature too high:

1

Temperature error: Too hot (

Overvoltage error A system voltage or infeed is too high. Stabilise the supply or change the

Undervoltage error A system voltage or infeed is too low. Stabilise the supply or change the

) Ambient temperature too high:

stack.

a bad contact with the module bus.

Error stack entry

Module reset

not match the actual hardware regis­try.

Install a terminating plate with inte­grated end bracket or insert the base
modules together correctly.

Ensure there is sufficient ventilation in
the control cabinet or prevent over­load.

Ensure there is sufficient ventilation in
the control cabinet or prevent over­load.

faulty supply voltage module.

faulty supply voltage module.

(1) There are two levels of overtemperature.

 Too warm:

If a module's temperature exceeds a theshold value, the module
sends a warning to the head module. If the temperature drops back
below the threshold value, the module sends an all-clear.

 Too hot:

If a module's temperature exceeds a further theshold value, the mod­ule sends an error message to the head module.

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7-1

7 Operation

Usb Dev

--- ---

DevUsb

7.2 Display elements

7.2Display elements72 00Display elements7-Anzeige Legende 3x

Legend:

7.2.1 Display elements for system diagnostics

Display elements for system diagnostics7-][BA_Anzeige System

The module has LEDs to display various PSSu states (“Usb” LED and
“Dev” LED).

LED on

LED flashes

LED off

LED Key
Description Colour Status
Usb - - - No data is being

transmitted via
the USB port

Green Data is being

transmitted via
the USB port

Dev - - - PSSu system

error, no start­up

Green PSSu running

without error

Red Error in the

head module

Red Error on the

module bus (*1)

1

) An error on the module bus (flashing red LED) may be due to one of

(*
the following reasons, which are stored in the error stack:

7-2

1. The head module cannot determine the registered hardware. Possible
causes:

 Module bus is incomplete
 Terminating resistor is missing.
 A module is defective

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 A module does not have valid software.
 Invalid hardware registry
 Too many modules

7 Operation

7.2 Display elements

Remedy: Correct the hardware registry.

2. Error: A module is missing. Possible cause:

 The module has been removed.
 The module has an error and is no longer registering after a reset.
 The module has an error and switches to a system stop.
 The module no longer has a voltage supply.

Remedy: Rectify the above points.

Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
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7-3

7 Operation

1

2

3

4

7.2 Display elements

7.2.2 Display elements for CANopen diagnostics

Display elements for CANopen diagnostics7-][BA_Anzeige CAN

The module has LEDs to display various CANopen states (“Run” LED
and “Err” LED).

Key:

LED off Permanently off

LED flashes once 50 ms on, 50 ms off

LED flashes once 200 ms on, 1000 ms off

LED flashes twice On twice for 200 ms, off for 200 ms in between, then off for 1000 ms

LED flashes three times On three times for 200 ms, off for 200 ms in between, then off for 1000 ms

LED flashes four times On four times for 200 ms, off for 200 ms in between, then off for 1000 ms

LED flashes 200 ms on, 200 ms off

LED on Permanently on

7-4

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7 Operation

Run
Err

SB ADDRESS

0

3

6

9

x 10

0

3

6

9

x 1

PSSu H

xx CAN x

Usb Dev

SB I/O

USB

2

D -

3

D +

5

G N D

USB

Run
Err

31...

0000000

HW 000
000 000

CANopen

ADDRESS

OFF

ON

S1

64
32
16

8
4
2
1

S2

S2

BAUD

AUTO

OFF

500K

OFF

250K

OFF

ON

S1 OFF ONONON

BAUD

125K

1

7.2 Display elements

“RUN” LED

LED Key
Designation Colour
Run - - - No data transfer

green Automatic bit rate

detection is running
(together with “Err”
LED).

green Module in “Pre-Op-

erational” status

green Module in

“STOPPED” status

green Module in “Opera-

tional” status

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

7-5

7 Operation

Run
Err

SB ADDRESS

0

3

6

9

x 10

0

3

6

9

x 1

PSSu H

xx CAN x

Usb Dev

SB I/O

USB

2

D -

3

D +

5

G N D

USB

Run
Err

31...

0000000

HW 000
000 000

CANopen

ADDRESS

OFF

ON

S1
64
32
16

8
4
2
1

S2

S2

BAUD

AUTO

OFF

500K

OFF

250K

OFF

ON

S1 OFF ONONON

BAUD

125K

1

2

3

4

7.2 Display elements

“Err” LED

LED Key
Designation Colour
Err - - - No fault

red Automatic bit rate

detection is running
(together with
“Run” LED).

red Invalid configura-

tion

red Error threshold val-

ue has been
reached, the CAN
controller has re­ceived too many er­ror telegrams.

red Monitoring error,

addressing Master­Slave monitoring
error, e.g. heartbeat
monitoring

red Error in “Synchroni-

sation” status, syn­chronisation
telegram not within
the configured time.

red Error in event timer

7-6

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

red CANopen isn't run-

ning

7 Operation

7.3 CANopen object description

7.3CANopen object description7300CANopen ob ject description7-

7.3.1 Communication profile

Communication profile7-][BA_Betrieb CANopen Kommunikation

In accordance with CiA 301 Application Layer and Communication Pro­file Version 4.1

Object Index Description

Device Type 1000 Device Classification
Error Register 1001 1-Byte error register, indicates the presence of a device error and its

type.
Manufacturer Status Register 1002 Error register for displaying the manufacturer-specific error
COB-ID-SYNC 1005 CAN identifier for the SYNC message
Manufacturer Device Name 1008 Manufacturer-specific details
Manufacturer HW Version 1009 Manufacturer-specific details
Manufacturer SW Version 100A Manufacturer-specific details
Guard Time 100C Time interval for the node guarding protocol
Life Time Factor 100D Timeout for the node guarding protocol
COB-ID EMCY 1014 CAN identifier for the EMCY message
Consumer Heartbeat Time 1016 Time interval for the heartbeat protocol
Producer Heartbeat Time 1017 Timeout for the heartbeat protocol
Identity Objekt 1018 Contains general information about the device (e.g. CANopen Ven-

dor ID).
Module List 1027 List of the module identifiers in slot sequence

(actual configuration)
Error Behaviour 1029 Specifies the status in which a device should be set if a device error

or communication error occurs.
Server SDO Parameter 1200–127F Parameter für Server-SDO
Rx PDO Parameter 1400–15FF Communication parameter for Receive-PDO
Rx PDO Mapping 1600–17FF Mapping parameter for Receive-PDO
Tx PDO Parameter 1800–19FF Communication parameter for Send-PDO
Tx PDO Mapping 1A00–1BFF Mapping parameter for Send-PDO

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

7-7

7 Operation

7.3 CANopen object description

7.3.2 Device profile

Device profile7-][BA_Betrieb CANopen Gerte

In accordance with CiA 401 Device Profile for Generic I/O Modules Ver­sion 3.0

Object Index Description

8-Bit Digital Input 6000 Digital input data: Grouping 8 input channels into one byte
Global Interrupt Enable 6005 Global interrupt enable, without having to adapt the interrupt masks
Interrupt Mask Any Change 8-Bit 6006 Specifies which I/O channels trigger an interrupt at any signal change.
Interrupt Mask Low-to-High 8-Bit 6007 Specifies which I/O channels trigger an interrupt when the signal

changes from low to high.

Interrupt Mask High-to-Low 8-Bit 6008 Specifies which I/O channels trigger an interrupt when the signal

changes from high to low.
8-Bit Digital Output 6200 Digital output data: Grouping 8 output channels into one byte
Error Mode Output 8-Bit 6206 Defines whether an output is to assume a predefined error value in the

case of an error or "Stop Remote Node".
Error Value Output 8-Bit 6207 If the corresponding error mode is activated, the outputs are set to the

preset values in the case of an error.
Analogue Input 16-Bit 6401 Object for up to 16 Bit wide analogue input values
Analogue Input Interrupt Trigger Se-

lection
Analogue Input Interrupt Source 6422 Determines which channels have triggered an interrupt.
Analogue Input Global Interrupt Ena-

ble
Analogue Input Interrupt Upper Limit

Integer
Analogue Input Interrupt Lower Limit

Integer
Analogue Input Interrupt Delta Un-

signed

Analog Input Interrupt Negative Delta
Unsigned

Analog Input Interrupt Positive Delta
Unsigned

Analogue Output 16-Bit 6411 Object for up to 16 Bit wide analogue output values
Analogue Output Error Mode 6443 Object defines whether an output is to assume a predefined error val-

Analogue Output Error Value Integer 6444 If the corresponding error mode is activated, the outputs are set to the

6421 Determines the events/triggers that initiate an interrupt for a specific

channel.

6423 Global interrupt enable, without having to adapt the interrupt masks

6424 If activated, an interrupt is triggered if the input value is equal to or

greater than the specified value.

6425 If activated, an interrupt is triggered if the input value is lower than the

specified value.

6426 Indicates the relative difference to the last reference value, where an

interrupt is triggered if the value exceeds or drops below that refer-

ence value.

6427 Indicates the relative difference to the last reference value, where an

interrupt is triggered if the value drops below that reference value.

6428 Indicates the relative difference to the last reference value, where an

interrupt is triggered if that reference value is exceeded.

ue in the case of an error or "Stop Remote Node".

preset values in the integer format.

7-8

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

7 Operation

7.3 CANopen object description

7.3.3 Manufacturer-specific objects

Manufacturer-specific objects7-][BA_Betrieb CANopen Herstellerspez.

Manufacturer-specific

Object In­dex
(hex)

2000 1–64 Digital FS input byte 1–64 Input byte for FS module on slot 0–63
2200 1–64 Digital FS output byte 1–64 Output byte for FS module on slot 0–63
2300 1–32 Analogue ST inputs status channel 1–32 Status byte for ST analog input channel 1–32
2500 (1) 1–12 Absolute encoder ST input status 1–12 Status byte for absolute encoder 1–12
2501 (

2510 (1) 1–7 Incremental encoder ST input status 1-7 Status byte for incremental encoder input 1–7
2511 (

2512 (1) 1–7 Incremental encoder ST output function 1-7 Byte for function calls from the incremental en-

2513 (1) 1–7 Incremental encoder ST output value 1-7 4 Bytes of counter data each for incremental

2F01 1–64 PII (complete) Byte 1–64 Byte 1–64 of the process image of all inputs
2F11 1–64 PIO (complete) Byte 1–64 Byte 1–64 of the process image of all outputs
3001 (
3100 Output format 1. Head parameter (Intel/Motorola)
3101 Output sequence 2. Head parameter (slot-oriented)
3200 1–64 Open circuit diagn. Byte 1–64 Open circuit diagnostics for slot 0–63
3300 (
3301 1–32 Channel operating mode analogue input

3302 1–32 Channel operating mode analogue output

3303 (1) 1–12 Channel operating mode absolute encoder

3304 (1) 1–7 Channel operating mode incremental en-

3320 1–32 ADC-HW Preset Word 1–32 ADC hardware preset for analogue input chan-

3321 1–32 Manufacturer switch-on value word 1–32 Manufacturer switch-on value for analogue out-

3322 1 User switch-on value word 1–32 User switch-on value for analogue output chan-

3330 1–32 Underrange-Limit Word 1–32 Underrange limit for analogue input channel

3331 1–32 Overrange-Limit Word 1–32 Overrange limit for analogue input channel

Object
Subindex
(decimal)

1

) 1–12 Absolute encoder ST input value 1–12 4 Bytes of counter data each for absolute en-

1

) 1–7 Incremental encoder ST input value 1 8 Bytes of counter data each for incremental

2

) 1–64 Set configuration word 1–64 Registered hardware for slot 0–63

3

) 1–64 Module operating mode Byte 1–64 Module operating mode for slot 0–63

Contents Description

coders 1–12

encoder input 1–7

coder output 1–7

encoder output 1–7

Channel operating mode for analogue input

word 1–32

word 1–32

word 1–12

coder word 1-7

channel 1–32
Channel operating mode for analogue output

channel 1–32
Channel operating mode for absolute encoder

1–12
Channel operating mode for incremental en-

coder 1-7

nel 1–32

put channel 1–32

nel 1–32

1–32

1–32

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

7-9

7 Operation

7.3 CANopen object description

Manufacturer-specific (continued)

Object In­dex
(hex)

3332 1–32 Limit value1 Word 1–32 Lower limit value for analogue input channel

3333 1–32 Limit value2 Word 1–32 Upper limit value for analogue input channel

3340 1–32 Manufacturer Scaling Offset Analogue Input

3341 1–32 Manufacturer Scaling Offset Analogue Out-

3345 1–32 Manufacturer Scaling Gain Analogue Input

3346 1–32 Manufacturer Scaling Gain Analogue Output

3350 1–32 User Scaling Offset Analogue Input Word

3351 1–32 User Scaling Offset Analogue Output Word

3355 1–32 User Scaling Gain Analogue Input Word

3356 1–32 User Scaling Gain Analogue Output Word

4000 Fieldbus diagnostics 5 Byte fieldbus diagnostic data

Object
Subindex
(decimal)

Contents Description

1–32

1–32
Manufacturer scaling offset for analogue input

Word 1–32

put Word 1–32

Word 1–32

Word 1–32

1–32

1–32

1–32

1–32

channel 1–32
Manufacturer scaling offset for analogue output

channel 1–32
Manufacturer scaling gain for analogue input

channel 1–32
Manufacturer scaling gain for analogue output

channel 1–32
User scaling offset for analogue input channel

1–32
User scaling offset for analogue output channel

1–32
User scaling gain for analogue input channel

1–32
User scaling gain for 1–32 analogue output

channel 1–32

(1) in development

2

(

) You can find the configuration of the electronic modules in the EDS

file for the PSSuniversal CANopen interface under [3001sub0].

3

(

) You can find the operating modes of the analogue electronic modules

in the EDS file for the PSSuniversal CANopen interface under [3300].

7-10

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

7 Operation

7.3 CANopen object description

7.3.4 Object overview

Object overview7-][BA_Betrieb CANopen Objekt bersicht

Inputs/outputs

Object Index Object Subind-exContents Description

6000 1–64 Digital ST inputs 64 x PII Byte (digital) for ST modules
6200 1–64 Digital ST outputs 64 x PIO Byte (digital) for ST modules
2300 1–32 Analogue ST inputs (status) Analogue PII for 32 ST word channels
6401 1–32 Analogue ST inputs (value) Status bytes for 32 ST/FS word channels
6411 1–32 Analogue ST outputs Analogue PIO for 32 ST word channels
2000 1–64 Digital FS inputs 64 x PII Byte (digital) for FS modules
2200 1–64 Digital FS outputs 64 x PIO Byte (digital) for FS modules
2500 1–12 (
2501 1–12 (1) ST absolute encoder (value) 12 x 4 Bytes counter data
2510 1–7 (
2511 1–7 (1) ST incr. encoder input (value) 7 x 8 Bytes counter data
2512 1–7 (1) ST incr. encoder output (function) 7 x 1 Byte for function calls
2513 1–7 (

1

) ST absolute encoder (status) 12 x 1 status byte

1

) ST incr. encoder input (status) 7 x 1 Status Byte

1

) ST incr. encoder output (value) 7 x 4 Bytes counter data

Complete process images

Object Index Object Subind-exContents Description

2F01 1–64 PII (complete) 64 x PII Byte
2F11 1–64 PIO (complete) 64 x PIO Byte

Configurations

Object Index Object Subind-exContents Description

1027 1–64 Actual configuration 64 x Word actual hardware registry
3001 1–64 Set configuration 64 x Word set hardware registry

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

7-11

7 Operation

7.3 CANopen object description

Parameters

Object Index Object Subind-exContents Description

3100 Output format
3101 Output sequence
3200 1–64 Open circuit diagnostics Open circuit diagnostics for max. 64 slots
3300 1–64 Module operating mode Module operating mode for max. 64 slots
3301 1–32 Channel operating mode AI Parameter for max 32 i/p analogue channels
3302 1–32 Channel operating mode AO Parameter for max 32 o/p analogue channels
3303 1–12 (
3304 1–7 (1) Channel operating mode INC Parameter for max 7 INC modules
3320 1–32 ADC Hardware Preset Parameter for max 32 i/p analogue channels
3321 1–32 Manufacturer switch-on value Parameter for max 32 o/p analogue channels
3322 1–32 User switch-on value Parameter for max 32 o/p analogue channels
3330 1–32 Underrange Limit Parameter for max 32 i/p analogue channels
3331 1–32 Overrange Limit Parameter for max 32 i/p analogue channels
3332 1–32 Limit value 1 Parameter for max 32 i/p analogue channels
3333 1–32 Limit value 2 Parameter for max 32 i/p analogue channels
3340 1–32 Manufacturer Scaling Offset AI Parameter for max 32 i/p analogue channels
3341 1–32 Manufacturer Scaling Offset AO Parameter for max 32 o/p analogue channels
3345 1–32 Manufacturer Scaling Gain AI Parameter for max 32 i/p analogue channels
3346 1–32 Manufacturer Scaling Gain AO Parameter for max 32 o/p analogue channels
3350 1–32 User Scaling Offset AI Parameter for max 32 i/p analogue channels
3351 1–32 User Scaling Offset AO Parameter for max 32 o/p analogue channels
3355 1–32 User Scaling Gain AI Parameter for max 32 i/p analogue channels
3356 1–32 User Scaling Gain AO Parameter for max 32 o/p analogue channels

1

) Channel operating mode ABS Parameter for max 12 ABS modules

7-12

Status information

Object Index Object Subind-exContents Description

1002 Device status Status byte
4000 1–5 Fieldbus diagnostics 5 Byte diagnostic data

(1) in development

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

8 Technical details

8.1 Technical details

88000Technical detailsTechnical details8-8.1Technical details8100Technical details8-][Technische Daten PSSu Kopf ST-BUS

Technical details

Application range Standard
Module's device code 0204h

Electrical data

Internal supply voltage
Supply voltage range of module supply 4.9 - 5.1 V
Current and power consumption from module supply
Module's current consumption without FO connection 270 mA
Module's power consumption without FO connection 1.35 W
Max. power dissipation of the module 1.35 W
Potential isolation between module supply and CANopen 700 V coated version (-T)

CANopen

Application range Standard applications
Device type Slave
Station address 1 .. 127d
Set via DIP switch
Maximum data length of the fieldbus interface: Input 64 Byte
Maximum data length of the fieldbus interface: Output 64 Byte
Maximum data length of the fieldbus interface: Diagnostics 5 Byte
Transmission rates 1 MBit/s, 10 kbit/s, 100 kBit/s, 125 kBit/s, 20 kbit/s,

25 kbit/s, 250 kBit/s, 50 kbit/s, 500 kBit/s, 800 kbit/s
Set via automatic/DIP switch
Connection Female 9-pin D-SUB connector
Protocol CANopen Standard 4,0
Operating modes Slave Mode
Certification CiA
Description file PSSuCO.eds
Manufacturer's ID 0189h

USB
Connection Mini-B connector
Environmental data
Climatic suitability EN 60068-2-14, EN 60068-2-1, EN 60068-2-2,

EN 60068-2-30, EN 60068-2-78
Ambient temperature 0 - 60 °C

-40 - 70 °C coated version (-T)

Storage temperature -25 - 70 °C

-40 - 70 °C coated version (-T)

Climatic suitability in accordance with EN 60068-2-78 93 % r. h. at 40 °C
Condensation no

yes coated version (-T)
Max. operating height above sea level 5000 m coated version (-T)
EMC EN 61000-4-2, EN 61000-4-3, EN 61000-4-4,

EN 61000-4-5, EN 61000-4-6, EN 61000-6-2,

EN 61000-6-4

Vibration to EN 60068-2-6
Frequency 10 - 150 Hz
Max. acceleration 1g

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

8-1

8 Technical details

8.1 Technical details

Environmental data

Shock stress

EN 60068-2-27 15g

11 ms
EN 60068-2-29 10g

16 ms

Protection type
Mounting (e.g. cabinet) IP54
Housing IP20
Airgap creepage in accordance with EN 60664-1
Overvoltage category II
Pollution degree 2

Mechanical data

Housing material
Front PC
Bottom PC
Dimensions
Height 128.4 mm
Width 75.2 mm
Depth 79.4 mm
Weight 155 g

170 g coated version (-T)

Technische Daten_Satz No rmen

8-2

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

8 Technical details

8.2 Order reference

8.2Order reference8200Order reference8-Bestelldaten

Order reference

Description Order no.

PSSu H CAN
(Head module with CANopen interface)

PSSu H CAN-T
(Head module with CANopen interface, coated version)

312 047

314 047

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

8-3

8 Technical details

8-4

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

...

21560-EN-02, 2011-06 Printed in Germany

© Pilz GmbH & Co. KG, 2011

[phone]
[e-mail]

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

Technical support

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

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

InduraNET p

®

, Pilz

®

, PIT

®

, PMCprotego

®

, 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. We would point out that product features may vary from the details stated in this document, depending on the status at the time of publication and the scope

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

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