Реле безопасности PNOZmulti специальные применения (англ.) (, 2.33 MB)

Реле безопасности PNOZmulti специальные применения (англ.) (, 2.33 MB)
PNOZmulti Modular Safety System
Special Applications
Configuration guide
Supplement to Technical Catalogue 3.4 – October 2008 edition
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.
The names of products, goods and technologies used in this documentation are registered
trademarks of the respective companies. Automation Workbench®, Pilz®, PIT®, PMI®,
PNOZ®, Primo®, PSS®, SafetyBUS p® are registered trademarks of Pilz GmbH & Co. KG.
Contents
Introduction
Overview
Communication with fieldbus modules
1.0
1.1
2.0
Basics
2.1
PNOZ mc3p ... PNOZ mc9p
2.2
PNOZ mc6p via SDOs
2.3
PNOZ mc8p Ethernet IP /Modbus TCP
2.4
Diagnostic Interface
3.0
Introduction
3.1
Overview
3.2
Intended use
3.3
Data exchange
3.4
Requirements
3.5
Error management
3.6
Muting
4.0
Introduction
4.1
Safety
4.2
Configuration
4.3
Operating modes
4.4
Safety mat
5.0
Safety mat
5.1
3
Contents
4
Contents
Diagnostic word
6.0
Introduction
6.1
Overview
6.2
Compilation of the diagnostic words
6.3
5
Contents
6
PNOZmulti - Special applications
Introduction
Contents
Seite
Introduction
1.1-1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Deutschland
Telefon: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
1-0-1
2.1
1.0-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Deutschland
Telefon: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Introduction
Overview
The “Special applications” configuration guide supplements the
PNOZmulti technical catalogue.
The configuration guide is divided
into the following chapters:
1 Introduction
The introduction is designed to
familiarise you with the contents,
structure and specific order of this
manual.
2 Communication with fieldbus
modules
This chapter describes the options
for communicating with the
fieldbus modules.
3 Diagnostic interface
This chapter describes the
communication options available
with the serial diagnostic interface
(RS 232) of the base units from
the PNOZmulti modular safety
system.
4 Muting
This chapter describes the muting
function in conjunction with the
PNOZmulti. It includes information
on configuring and connecting the
PNOZmulti units.
5 Safety mat
This chapter includes information
on configuring and connecting
safety mats to PNOZmulti units.
6 Diagnostic word
This chapter describes the diagnostic words in the modular
PNOZmulti safety system. By
evaluating the diagnostic words
you can obtain important information on operating conditions and
malfunctions within your application.
Definition of symbols
Information in this manual that is of
particular importance can be 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.
INFORMATION
This gives advice on applications and provides information
on special features, as well as
highlighting areas within the
text that are of particular
importance.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
1.1-1
PNOZmulti - Special applications
Introduction
Overview
1.1-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
PNOZmulti - Special applications
Communication with fieldbus modules
Contents
page
Communication with fieldbus modules
Basics
PNOZ mc3p ... PNOZ mc9p
PNOZ mc6p via SDOs
PNOZ mc8p Ethernet IP / Modbus TCP
2.1-1
2.2-1
2.3-1
2.4-1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Deutschland
Telefon: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
2-0-1
2.0-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Deutschland
Telefon: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Communication with fieldbus modules
Basics
Communication with fieldbus
systems
• Note on the PNOZ mc6p
(CANopen):
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 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.
The output data on the PNOZmulti is
stored as follows:
• Input data (to the PNOZmulti)
Double
Word Byte
word
0
0
1
0
2
1
3
4
2
5
1
6
3
7
8
4
9
2
5 10.
11
6 12
13
3
7 14
15
8 16
17
4
9 18
19
Contents
Status of
inputs
Reserved
Table no.
Segment no.
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
• Output data (from the PNOZmulti)
Double
Word Byte
word
0
0
1
0
2
1
3
4
2
5
1
6
3
7
8
4
9
2
5 10.
11
6 12
13
3
7 14
15
8 16
17
4
9 18
19
Contents
Status of
outputs
LED status
Table no.
Segment no.
Segment Byte 0
Segment Byte 1
.
.
.
.
.
.
.
.
.
.
Segment Byte 12
Reserved
Object SubIndex index
PDO
Byte (hex) (hex)
0
1
2000
1
2000
2
3
2
2000
3
2000
4
TPDO 1
2000
4
5
2000
5
6
2000
6
7
2000
7
8
8
2000
9
9
2000
A
10 2000
B
11 2000
C
TPDO 2
12 2000
D
13 2000
E
14 2000
F
15 2000 10
16 2000 11
17 2000 12 TPDO 3
18 2000 13
14
19 2000
COB-ID
180
+ node
address
280
+ node
address
1C0
+ node
address
The input data on the PNOZmulti is
stored as follows:
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
Object SubIndex index
(hex) (hex)
PDO
2100
1
2
2100
3
2100
4
2100
RPDO 1
5
2100
6
2100
2100
7
2100
8
2100
9
2100
A
2100
B
C
2100
RPDO 2
2100
D
2100
E
2100
F
2100 10
2100 11
2100 12 RPDO 3
2100 13
14
2100
COB-ID
200
+ node
address
300
+ node
address
Key is as follows:
TPDO
Transmit Process Data
Object
RPDO
Receive Process Data
Object
COB-ID Communication Object
Identifier
The current status of the 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.
Assignment of Byte 0 ... Byte 3
•Input range
The inputs are defined in the master
and transferred to the PNOZmulti.
Each input has a number, e.g. the
input Bit 4 of Byte 1 has the number
i12.
Byte
0
i1
i0
1
i15 i14 i13 i12 i11 i10 i9
i7
i6
i5
i4
i3
i2
i8
2
i23 i22 i21 i20 i19 i18 i17 i16
•Output range
The inputs are defined in the master
and transferred to the PNOZmulti.
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
240
+ node
address
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
2.1-1
PNOZmulti - Special applications
Communication with fieldbus modules
Basics
The status of the LEDs is stored in
Byte 3 (output range 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 = 1: If communication between
the PNOZmulti and the
fieldbus is working
Bit 6:
Reserved
Bit 7:
Reserved
Assignment of Byte 4 ... Byte 18
Byte
6
7
.
.
.
18
6
7
.
.
.
18
.
.
.
6
7
.
.
.
18
18
Master
Fieldbus module
Table no.
Segment no.
0
.
.
.
0
Byte
4
5
6
.
.
.
18
Table
Segment Byte 0
Segment Byte 1
.
.
.
Segment Byte 12
Segment Byte 0
Segment Byte 1
.
.
.
Segment Byte 12
.
.
.
Segment Byte 0
Segment Byte 1
.
.
.
Segment Byte 12
Byte
4
5
6
.
.
.
Table no.
Segment no.
x
.
.
.
x
Segment 1
Segment 2
.
.
.
Segment n
Each table consists of one or more
segments. Each segment is made up
of 13 Bytes. There are 8 tables,
whose assignment is fixed.
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.
2.1-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Communication with fieldbus modules
Basics
Example 1:
The Master requests segment 5 from
table 2. The fieldbus module repeats
both these details and sends
segment 5. Then the data from
segment 8 in table 2 is transmitted.
Master
4
5
6
.
.
.
2
5
0
.
.
.
18
0
4
5
6
.
.
.
2
8
0
.
.
.
18
0
Fieldbus module
4
5
6
.
.
.
2
5
x
.
.
.
18
x
4
5
6
.
.
.
2
8
x
.
.
.
18
x
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
2.1-3
PNOZmulti - Special applications
Communication with fieldbus modules
Basics
Example 2:
The Master requests segment 8 from
table 2. The fieldbus module repeats
both of these details and sends
segment 8. 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
2.1-4
4
5
6
.
.
.
2
8
0
.
.
.
18
0
4
5
6
.
.
.
5
25
0
.
.
.
18
0
Fieldbus module
4
5
6
.
.
.
2
8
x
.
.
.
18
x
4
5
6
.
.
.
5
FF
x
.
.
.
18
x
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table assignment
There are a total of 6 tables, with the
following contents:
Table 1:
Configuration
Table 2:
Reserved
Table 3:
Input status
Table 4:
Output status
Table 5:
LED status
Table 6:
Reserved
Table 7:
Diagnostic word
Table 8:
Element types
Table 1
Table 1 consists of 8 segments, each
of which has 13 Bytes. It contains
device data from the base unit and
the project data defined in the
PNOZmulti Configurator.
Segment Byte
0
1
2
3
4
5
6
0
7
8
9
10
11
12
0
1
2
3
4
5
6
1
7
8
9
10
Contents
Example/Comment
Product number (hex)
Product number 773 100: 000BCBEC hex
Byte 0: 00, Byte 1: 0B, Byte 2: CB, Byte 3: EC
Unit version (hex)
Unit version 20: 14 hex
Byte 4: 00, Byte 5: 00, Byte 6: 00, Byte 7: 14
Serial number (hex)
Free
Project check sum (hex)
Chip card check sum (hex)
Project creation date (hex)
Operating hours counter (hex)
11
Type of base unit (hex)
12
Free
Serial number 123 456: 0001E240 hex.
Byte 8: 00, Byte 9: 01, Byte 10: E2, Byte 11: 40
Check sum A1B2 hex:
Byte 0: A1, Byte 1: B2
Check sum 3C5A hex:
Byte 2: 3C, Byte 3: 5A
Creation date : 28.11.2003
Byte 4: 1C, Byte 5: 0B, Byte 6: 07, Byte 7: D3
Byte 8: x 10000 hex
Byte 9: x 100 hex
Byte 10: x 1 hex
Operating hours: 106786
Byte 8: 01, Byte 9: A1, Byte 10: 22
PNOZ m1p: 00
PNOZ mop: 02
PNOZ m2p: 04
Free
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
2.2-1
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 1, Segment 2 and 3
Segment Byte(s)
0
1
2
3
4
5
2
6
7
8
9
10
11
12
3
2.2-2
0
1
2
3
4
5
6
7
8
9
10
11
12
Contents
Configuration, fieldbus module/RS 232
Configuration, 1st expansion module right
Configuration, 2nd expansion module right
Configuration, 3rd expansion module right
Configuration, 4th expansion module right
Configuration, 5th expansion module right
Configuration, 6th expansion module right
Configuration, 7th expansion module right
Configuration, 8th expansion module right
Free
Free
Free
Free
Example/Comment
Byte 0 contains the Hex code for a fieldbus module (installed on
the left) or for inputs and outputs via RS 232:
Fieldbus modules PNOZ mc.. :
30
Virtual inputs and outputs via RS 232:
40
Additional input modules on the left:
PNOZml1p: See Table 1, Segment 8
Byte 1 ... 8 contains the Hex code for the expansion modules on
the right :
PNOZ mi1p:
08
PNOZ mi2p:
38
PNOZ mo1p:
18
PNOZ mo2p:
10
PNOZ mo3p:
30
PNOZ mo4p:
28
PNOZ mc1p:
20
PNOZ ms3p:
68
PNOZ ms4p:
78
PNOZ ms1p/PNOZ ms2p:
88
No expansion module:
00
1st character
2nd character
3rd character
4th character
Byte 0 ... 12 of the project name defined in the PNOZm Config
under “Enter project data”; this is stored in UNICODE format, 2
Bytes contain the Hex code of the individual UNICODE characters
5th character
6th character
7th character (High Byte)
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 1, Segment 4 and 5
Segment Byte
0
1
2
3
4
5
6
4
7
8
9
10
11
12
0
1
2
3
4
5
5
6
7
8
9
10
11
12
Contents
7th character (Low Byte)
Example/Comment
8th character
9th character
10th character
Project name Byte 13 ... 25
11th character
12th character
13th character
14th character
15th character
Project name Byte 26 ... 31
16th character
End character FF
End character FF
Free
Free
Free
Free
Free
The end of the character string is signalled with
“FFFF”.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
2.2-3
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 1, Segment 6 to 8
Segment Byte
0
1
2
3
4
5
6
6
7
8
9
10
11
12
0
1
Contents
Day
Month
Year
Hour
Minute
Time zone
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Fieldbus type
Example/Comment
Date on which the program on the chip card
was last modified
Date modified : 28.11.2003
Byte 0: 1C, Byte 1: 0B, Byte 2: 07, Byte 3: D3
Time: 14 hours 25 minutes
Byte 4: 0E, Byte 5: 19
Time zone 1: Byte 6 : 01
(hex)
7
Software version
2
Profibus:
0001
Interbus:
0010
Interbus 2M: 0011
DeviceNet:
0025
CanOpen:
0020
Ethernet IP/
Modbus TCP: 0083
PROFINET:
0084
CC Link:
0090
5 Bits for version, 3 Bits for sub-number
Version: 1.2
Byte 2
0 0 0 0 1 0 1 0
1
8
2.2-4
3
...
12
0
1
2
3
4
5
6
...
12
2
Reserved
Configuration, 1st expansion module left
Configuration, 2nd expansion module left
Configuration, 3rd expansion module left
Configuration, 4th expansion module left
Configuration, 5th expansion module left
Configuration, 6th expansion module left
Byte 0 ... 5 contains the Hex code for the
expansion modules to the left of the base unit.
Any fieldbus module in this segment will not be
considered (see Table 1, Segment 2).
PNOZ ml1p: A8
PNOZ ma1p: B8
Free
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 3
This table consists of 4 segments. It
contains the status of the inputs.
Segment Byte
0
1
2
3
4
0
5
6
7
8
9
10
11
12
0
1
2
3
4
5
1
6
7
8
9
10
11
12
0
1
2
3
4
2
5
6
7
8
9
10
11
12
Contents
I0 ... I7
I8 ... I15
I16 ... I19
0
0
I0 ... I7
I0 ... I7
I0 ... I7
I0 ... I7
I0 ... I7
I0 ... I7
I0 ... I7
I0 ... I7
I0 ... I7
I8 ... I15
I16 ... I23
I24 ... I31
I0 ... I7
I8 ... I15
I16 ... I23
I24 ... I31
I0 ... I7
I8 ... I15
I16 ... I23
I24 ... I31
Free
I0 ... I7
I8 ... I15
I16 ... I23
I24 ... I31
I0 ... I7
I8 ... I15
I16 ... I23
I24 ... I31
I0 ... I7
I8 ... I15
I16 ... I23
I24 ... I31
Free
Base unit
Base unit
Base unit
1st expansion module right
2nd expansion module right
3rd expansion module right
4th expansion module right
5th expansion module right
6th expansion module right
7th expansion module right
8th expansion module right
1st expansion module left
1st expansion module left
1st expansion module left
1st expansion module left
2nd expansion module left
2nd expansion module left
2nd expansion module left
2nd expansion module left
3rd expansion module left
3rd expansion module left
3rd expansion module left
3rd expansion module left
4th expansion module left
4th expansion module left
4th expansion module left
4th expansion module left
5th expansion module left
5th expansion module left
5th expansion module left
5th expansion module left
6th expansion module left
6th expansion module left
6th expansion module left
6th expansion module left
Example/Comment
The safety system consists of a base unit and one
PNOZ mi1p.
Byte 0: I7 I6 I5 I4 I3 I2 I1 I0 PNOZ m1p
Byte 1: I15 I14 I13 I12 I11 I10 I9 I8 PNOZ m1p
Byte 2: 0 0 0 0 I19 I18 I17 I16 PNOZ m1p
Byte 3: 0 0 0 0 0 0 0 0
Byte 4: 0 0 0 0 0 0 0 0
Byte 5: I7 I6 I5 I4 I3 I2 I1 I0 PNOZ mi1p
If an input has a high signal, the corresponding Bit
will contain “1”; if the input is open (low signal), the
Bit will contain “0”.
Virtual inputs on the 2nd PNOZ ml1p connection
module:
Byte 4:
Byte 5:
Byte 6:
Byte 7:
I7
I15
I23
I31
I6
I14
I22
I30
I5
I13
I21
I29
I4
I12
I20
I28
I3
I11
I19
I27
I2
I10
I18
I26
I1
I9
I17
I25
I0
I8
I16
I24
If an input has a high signal, the corresponding Bit
will contain “1”; if the input is open (low signal), the
Bit will contain “0”.
Analogue inputs on the analogue input module PNOZ
ma1p:
Byte 0: Analogue Input 0 Analogue Value High Byte
Byte 1: Analogue Input 0 Analogue Value Low Byte
Byte 2: Analogue Input 1 Analogue Value High Byte
Byte 3: Analogue Input 1 Analogue Value Low Byte
Bytes 0 and 1 are to be interpreted as words and will
be displayed as a scaled value.
A distinction is made between voltage and current
measurement.
The following applies when current is measured: 1 Bit
= 6.25 µA
e.g.: Byte 0 = 0x01; Byte 1 = 0xff
-> 0x01ff * 6.25 µA = 3.19 mA
The following applies when voltage is measured: 1
Bit = 2.5 mV
Please note:
With voltage measurement, negative values are also
valid. The negative value is formed via the two’s
complement.
e.g.: Byte 0 = 0x01; Byte 1 = 0xff
-> 0x01ff * 2.5 mV = 1.28 V
e.g.: Byte 0 = 0x0F8; Byte 1 = 0x30
-> 0xF830 = -5 V
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
2.2-5
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 4
This table consists of 4 segments. It
contains the status of the outputs.
Segment Byte
0
1
2
3
4
5
0
6
7
8
9
10
11
12
0
1
2
3
4
5
1
6
7
8
9
10
11
12
Contents
0
0
0
O0 ... O3 of the base unit
O4 and O5 of the base unit
O0 ... O7 1st expansion module right
O0 ... O7 2nd expansion module right
O0 ... O7 3rd expansion module right
O0 ... O7 4th expansion module right
O0 ... O7 5th expansion module right
O0 ... O7 6th expansion module right
O0 ... O7 7th expansion module right
O0 ... O7 8th expansion module right
0
0
0
0
0
O8 ... O15 1st expansion module right
O8 ... O15 2nd expansion module right
O8 ... O15 3rd expansion module right
O8 ... O15 4th expansion module right
O8 ... O15 5th expansion module right
O8 ... O15 6th expansion module right
O8 ... O15 7th expansion module right
O8 ... O15 8th expansion module right
Example/Comment
Assignment of Bytes depends on the unit:
PNOZ m0p, PNOZ m1p, PNOZ m2p
Segment 0, Byte 3:
0
0
1
1 O3 O2 O1 O0
Segment 0, Byte 4:
0
0
0
0
PNOZ mo1p
Segment 0, Byte 5 ... 12:
0
0
1
1
Segment 1, Byte 5 ... 12:
0
0
0
0
0
O5 O4
O3 O2 O1 O0
0
0
0
PNOZ mo2p, PNOZ mo3p
Segment 0, Byte 5 ... 12:
0
0
0
0
0
0
Segment 1, Byte 5 ... 12:
0
0
0
0
0
0
PNOZ mo4p
Segment 0, Byte 5 ... 12:
0
0
0
0
Segment 1, Byte 5 ... 12:
0
0
0
0
0
0
O1 O0
0
0
O3 O2 O1 O0
0
0
0
0
PNOZ mc1p
Segment 0, Byte 5 ... 12:
A7 A6 A5 A4 A3 A2 A1 A0
Segment 1, Byte 5 ... 12:
A15 A14 A13 A12 A11 A10 A9 A8
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”.
2.2-6
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 4, Segments 2 and 3
Segment Byte
0
1
2
3
4
5
6
2
7
8
9
10
11
12
0
1
2
3
4
5
6
3
7
8
9
10
11
12
Contents
O0 ... O7
O8 ... O15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... I15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... O15
O16 ... O23
O24 ... O31
Free
O0 ... O7
O8 ... O15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... I15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... O15
O16 ... O23
O24 ... O31
Free
1st PNOZ ml1p connection module left
1st PNOZ ml1p connection module left
1st PNOZ ml1p connection module left
1st PNOZ ml1p connection module left
2nd PNOZ ml1p connection module left
2nd PNOZ ml1p connection module left
2nd PNOZ ml1p connection module left
2nd PNOZ ml1p connection module left
3rd PNOZ ml1p connection module left
3rd PNOZ ml1p connection module left
3rd PNOZ ml1p connection module left
3rd PNOZ ml1p connection module left
Example/Comment
Virtual outputs on the 3rd PNOZ ml1p
connection module:
Segment 2
Byte 8: O7 O6 O5 O4 O3 O2 O1 O0
Byte 9: O15 O14 O13 O12 O11O10 O9 O8
Byte 10: O23 O22 O21 O20 O19 O18 O17 O16
Byte 11: 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”.
4th PNOZ ml1p connection module left
4th PNOZ ml1p connection module left
4th PNOZ ml1p connection module left
4th PNOZ ml1p connection module left
5th PNOZ ml1p connection module left
5th PNOZ ml1p connection module left
5th PNOZ ml1p connection module left
5th PNOZ ml1p connection module left
6th PNOZ ml1p connection module left
6th PNOZ ml1p connection module left
6th PNOZ ml1p connection module left
6th PNOZ ml1p connection module left
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
2.2-7
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 5
This table consists of 5 segments. It
contains the LED status.
Segment
0
1
Byte Contents
0
1
2
3
4
5
6
7
8
9
10
11
12
0
1
2
3
4
5
6
7
8
9
10
11
12
RUN
DIAG
FAULT
IFAULT
OFAULT
FAULT 1st expansion module right
FAULT 2nd expansion module right
FAULT 3rd expansion module right
FAULT 4th expansion module right
FAULT 5th expansion module right
FAULT 6th expansion module right
FAULT 7th expansion module right
FAULT 8th expansion module right
LED I0 ... I7 base unit
LED I8 ... I15 base unit
LED I16 ... I19 base unit
0
0
LED 1st expansion module right
LED 2nd expansion module right
LED 3rd expansion module right
LED 4th expansion module right
LED 5th expansion module right
LED 6th expansion module right
LED 7th expansion module right
LED 8th expansion module right
Example/Comment
Depending on the LED status, the following Hex
code will be in Byte 0 ... 12:
00 hex: LED off
FF hex: LED on
30 hex: LED flashes
PNOZ mi1p
Bytes 5 ... 12, Bit 7 6 5 4 3 3 1 0
Input:
I7 I6 I5 I4 I3 I2 I1 I0
Example:
The safety system consists of a base unit and one
PNOZ mi1p.
Byte 0 I7 I6 I5 I4 I3 I2 I1 I0 Base unit
Byte 1 I15 I14 I13 I12 I11 I10 I9 I8 Base unit
Byte 2 0 0 0 0 I19 I18 I17 I16 Base unit
Byte 3 0 0 0 0 0 0 0 0
Byte 4 0 0 0 0 0 0 0 0
Byte 5 I7 I6 I5 I4 I3 I2 I1 I0 PNOZ mi1p
If the LED on an input is flashing, the
corresponding bit contains “1”; if the LED is not
flashing, the bit contains “0”.
PNOZ ms1p, PNOZ ms2p from Version 2.0,
PNOZ ms3p, PNOZ ms4p
LED axis 1 = “SHAFT 1”
LED axis 2 = “SHAFT 2” (not on PNOZ ms4p)
Byte 5 ... 12
Axis 1
Axis 2
3 2 1
7 6 5 4
Bit
LED off
0 0 0 0
0 0 0
LED on
1 1 1 1
1 1 1
LED flashes
0 0 1 1
0 0 1
LED flashes
0 1 0 1
0 1 0
once
The LED functions are described in the PNOZ
ms1p, PNOZ ms 2p operating instructions.
2.2-8
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
0
0
1
1
1
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 5, Segment 2 to 4
Seg- Byte
ment
0
1
2
3
4
5
6
2
7
8
9
10
11
12
Contents
Example/Comment
LED1: Status of fieldbus module
LED2: Status of fieldbus module
LED3: Status of fieldbus module
LED4: Status of fieldbus module
Free
Free
Free
Free
Free
Free
Free
Free
Free
Position of LED1 ... LED4:
Seg- Byte
ment
0
1
2
3
4
5
3
6
7
8
9
10
11
12
Contents
Example/Comment
Speed monitor 1 - Encoder on axis 1
Speed monitor 1 - Encoder on axis 2
Speed monitor 2 - Encoder on axis 1
Speed monitor 2 - Encoder on axis 2
Speed monitor 3 - Encoder on axis 1
Speed monitor 3 - Encoder on axis 2
Speed monitor 4 - Encoder on axis 1
Speed monitor 4 - Encoder on axis 2
Free
Free
Free
Free
Free
Status of LEDs on the speed monitors
PNOZ ms1p/PNOZ ms2p:
I10, I11, I20, I21, X12, X22
PNOZ ms3p: X12 and X22
PNOZ ms4p: X12
7 6 5 4 3 2 1 0
Bit:
4
0
1
2
3
4
5
6
7
8
9
10
11
12
FAULT 1st expansion module left
FAULT 2nd expansion module left
FAULT 3rd expansion module left
FAULT 4th expansion module left
FAULT 5th expansion module left
FAULT 6th expansion module left
Free
Free
Free
Free
Free
Free
Free
PNOZ mc...
LED3
LED1
LED4
LED2
0 0 0 0 0 0 0 0
LED off
LED green 0 0 0 0 0 0 0 1
0 0 0 0 0 0 1 0
LED red
The functions of the LED are described in the
relevant operating manual.
Axis 1:
Axis 2:
0
0 I11 I11 I10 I10 0 X12
0
0 I21 I21 I20 I20 0 X22
LEDs for proximity switch: I10, I11, I20, I21:
If the LED is lit, the corresponding Bit will
contain “1”; The proximity switch is
energised.
LEDs for incremental encoder: X12 and X22:
If the LED is lit, the corresponding Bit will
contain “1”; The incremental encoder is
connected correctly
The LED functions are described in the
PNOZ ms1p, PNOZ ms 2p operating
instructions.
Depending on the LED status, the following
Hex code will be in Byte 0 ... 5:
00 hex: LED off
FF hex: LED on
30 hex: LED flashes
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
2.2-9
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 7 and 8
System requirements
Communication with fieldbus
modules is only possible with units
from the stated version number
onwards:
• PNOZ mc.. from Version 1.0
• PNOZ m0p from Version 1.0
• PNOZ m1p from Version 4.0
• PNOZ m2p from Version 1.0
Table 7
This table consists of 20 segments. It
contains information on the elements
within the Configurator and on the
diagnostic word.
Seg- Byte Contents
ment
0
Number of elements that can store
a status
1
Reserved
2
Reserved
3
Reserved
4
Reserved
0
5
Reserved
6
Reserved
7
Reserved
8
Reserved
9
Reserved
10
Reserved
11
Reserved
12
Reserved
0
Element ID = 1 ... 8
1
Element ID = 9 ... 16
2
Element ID = 17 ... 24
3
Element ID = 25 ... 32
4
Element ID = 33 ... 40
1
5
Element ID = 41 ... 48
6
Element ID = 49 ... 56
7
Element ID = 57 ... 64
8
Element ID = 65 ... 72
9
Element ID = 73 ... 80
10
Element ID = 81 ... 88
11
Element ID = 89 ... 96
12
Element ID = 97 ... 100
2.2-10
Example/Comment
Each element is assigned an ID in the PNOZmulti
Configurator. If the output on the element = 0 (no
enable), the corresponding Bit will be set.
Element ID
Byte 0
Byte 1
Byte 2
...
Byte 10
Byte 11
Byte 12
8 7 6 4
16 15 14 13
24 23 22 21
...
88 87 86 85
96 95 94 93
- - - -
4 3 2 1
12 11 10 9
20 19 18 17
84 83 82 81
92 91 90 89
100 99 98 97
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 7, Segment 2 to 4
Seg- Byte
ment
0
1
2
3
4
2
5
6
7
8
9
10
11
12
0, 1
2, 3
4, 5
3
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
4
6, 7
8, 9
10,11
12
Contents
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Diagnostic word. Element ID = 1
Diagnostic word. Element ID = 2
Diagnostic word. Element ID = 3
Diagnostic word. Element ID = 4
Diagnostic word. Element ID = 5
Diagnostic word. Element ID = 6
Reserved
Diagnostic word. Element ID = 7
Diagnostic word. Element ID = 8
Diagnostic word. Element ID = 9
Diagnostic word. Element ID = 10
Diagnostic word. Element ID = 11
Diagnostic word. Element ID = 12
Reserved
Example/Comment
The diagnostic word is displayed in the PNOZmulti
Configurator and on the PVIS expanded diagnostics
(see Chapter 6, diagnostic word, plus the online help
for the PNOZmulti Configurator)
Element D = 1, e.g. diagnostic word of switch type 6
(element type 1C hex):
Byte 0 (High Byte) 0 0 0 0 0 0 0 1
Byte 1 (Low Byte)
0 0 0 0 0 0 0 0
Message: wiring error, clock error
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
2.2-11
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 7, Segment 5 to 8
Seg- Byte
ment
0, 1
2, 3
4, 5
5
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
6
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
7
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
8
6, 7
8, 9
10,11
12
2.2-12
Contents
Diagnostic word. Element ID = 13
Diagnostic word. Element ID = 14
Diagnostic word. Element ID = 15
Diagnostic word. Element ID = 16
Diagnostic word. Element ID = 17
Diagnostic word. Element ID = 18
Reserved
Diagnostic word. Element ID = 19
Diagnostic word. Element ID = 20
Diagnostic word. Element ID = 21
Diagnostic word. Element ID = 22
Diagnostic word. Element ID = 23
Diagnostic word. Element ID = 24
Reserved
Diagnostic word. Element ID = 25
Diagnostic word. Element ID = 26
Diagnostic word. Element ID = 27
Diagnostic word. Element ID = 28
Diagnostic word. Element ID = 29
Diagnostic word. Element ID = 30
Reserved
Diagnostic word. Element ID = 31
Diagnostic word. Element ID = 32
Diagnostic word. Element ID = 33
Diagnostic word. Element ID = 34
Diagnostic word. Element ID = 35
Diagnostic word. Element ID = 36
Reserved
Table 7, Segment 9 to 12
Seg- Byte
ment
0, 1
2, 3
4, 5
9
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
10
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
11
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
12
6, 7
8, 9
10,11
12
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
Contents
Diagnostic word. Element ID = 37
Diagnostic word. Element ID = 38
Diagnostic word. Element ID = 39
Diagnostic word. Element ID = 40
Diagnostic word. Element ID = 41
Diagnostic word. Element ID = 42
Reserved
Diagnostic word. Element ID = 43
Diagnostic word. Element ID = 44
Diagnostic word. Element ID = 45
Diagnostic word. Element ID = 46
Diagnostic word. Element ID = 47
Diagnostic word. Element ID = 48
Reserved
Diagnostic word. Element ID = 49
Diagnostic word. Element ID = 50
Diagnostic word. Element ID = 51
Diagnostic word. Element ID = 52
Diagnostic word. Element ID = 53
Diagnostic word. Element ID = 54
Reserved
Diagnostic word. Element ID = 55
Diagnostic word. Element ID = 56
Diagnostic word. Element ID = 57
Diagnostic word. Element ID = 58
Diagnostic word. Element ID = 59
Diagnostic word. Element ID = 60
Reserved
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 7, Segment 13 to 16
Seg- Byte
ment
0, 1
2, 3
4, 5
13
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
14
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
15
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
16
6, 7
8, 9
10,11
12
Contents
Diagnostic word. Element ID = 61
Diagnostic word. Element ID = 62
Diagnostic word. Element ID = 63
Diagnostic word. Element ID = 64
Diagnostic word. Element ID = 65
Diagnostic word. Element ID = 66
Reserved
Diagnostic word. Element ID = 67
Diagnostic word. Element ID = 68
Diagnostic word. Element ID = 69
Diagnostic word. Element ID = 70
Diagnostic word. Element ID = 71
Diagnostic word. Element ID = 72
Reserved
Diagnostic word. Element ID = 73
Diagnostic word. Element ID = 74
Diagnostic word. Element ID = 75
Diagnostic word. Element ID = 76
Diagnostic word. Element ID = 77
Diagnostic word. Element ID = 78
Reserved
Diagnostic word. Element ID = 79
Diagnostic word. Element ID = 80
Diagnostic word. Element ID = 81
Diagnostic word. Element ID = 82
Diagnostic word. Element ID = 83
Diagnostic word. Element ID = 84
Reserved
Table 7, Segment 17 to 19
Seg- Byte
ment
0, 1
2, 3
4, 5
17
6, 7
8, 9
10,11
12
0, 1
2, 3
18
4, 5
6, 7
8, 9
10,11
12
0, 1
2, 3
4, 5
19
6, 7
8, 9
10,11
12
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
Contents
Diagnostic word. Element ID = 85
Diagnostic word. Element ID = 86
Diagnostic word. Element ID = 87
Diagnostic word. Element ID = 88
Diagnostic word. Element ID = 89
Diagnostic word. Element ID = 90
Reserved
Diagnostic word. Element ID = 91
Diagnostic word. Element ID = 92
Diagnostic word. Element ID = 93
Diagnostic word. Element ID = 94
Diagnostic word. Element ID = 95
Diagnostic word. Element ID = 96
Reserved
Diagnostic word. Element ID = 97
Diagnostic word. Element ID = 98
Diagnostic word. Element ID = 99
Diagnostic word. Element ID = 100
Reserved
Reserved
Reserved
2007-12
2.2-13
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 8
This table consists of 8 segments. It
contains the element type with the
corresponding Element ID. The
available element types are listed
after this table.
Seg- Byte
ment
0
1
2
3
4
0
5
6
7
8
9
10
11
12
0
1
2
3
4
1
5
6
7
8
9
10
11
12
2.2-14
Contents
Example/Comment
Element type. Element ID = 1
Element type. Element ID = 2
Element type. Element ID = 3
Element type. Element ID = 4
Element type. Element ID = 5
Element type. Element ID = 6
Element type. Element ID = 7
Element type. Element ID = 8
Element type. Element ID = 9
Element type. Element ID = 10
Element type. Element ID = 11
Element type. Element ID = 12
Element type. Element ID = 13
Element type. Element ID = 14
Element type. Element ID = 15
Element type. Element ID = 16
Element type. Element ID = 17
Element type. Element ID = 18
Element type. Element ID = 19
Element type. Element ID = 20
Element type. Element ID = 21
Element type. Element ID = 22
Element type. Element ID = 23
Element type. Element ID = 24
Element type. Element ID = 25
Element type. Element ID = 26
Element with ID = 1: Single-pole semiconductor
output with feedback loop
Byte 0: 51 hex
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 8, Segment 2 and 3
Seg- Byte
ment
0
1
2
3
4
2
5
6
7
8
9
10
11
12
0
1
2
3
4
3
5
6
7
8
9
10
11
12
Contents
Element type. Element ID = 27
Element type. Element ID = 28
Element type. Element ID = 29
Element type. Element ID = 30
Element type. Element ID = 31
Element type. Element ID = 32
Element type. Element ID = 33
Element type. Element ID = 34
Element type. Element ID = 35
Element type. Element ID = 36
Element type. Element ID = 37
Element type. Element ID = 38
Element type. Element ID = 39
Element type. Element ID = 40
Element type. Element ID = 41
Element type. Element ID = 42
Element type. Element ID = 43
Element type. Element ID = 44
Element type. Element ID = 45
Element type. Element ID = 46
Element type. Element ID = 47
Element type. Element ID = 48
Element type. Element ID = 49
Element type. Element ID = 50
Element type. Element ID = 51
Element type. Element ID = 52
Table 8, Segment 4 and 5
Seg- Byte
ment
0
1
2
3
4
4
5
6
7
8
9
10
11
12
0
1
2
3
4
5
5
6
7
8
9
10
11
12
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
Contents
Element type. Element ID = 53
Element type. Element ID = 54
Element type. Element ID = 55
Element type. Element ID = 56
Element type. Element ID = 57
Element type. Element ID = 58
Element type. Element ID = 59
Element type. Element ID = 60
Element type. Element ID = 61
Element type. Element ID = 62
Element type. Element ID = 63
Element type. Element ID = 64
Element type. Element ID = 65
Element type. Element ID = 66
Element type. Element ID = 67
Element type. Element ID = 68
Element type. Element ID = 69
Element type. Element ID = 70
Element type. Element ID = 71
Element type. Element ID = 72
Element type. Element ID = 73
Element type. Element ID = 74
Element type. Element ID = 75
Element type. Element ID = 76
Element type. Element ID = 77
Element type. Element ID = 78
2007-12
2.2-15
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Table 8, Segment 6 and 7
Seg- Byte
ment
0
1
2
3
4
6
5
6
7
8
9
10
11
12
0
1
2
3
4
7
5
6
7
8
9
10
11
12
2.2-16
Contents
Element type. Element ID = 79
Element type. Element ID = 80
Element type. Element ID = 81
Element type. Element ID = 82
Element type. Element ID = 83
Element type. Element ID = 84
Element type. Element ID = 85
Element type. Element ID = 86
Element type. Element ID = 87
Element type. Element ID = 88
Element type. Element ID = 89
Element type. Element ID = 90
Element type. Element ID = 91
Element type. Element ID = 92
Element type. Element ID = 93
Element type. Element ID = 94
Element type. Element ID = 95
Element type. Element ID = 96
Element type. Element ID = 97
Element type. Element ID = 98
Element type. Element ID = 99
Element type. Element ID = 100
Reserved
Reserved
Reserved
Reserved
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Element types
The available element types are
listed below. Details of the element
type’s byte are given in Table 8.
N/C. Normally closed contact
N/O: Normally open contact
Element
Element
type (Byte)
Function Elements
01
Switch type 1: N/C
02
Switch type 1: N/C, monitored reset
03
Switch type 1: N/C, manual reset
04
Switch type 1: N/C, start-up test
05
Switch type 1: N/C, start-up test,
monitored reset
06
Switch type 1: N/C, start-up test,
manual
07
Switch type 2: N/C, N/O
08
Switch type 2: N/C, N/O, monitored
reset
09
Switch type 2: N/C, N/O, manual reset
0A
Switch type 2: N/C, N/O, start-up test
0B
Switch type 2: N/C, N/O, start-up
test, monitored reset
0C
Switch type 2: N/C, N/O, start-up
test, manual reset
0D
Switch type 3: N/C, N/C
0E
Switch type 3: N/C, N/C, monitored
reset
0F
Switch type 3: N/C, N/C, manual reset
10
Switch type 3: N/C, N/C, start-up test
11
Switch type 3: N/C, N/C, start-up
test, monitored reset
12
Switch type 3: N/C, N/C, start-up
test, manual reset
Element
Element
type (Byte)
13
Switch type 4: N/C, N/C, N/O
14
Switch type 4: N/C, N/C, N/O,
monitored reset
15
Switch type 4: N/C, N/C, N/O,
manual reset
16
Switch type 4: N/C, N/C, N/O, startup test
17
Switch type 4: N/C, N/C, N/O, startup test, monitored reset
Switch type 4: N/C, N/C, N/O, start18
up test, manual reset
19
Switch type 5: N/C, N/C, N/C
1A
Switch type 5: N/C, N/C, N/C,
monitored reset
1B
Switch type 5: N/C, N/C, N/C,
manual reset
1C
Switch type 6: Two-hand, N/C N/O
1D
Switch type 7: Two-hand, N/O
1E
Operating mode selector switch 1
from 2
Operating mode selector switch 1
1F
from 3
Operating mode selector switch 1
20
from 4
21
Operating mode selector switch 1
from 5
22
Safety mat, with automatic reset
23
24
25
26
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
Safety mat, with start-up test
Safety mat, with reset button
Cascading input
Switch type 5: N/C, N/C, N/C, startup test
2007-12
2.2-17
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc3p ... PNOZ mc9p
Element
Element
type (Byte)
27
Switch type 5: N/C, N/C, N/C, startup test, monitored reset
28
Switch type 5: N/C, N/C, N/C, startup test, manual reset
2D
Operating mode selector switch 1
from 6
Operating mode selector switch 1
2E
from 7
2F
Operating mode selector switch 1
from 8
Output elements
Single-pole semiconductor output
51
with feedback loop
53
Single-pole, redundant semiconductor output with feedback loop
Single-pole relay output with
55
feedback loop
Single-pole, redundant relay output
57
with feedback loop
59
Cascading output
5A
Single Valve
5B
Double Valve
5C
Directional Valve
5E
Dual-pole semiconductor output
with feedback loop
Dual-pole, redundant semi60
conductor output with feedback loop
Logic Elements
80
Muting sensor: Cross muting
81
Muting sensor: Parallel muting
82
Muting sensor: Sequential muting
90
Reset element, manual reset
91
Reset element, monitored reset
92
RS flip-flops
93
Reset element, non-safety-related
reset button, manual reset
94
Reset element, non-safety-related
reset button, monitored reset
B1
Press-related element; set-up mode
B2
Press-related element; single-stroke
B3
Press-related element; automatic mode
2.2-18
Element
Element
type (Byte)
B4
Press-related element; camshaft
B5
Press-related element; run
monitoring
B6
Press-related element; light curtain
in standard mode
B7
Press-related element; light curtain
in Sweden mode
C1
Speed monitor PNOZ ms3p,
automatic reset
C2
Speed monitor PNOZ ms3p, manual
reset
Speed monitor PNOZ ms3p,
C3
monitored reset
C4
Speed monitor PNOZ ms1p, PNOZ
ms2p, incremental encoder (with
proximity switch), automatic reset
C5
Speed monitor PNOZ ms1p, PNOZ
ms2p, incremental encoder (with
proximity switch), manual reset
C6
Speed monitor PNOZ ms1p, PNOZ
ms2p, incremental encoder (with
proximity switch), monitored reset
Speed monitor PNOZ ms1p, PNOZ
C7
ms2p, proximity switch, automatic
reset
Speed monitor PNOZ ms1p, PNOZ
C8
ms2p, proximity switch, manual
reset
C9
Speed monitor PNOZ ms1p, PNOZ
ms2p, proximity switch, monitored
reset
CA
Speed monitor PNOZ ms4p,
automatic reset
CB
Speed monitor PNOZ ms4p, manual
reset
CC
Speed monitor PNOZ ms4p,
monitored reset
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-12
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Service Data Object (SDO)
Overview
All the CANopen objects (variables
and parameters) that are relevant for
these units are entered in the
CANopen 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 the PNOZ mc6p fieldbus
module to be incorporated easily into
a CANopen network.
The manufacturer-specific part of the
object directory is structured as
follows:
INFORMATION
Index
2000
2001
2002
2003
2004
2005
2006
...
200A
2100
Contents
Output data
Diagnostic word (Low Byte)
Diagnostic word (High Byte)
Input status
Status of input LED
Output status
LED status
Configuration
Element types
Input assignments of elements
with Element ID
Data with indices 2001 to
2003 is 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.
System requirements
Communication via SDOs is only
possible with units from the stated
version number onwards:
• PNOZ mc6p from Version 1.1
• PNOZ m0p from Version 1.0
• PNOZ m1p from Version 4.0
• PNOZ m2p from Version 1.0
INFORMATION
Indices 2006 ... 200A are no
longer supported by base
units from the following
version number upwards:
• PNOZ m0p from Version 2.3
• PNOZ m1p from Version 5.3
• PNOZ m2p from Version 2.3
Input data
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
2.3-1
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Object Directory (Manufacturer
Specific Profile Area)
Index 2000
This index contains the output data
Index Sub-Index
(hex) (dec)
2000 1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20 ... 79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
2.3-2
Contents
Example/Comment
Outputs Bit 0 … 7 fieldbus module
Outputs Bit 8 … 15 fieldbus module
Outputs Bit 16 … 23 fieldbus module
LED status
Table number
Segment number
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
Byte 11
Byte 12
Reserved
I0 ... I7
1st PNOZ ml1p connection module left
I8 ... I15
1st PNOZ ml1p connection module left
I16 ... I23 1st PNOZ ml1p connection module left
I24 ... I31 1st PNOZ ml1p connection module left
I0 ... I7
2nd PNOZ ml1p connection module left
I8 ... I15
2nd PNOZ ml1p connection module left
I16 ... I23 2nd PNOZ ml1p connection module left
I24 ... I31 2nd PNOZ ml1p connection module left
I0 ... I7
3rd PNOZ ml1p connection module left
I8 ... I15 3rd PNOZ ml1p connection module left
I16 ... I23 3rd PNOZ ml1p connection module left
I24 ... I31 3rd PNOZ ml1p connection module left
I0 ... I7
4th PNOZ ml1p connection module left
I8 ... I15 4th PNOZ ml1p connection module left
I16 ... I23 4th PNOZ ml1p connection module left
I24 ... I31 4th PNOZ ml1p connection module left
I0 ... I7
5th PNOZ ml1p connection module left
I8 ... I15 5th PNOZ ml1p connection module left
I16 ... I23 5th PNOZ ml1p connection module left
I24 ... I31 5th PNOZ ml1p connection module left
I0 ... I7
5th PNOZ ml1p connection module left
I8 ... I15 6th PNOZ ml1p connection module left
I16 ... I23 6th PNOZ ml1p connection module left
I24 ... I31 6th PNOZ ml1p connection module left
For information on the sub-indices
please see section entitled
“Communication with fieldbus
systems” on page 2.10-44
Virtual inputs on the 2nd PNOZ ml1p
connection module:
Sub-Index 84:
I7 I6 I5 I4 I3 I2 I1 I0
Sub-Index 85:
I15 I14 I13 I12 I11 I10 I9 I8
Sub-Index 86:
I23 I22 I21 I20 I19 I18 I17 I16
Sub-Index 87:
I31 I30 I29 I28 I27 I26 I25 I24
If an input has a high signal, the
corresponding Bit will contain “1”; if
the input is open (low signal), the Bit
will contain “0”.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Index Sub-Index
(hex) (dec)
2000 104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
Contents
O0 ... O7
O8 ... O15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... I15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... O15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... O15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... I15
O16 ... O23
O24 ... O31
O0 ... O7
O8 ... O15
O16 ... O23
O24 ... O31
Reserved
Example/Comment
1st PNOZ ml1p connection module left
1st PNOZ ml1p connection module left
1st PNOZ ml1p connection module left
1st PNOZ ml1p connection module left
2nd PNOZ ml1p connection module left
2nd PNOZ ml1p connection module left
2nd PNOZ ml1p connection module left
2nd PNOZ ml1p connection module left
3rd PNOZ ml1p connection module left
3rd PNOZ ml1p connection module left
3rd PNOZ ml1p connection module left
3rd PNOZ ml1p connection module left
4th PNOZ ml1p connection module left
4th PNOZ ml1p connection module left
4th PNOZ ml1p connection module left
4th PNOZ ml1p connection module left
5th PNOZ ml1p connection module left
5th PNOZ ml1p connection module left
5th PNOZ ml1p connection module left
5th PNOZ ml1p connection module left
6th PNOZ ml1p connection module left
6th PNOZ ml1p connection module left
6th PNOZ ml1p connection module left
6th PNOZ ml1p connection module left
Virtual outputs on the 3rd PNOZ ml1p
connection module:
Segment 1
Sub-Index 112:
O7 O6 O5 O4 O3 O2 O1 O0
Sub-Index 113:
O15 O14 O13 O12 O11O10 O9 O8
Sub-Index 114:
O23 O22 O21 O20 O19 O18 O17 O16
Sub-Index 115:
O31 O30 O29 O28 O27 O26 O25 O24
If an output has a high signal, the
corresponding Bit will contain “1”; if
the input is open (low signal), the Bit
will contain “0”.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
2.3-3
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Index 2001 and 2002
This index contains the diagnostic
words and the output bits for the
Element IDs.
Index Sub-Index
(hex) (dec)
2001 1
...
100
101 ... 113
Contents
Example/Comment
Low Byte diagnostic word. Element ID = 1
The diagnostic word is displayed in the
PNOZmulti Configurator (see section
Low Byte diagnostic word. Element ID = 2.8.1, Operation and Fault Diagnostics,
100
plus the online help on the PNOZmulti
Configurator)
Element ID = 1, e.g. E-STOP’s
diagnostic word:
Low Byte:
0 0 0 0 0 0 1 0
Message: Pushbutton operated
Output bit 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.
SubIndex
101
102
103
...
111
112
113
3 2 1
11 10 9
19 18 17
83 82 81
91 90 89
99 98 97
114 ... 128
Reserved
Index Sub-Index
(hex) (dec)
2002 1
Contents
Example/Comment
High Byte diagnostic word. Element ID = 1
...
High Byte diagnostic word. Element ID = 100
See Index 2001 for comment
Element ID = 1, e.g. E-STOP’s diagnostic
word:
High Byte:
0 0 0 0 0 0 0 1
Message: wiring error, clock error
...
100
101 ... 128
2.3-4
Element ID
8 7 6 4 4
16 15 14 13 12
24 23 22 21 20
...
88 87 86 85 84
96 95 94 93 92
- - - - 100
Reserved
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Index 2003
This index contains the status of the
inputs, outputs and LEDs
Index Sub-Index
(hex) (dec)
2003 1
2
3
4
5
6
7
8
9
10
11
12
13
14 ... 16
Index Sub-Index
(hex) (dec)
2003 17
18
19
20, 21
22
23
24
25
26
27
28
29
Contents
Example/Comment
I0 ... I7 base unit
I8 ... I15 base unit
I16 ... I19 base unit
0
0
I0 ... I7 1st expansion module right
I0 ... I7 2nd expansion module right
I0 ... I7 3rd expansion module right
I0 ... I7 4th expansion module right
I0 ... I7 5th expansion module right
I0 ... I7 6th expansion module right
I0 ... I7 7th expansion module right
I0 ... I7 8th expansion module right
The safety system consists of a base unit and
one PNOZ mi1p.
Sub-Index 1: PNOZ m1p
I7 I6 I5 I4 I3 I2 I1 I0
Sub-Index 2: PNOZ m1p
I15 I14 I13 I12 I11 I10 I9 I8
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
If an input has a high signal, the corresponding
Bit will contain “1”; if the input is open (low
signal), the Bit will contain “0”.
Reserved
Contents
Example/Comment
LED I0 ... I7 base unit
LED I8 ... I15 base unit
LED I16 ... I19 base unit
0
LED I0 ... I7 1st expansion module right
LED I0 ... I7 2nd expansion module right
LED I0 ... I7 3rd expansion module right
LED I0 ... I7 4th expansion module right
LED I0 ... I7 5th expansion module right
LED I0 ... I7 6th expansion module right
LED I0 ... I7 7th expansion module right
LED I0 ... I7 8th expansion module right
The safety system consists of a base unit and
one PNOZ mi1p.
Sub-Index 17: PNOZ m1p
I7 I6 I5 I4 I3 I2 I1 I0
Sub-Index 18: PNOZ m1p
I15 I14 I13 I12 I11 I10 I9 I8
Sub-Index 19: PNOZ m1p
0 0 0
0 I19 I18 I17 I16
0 0 0 0 0 0 0 0
Sub-Index 20:
0 0 0 0 0 0 0 0
Sub-Index 21:
Sub-Index 22: PNOZ mi1p
I7 I6 I5 I4 I3 I2 I1 I0
If the LED on an input is flashing, the
corresponding bit contains “1”; if the LED is
not flashing, the bit contains “0”.
30 ... 32
Reserved
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
2.3-5
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Index Sub-Index
(hex) (dec)
2003 33 ... 35
36
37
38
39
40
41
42
43
44
45
46 ... 48
49 ... 53
54
55
56
57
58
59
60
61
Contents
Example/Comment
0
O0 ... O3 of the base unit
O4 and O5 of the base unit
O0 ... O7 1st expansion module right
O0 ... O7 2nd expansion module right
O0 ... O7 3rd expansion module right
O0 ... O7 4th expansion module right
O0 ... O7 5th expansion module right
O0 ... O7 6th expansion module right
O0 ... O7 7th expansion module right
O0 ... O7 8th expansion module right
Reserved
0
O8 ... O15 1st expansion module right
O8 ... O15 2nd expansion module right
O8 ... O15 3rd expansion module right
O8 ... O15 4th expansion module right
O8 ... O15 5th expansion module right
O8 ... O15 6th expansion module right
O8 ... O15 7th expansion module right
O8 ... O15 8th expansion module right
Assignment of Bytes depends on the
unit:
PNOZ m0p, PNOZ m1p, PNOZ m2p
Sub-Index 36:
0
0
1
1 O3 O2 O1 O0
Sub-Index 37:
0
0
0
0
0
0 O5 O4
PNOZ mo1p
Sub-Index 38 ... 45:
0
0
0
0 O3 O2 O1 O0
Sub-Index 54 ... 61:
0
0
0
0
0
0
0
0
PNOZ mo2p
Sub-Index 38 ... 45:
0
0
0
0
0
0 O1 O0
Sub-Index 54 ... 61:
0
0
0
0
0
0
0
0
PNOZ mo4p
Sub-Index 38 ... 45:
0
0
0
0 O3 O2 O1 O0
Sub-Index 54 ... 61:
0
0
0
0
0
0
0
0
PNOZ mc1p
Sub-Index 38 ... 45:
A7 A6 A5 A4 A3 A2 A1 A0
Sub-Index 54 ... 61:
A15 A14 A13 A12 A11 A10 A9 A8
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”.
62 ... 64
2.3-6
Reserved
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Index Sub-Index
(hex) (dec)
2003 65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84 - 128
Contents
Example/Comment
RUN
DIAG
FAULT
IFAULT
OFAULT
FAULT 1st expansion module right
FAULT 2nd expansion module right
FAULT 3rd expansion module right
FAULT 4th expansion module right
FAULT 5th expansion module right
FAULT 6th expansion module right
FAULT 7th expansion module right
FAULT 8th expansion module right
FAULT 1st expansion module left
FAULT 2nd expansion module left
FAULT 3rd expansion module left
FAULT 4th expansion module left
FAULT 5th expansion module left
FAULT 6th expansion module left
Reserved
Depending on the LED status, the
following Hex code will be in Sub-Index
65 ... 77:
00 hex: LED off
FF hex: LED on
30 hex: LED flashes
Depending on the LED status, the
following Hex code will be in Sub-Index
78 ... 83:
00 hex: LED off
FF hex: LED on
30 hex: LED flashes
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
2.3-7
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Index 2004
This index contains the PNOZmulti’s
configuration data
Index Sub-Index
(hex) (dec)
2004 1
2.3-8
Contents
Example/Comment
Data transfer
Sub-index 1: Bit 1 = 1: All configuration
data has been downloaded to the
fieldbus module
2
3
Reserved
Number of elements
4 ... 16
17 ... 20
Reserved
Product number (hex)
21 ... 24
Unit version (hex)
25 ... 28
Serial number (hex)
29 ... 30
Project check sum (hex)
31 ... 32
Chip card check sum (hex)
33 ... 36
37 ... 40
Reserved
Project creation date (hex)
41 ... 43
44
45
46
47
48
49
50
51
52
Reserved
Configuration, fieldbus module/RS 232
Configuration, 1st expansion module right
Configuration, 2nd expansion module right
Configuration, 3rd expansion module right
Configuration, 4th expansion module right
Configuration, 5th expansion module right
Configuration, 6th expansion module right
Configuration, 7th expansion module right
Configuration, 8th expansion module right
53 ... 56
Reserved
Number of configured elements with
Element ID
Product number 773 100: 000BCBEC
hex
Sub-Index 17: 00, Sub-Index 18: 0B,
Sub-Index 19: CB, Sub-Index 20: EC
Unit version 20: 14 hex
Sub-Index 21: 00, Sub-Index 22: 00,
Sub-Index 23: 00, Sub-Index 24: 14
Serial number 123 456: 0001E240 hex
Sub-Index 25: 00, Sub-Index 26: 01,
Sub-Index 27: E2, Sub-Index 28: 40
Check sum A1B2 hex:
Sub-Index 29: A1, Sub-Index 30: B2
Check sum 3C5A hex:
Sub-Index 31: 3C, Byte 32: 5A
Creation date: 28.11.2003
Sub-Index 37: 1C, Sub-Index 38: 0B,
Sub-Index 39: 07, Sub-Index 40: D3
Sub-Index 44 contains the Hex code for
a fieldbus module (installed on the left)
or for inputs and outputs via RS 232:
Fieldbus modules PNOZ mc.. : 30
Virtual inputs and outputs
via
RS 232:
40
Additional input modules on the left:
PNOZml1p: See Sub-Index 90 ... 95
Sub-Index 45 ... 52 contains the Hex
code for the expansion modules on the
right :
PNOZ mi1p:
08
PNOZ mi2p:
38
PNOZ mo1p:
18
PNOZ mo2p:
10
PNOZ mo3p:
30
PNOZ mo4p:
28
PNOZ mc1p:
20
PNOZ ms3p:
68
PNOZ ms4p:
78
PNOZ ms1p/PNOZ ms2p:
88
No expansion module:
00
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Index
(hex)
2004
Sub-Index
(dec)
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
Contents
Example/Comment
1st character (Low Byte)
1st character (High Byte)
2nd character (Low Byte)
2nd character (High Byte)
3rd character (Low Byte)
3rd character (High Byte)
4th character (Low Byte)
4th character (High Byte)
5th character (Low Byte)
5th character (High Byte)
6th character (Low Byte)
6th character (High Byte)
7th character (High Byte)
7th character (Low Byte)
8th character (Low Byte)
8th character (High Byte)
9th character (Low Byte)
9th character (High Byte)
10th character (Low Byte)
10th character (High Byte)
11th character (Low Byte)
11th character (High Byte)
12th character (Low Byte)
12th character (High Byte)
13th character (Low Byte)
13th character (High Byte)
14th character (Low Byte)
14th character (High Byte)
15th character (Low Byte)
15th character (High Byte)
16th character (Low Byte)
16th character (High Byte)
Day
Month
Year (High Byte)
Year (Low Byte)
Hour
Minute
Time zone
Sub-Index 57 ... 88 contains the project
name defined in the PNOZmultil
Configurator under “Enter project data”;
this is stored in UNICODE format, 2
Bytes contain the Hex code of the
individual UNICODE characters
96
97
98
99
100
101
Configuration, 1st expansion module left
Configuration, 2nd expansion module left
Configuration, 3rd expansion module left
Configuration, 4th expansion module left
Configuration, 5th expansion module left
Configuration, 6th expansion module left
102 ... 128
Reserved
Date on which the program on the chip
card was last modified
Date modified : 28.11.2003
Sub-Index 89: 1C, Sub-Index 90: 0B,
Sub-Index 91: 07, Sub-Index 92: D3
Time: 14 hours 25 minutes
Sub-Index 93: 0E, Sub-Index 94: 19
Time zone 1: Sub-Index 95: 01
Sub-Index 96 ... 101 contains the Hex
code for the expansion modules to the
left of the base unit. Any fieldbus
module in these Sub-Indices will not be
considered (see Index 2004, Sub-Index
44).
PNOZ ml1p:
A8
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
2.3-9
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Index 2005
This index contains the element
types.
Index
(hex)
2005
Sub-Index
(dec)
1
...
100
Contents
Example/Comment
Element type. Element ID = 1
Element with ID = 1: Single-pole semiconductor output with feedback loop
Sub-Index 1: 51 hex
See list containing the element types on
page 3-2-15
Element type. Element ID = 100
101 ... 128 Reserved
Index 2006 ... 200A
This index contains the input
assignments of elements with
Element ID
Index
(hex)
2006
Sub-Index
(hex)
1
...
2007
100
101 ... 128
1
...
2008
100
101 ... 128
1
...
2009
100
101 ... 128
1
...
2009
200A
100
101 ... 128
1
...
100
101 ... 128
2.3-10
INFORMATION
Indices 2006 ... 200A are no
longer supported by base
units from the following
version number upwards:
• PNOZ m0p from Version 2.3
• PNOZ m1p from Version 5.3
• PNOZ m2p from Version 2.3
Contents
Example/Comment
1st input of element with Element ID =
1
...
1st input of element with Element ID =
100
Reserved
2nd input of element with Element ID =
1
...
2nd input of element with Element ID =
100
Reserved
3rd input of element with Element ID =
1
...
3rd input of element with Element ID =
100
Reserved
4th input of element with Element ID =
1
...
4th input of element with Element ID =
100
Reserved
5th input of element with Element ID =
1
...
5th input of element with Element ID =
100
Reserved
The configured position and bit number
can be assigned for a maximum of 5
inputs from elements with Element ID.
Bit:
7
6
5
4
Configured position
3
2
1
0
Bit number
Example:
for Element ID= 1:
1st input in Index 2006, Sub-Index 1
2nd input in Index 2007, Sub-Index 1
3rd input in Index 2008, Sub-Index 1
4th input in Index 2009, Sub-Index 1
5th input in Index 200A, Sub-Index 1
0 1 1 0 0 1 0 1
Configuration position = 6
= 2nd expansion module
Bit number = 5 (input I5)
For the status of the inputs, refer also to
Index 2003, Sub-Index 1 ... 13
For addressing the inputs, see table
opposite.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
Addressing the inputs
Input
I0 ... I7
I8 ... I15
I16 ... I19
No inputs
No inputs
I0 ... I7
1st expansion module right
I0 ... I7
2nd expansion module right
I0 ... I7
3rd expansion module right
I0 ... I7
4th expansion module right
I0 ... I7
5th expansion module right
I0 ... I7
6th expansion module right
I0 ... I7
7th expansion module right
I0 ... I7
8th expansion module right
Configuration Bit
number
0
0 ... 7
1
0 ... 7
2
0 ... 3
3
4
5
0 ... 7
6
0 ... 7
7
0 ... 7
8
0 ... 7
9
0 ... 7
10
0 ... 7
11
0 ... 7
12
0 ... 7
Index 2100
This index contains the input data
Index Sub-Index
(hex) (dec)
2100 1
2
3
4
5
6
7 ... 128
Contents
Example/Comment
Inputs Bit 0 … 7
Inputs Bit 8 … 15
Inputs Bit 16 … 23
Reserved
Table number
Segment number
Reserved
For information on the sub-indices
please see section entitled
“Communication with fieldbus
systems” on page 3.1-1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
2.3-11
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc6p via SDOs
2.3-12
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-03
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc8p Ethernet IP / Modbus TCP
Introduction
Assigning the IP address to your PC
Changing the IP settings
This chapter describes the special
features of communication with the
PNOZ mc8p expansion module on
Ethernet IP and Modbus TCP.
Access to PNOZmulti data via tables
and segments is described in
Chapters 2.1 and 2.2.
• Details of the procedure can be
found in the manual for your
operating system.
• Set the IP address, e.g.
192.168.0.1 with subnet mask
255.255.255.0.
You can change the IP settings of the
PNOZ after configuring the IP
addresses of the computer and the
PNOZ mc8p.
• Connect the PNOZ mc8p to the
computer.
• Call up the following html page:
http://192.168.0.20/config.htm
• Configure the settings for the
PNOZ mc8p.
Example:
IP address:
172.16.216.139
Subnet mask:
255.255.0.0
Gateway address:
—
DNS1 address: —
DNS1 address: —
Host name:
—Domain name:
—
SMTP server:
—
DHCP enabled: No
• Click the Store Configuration
button. The settings are
transferred to the expansion
module.
• Switch off the supply voltage.
• Set all DIP switches to zero.
• Switch on the supply voltage. The
new IP address for the unit is now
set.
Overview
The PNOZ mc8p expansion module
uses Ethernet to connect the
PNOZmulti modular safety system to
control systems that support the
Ethernet IP and Modbus TCP
protocols.
Ethernet IP and Modbus TCP are
designed for fast data exchange at
field level. The PNOZ mc8p expansion module is a passive Ethernet IP
(adapter) or Modbus TCP (slave)
subscriber. The basic functions of
communication with Ethernet IP or
Modbus TCP conform to IEEE 802.3.
The central controller (master) reads
input information from the slaves and
writes output information to the
slaves as part of each cycle. As well
as the cyclical transfer of usable
data, the PNOZ mc8p can also be
used for diagnostics and commissioning functions.
Module features:
• Can be configured using the
PNOZmulti Configurator
• Network protocols: Ethernet IP,
Modbus TCP
• Status indicators for
communication and for errors
• Transmission rate 10 MBit/s
(10BaseT) and 100 MBit/s
(100BaseTX), full and half duplex
• IP address is set via DIP switches
on the front panel
Setting the IP address of the
expansion module
• The IP address of the PNOZ mc8p
is set using DIP switches on the
front panel.
• Please note: Only set the IP
address when the supply voltage
is switched off.
• The first three bytes of the IP
address are:
IP address: 192.168.0
Subnet mask: 255.255.255.0
• The last byte is configured using
the DIP switches. Value range:
1 ... 255
Please note: The IP address of the
PNOZ mc8p should not be the
same as the IP address for the
PC.
• Example:
DIP switch: 00010100 (20 decimal)
12345678
ON
(MSB)
(LSB)
IP address: 192.168.0.20
• Once the IP address has been set
via the DIP switches you can
connect the supply voltage to the
base unit.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-04
2.4-1
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc8p Ethernet IP / Modbus TCP
Data exchange
• Error codes on Modbus TCP
20 bytes must always be sent and
received for communication with the
PNOZmulti.
Ethernet IP
The input/output data from the
PNOZmulti can be polled using the
assembly object (Class 04h).
• Data from the PNOZmulti is
requested using Instance 64h.
• Instance 96h writes the data from
the Ethernet IP scanner to the
PNOZmulti.
Modbus TCP
• There is no need to configure a
connection on the PNOZ mc8p.
Port 502 is used in accordance
with the Modbus TCP specification.
• Modbus TCP supports the
following function codes:
Function
code
Name of function
1
Read coils
2
Read input discretes
3
Read multiple registers
4
Read input registers
5
Write coil
6
Write single register
7
Read exception status
15
Force multiple coils
16
Force multiple registers
22
Mask write register
23
Read/Write registers
• The address input range begins
with Register 0. The address
output range begins with Register
1024.
The byte sequence of a word is
high byte/low byte
Word
Left byte
Right byte
Low byte
High byte
(Bit 07 ... 00)
(Bit 15 ... 08)
Code
Name
Description
01
Invalid function
The PNOZ mc8p does not support the
function code in the enquiry.
02
Invalid data address
The data address received in the enquiry
is outside the memory range.
Invalid data
Invalid data requested.
03
Web interface for commissioning
and testing
A Pilz web interface can be used
when commissioning or as a testing
aid. It can be used to poll data from
the PNOZmulti.
• Commission a base unit and
PNOZ mc8p as described in the
operating instructions.
• Connect the PNOZ mc8p to the
computer.
• Enter the IP address (URL) in your
browser’s address bar, e.g.:
http://172.16.216.139
• The input mask provides access
to the inputs and outputs on the
PNOZmulti system and to the
table segments.
Restricting access
In principle, each Ethernet subscriber
can set up a connection to the
PNOZ mc8p. This access can be
restricted.
• To establish a connection to the
FTP site, enter the IP address
(URL) of the PNOZ mc8p in your
browser’s address bar.
A login window appears.
• The default access data is:
User name: User
Password: Password
Log in. You will now have access
to the PNOZ mc8p user area.
• Save the file ip_access.cfg on to
your computer and open it using
an editor.
Once opened the file contains the
following information:
[MODBUS/TCP]
*.*.*.*
[Ethernet/IP]
*.*.*.*
• If *.*.*.* is entered, all subscribers
will have unrestricted access.
• Instead of the characters *.*.*.*,
enter the IP addresses of the
subscribers to which you wish to
grant restricted access, e.g.:
[MODBUS/TCP]
172.16.205.24
172.16.205.40
[Ethernet/IP]
172.16.205.96
• Save the file ip_access.cfg on
your computer.
• Download the file to the PNOZ
mc8p.
• Restart the PNOZmulti.
2.4-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-04
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc8p Ethernet IP / Modbus TCP
Input and output data
The data is structured as follows:
• Input range
The inputs are defined in the
master and transferred to the
PNOZmulti. Each input has a
number, e.g. the input bit 4 of byte
1 has the number i12.
• Output range
The 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.
• Output range only: Byte 3
- Bit 0 ... 4: Status of LEDs on
the PNOZmulti
- Bit 0: OFAULT
- Bit 1: IFAULT
- Bit 2: FAULT
- Bit 3: DIAG
- Bit 4: RUN
- Bit 5: Data is being exchanged.
Assigning the inputs/outputs in the
PNOZmulti Configurator to the
Ethernet IP/Modbus TCP input/
output data
Inputs on PNOZmulti Configurator
I0 ... I7
I8 ... I15
I16 ... I23
Input data, Ethernet IP or Modbus TCP
Byte 0 :
Bit 0 … 7
Byte 1 :
Bit 0 … 7
Byte 2 :
Bit 0 … 7
Outputs on PNOZmulti Configurator
O0 ... O7
O8 ... O15 O16 ... O23
Output data, Ethernet IP or Modbus TCP
Byte 0 :
Bit 0 … 7
Byte 1 :
Bit 0 … 7
Byte 2 :
Bit 0 … 7
LEDs
LED off
LED on
LED flashes
LED
LED status
green
LINK
Key
Bus connection available
Bus connection not available
green
PNOZ mc8p is receiving/sending data
No supply voltage at the PNOZ mc8p.
STAT
INFORMATION
Please also refer to the section
entitled “Basics” on page
2.1-1.
green
The PNOZ mc8p is operating correctly.
green
The PNOZ mc8p is not configured.
red
Recoverable fault
red
Major internal error (not recoverable)
green-red
Self test after switching on the supply voltage
No supply voltage present or no IP address assigned
NET
ACT
green
The PNOZ mc8p has established at least one connection.
green
The PNOZ mc8p has not established a connection.
red
Timeout for at least one connection. Re-establish connection
or reset PNOZ mc8p.
red
IP address is already in use.
green-red
Self test after switching on the supply voltage
green
Data sent/received
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-04
2.4-3
PNOZmulti - Special applications
Communication with fieldbus modules
PNOZ mc8p Ethernet IP / Modbus TCP
2.4-4
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-04
PNOZmulti - Special applications
Diagnostic Interface
Contents
page
Diagnostic Interface
Introduction
Overview
Intended Use
Data Exchange
Requirements
Error Management
3.1-1
3.2-1
3.3-1
3.4-1
3.5-1
3.6-1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Deutschland
Telefon: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
3-0-1
2.1
3.0-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Deutschland
Telefon: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Diagnostic Interface
Introduction
This chapter describes the
communication options available
with the serial diagnostic interface
(RS 232) of the base units from the
PNOZmulti modular safety system.
For details of how to operate the
modular PNOZmulti safety system,
please refer to the operating manual
for the respective device.
Overview of the chapters
This manual is divided into the
following chapters:
3.1
3.2
3.3
3.4
3.5
3.6
Introduction
The introduction you are
reading familiarises you with
the content of the manual.
Overview
This chapter gives you a brief
overview of the function of the
PNOZmulti serial interface and
also the data exchange
structure.
IntendedUse
This chapter contains
information about the intended
use of the PNOZmulti serial
interface.
Date exchange
This chapter contains important
information about the sequence
of communication between the
PNOZmulti and the user
program.
Requests
This chapter contains the
individual requests and
describes the structure of the
data blocks.
Error Management
This chapter describes
potential errors and how to deal
with them.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
3.1-1
PNOZmulti - Special applications
Diagnostic Interface
Introduction
3.1-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Diagnostic Interface
Diagnostic Data
The diagnostic interface on the
PNOZmulti provides access to a
variety of data from the safety
system. This data can be read using
a communications partner (e.g. a PC
or PLC).
Communication occurs via the serial
RS 232 interface of the
communications partner. The
communications partner represents
the Master; the PNOZmulti acts as
Slave.
A null modem cable is used to make
the connection between the RS 232
interface on the communications
partner and the diagnostic interface
on the base unit.
Transmission rate:
19.2 KBit with
• 8 bits of data
• 1 start bit
• 2 stop bits
• 1 parity bit
• Even parity
Diagnostic data
Diagnostic data on the PNOZmulti
modular safety system comprises:
•V
ersion:
Version:
Product number, device version,
serial number
• Status of inputs/outputs:
Indicates whether inputs and
outputs are active or inactive
(open/closed)
• LED status:
Indicates the status of the LEDs
on the base unit and expansion
modules (on/off/flashes), plus the
operating mode (start up, RUN,
STOP)
• Simplified status scan:
Shows group messages relating to
the safety sytem: signal changes,
LEDs, operating statuses
• virtual inputs and outputs:
Virtual inputs can be set. The
status of the virtual inputs and
outputs can be scanned.
d:
• Diagnostic wor
word:
The diagnostic word contains the
status of elements from the user
program within the PNOZmulti
• Test data:
To check commmunication.
• Data in table form
This is structured data (arranged
in tables and segments) from the
PNOZmulti, as it could also be
read via a fieldbus module:
- Configuration
- Status of the inputs and
outputs
- LED status
- Diagnostic word
- Element types
User
program
RS 232 interface
PNOZmulti
Base module
Expansion modules
Null modem cable
Diagnostic interface
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
3.2-1
PNOZmulti - Special applications
Diagnostic Interface
Diagnostic Data
3.2-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Diagnostic Interface
Intended Use
Diagnostic interface
The serial interface on the
PNOZmulti modular safety system is
used to transfer diagnostic data to a
user program. The diagnostic data
may only be used for non-safety
purposes, e.g. visualization.
NOTICE
For details of the intended use
and application of the modular PNOZmulti safety system,
please refer to the operating
instructions for the respective
unit.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
3.3-1
PNOZmulti - Special applications
Diagnostic Interface
Intended Use
3.3-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Diagnostic Interface
Data Exchange
This chapter explains the principle of
communication between a user
program and the PNOZmulti. The
requests and data blocks are shown
in detail in Chapter 3.5.
Communication procedure
• At each stage of communication,
the user program waits 550 ms for
a response. If it does not receive a
response, it resets the
communications timer.
Communication must be restarted
with a request from the user
program.
Each communication is started by
sending a request to the PNOZmulti.
Requests are used to receive data
from or send data to the PNOZmulti:
1. Request:
The user sends a request to the
PNOZmulti via the user program.
2. Acknowledgement:
The PNOZmulti sends an
acknowledgement to the user
program, confirming that the
request has been received without
error. With various requests the
user program must send another
data block after the
acknowledgement, specifying the
request more precisely. The
PNOZmulti again sends an
acknowledgement upon receipt
(see Fig. 4-2).
3. Data block:
A data block is sent from the
PNOZmulti or from the user
program, depending on the
request. The size of the data block
depends on the request (Fig. 4-1).
4. Information message:
The user sends an
acknowledgement via the user
program, confirming that the data
block has been received without
error.
Each communications partner uses a
communications timer.
• At each stage of communication,
the PNOZmulti waits 500 ms for a
response. If it does not receive a
response, it resets the
communication. Communication
must be restarted with a request
from the user program.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
3.4-1
PNOZmulti - Special applications
Diagnostic Interface
Data Exchange
PNOZmulti sends data block
User program
PNOZmulti
Requirement
Acknowledgement
Data block
n Bytes
Information message (data block OK)
User program sends data block
User program
PNOZmulti
Requirement
Acknowledgement
Data block
n Bytes
Information message data block OK (0x60)
Fig. 4-1: Communication procedure
3.4-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Diagnostic Interface
Data Exchange
Extended communication
After the acknowledgement, the user
program sends a data block to the
PNOZmulti, specifying the request
more precisely.
User program
PNOZmulti
Requirement
Acknowledgement
Details of request
n Bytes
Information message data block OK (0x60)
Data block
n Bytes
Information message data block OK (0x60)
Fig. 4-2: Communication procedure with extended request
Requirements
Acknowledgements
Confirmation of receipt
Only one request can be processed
at a time. At least 15 ms must elapse
between the previous
communication (e.g. an information
message) and any new request.
When the PNOZmulti receives a
request from the user program it
sends back an acknowledgement,
which will either confirm that the
request was received successfully or
contain an error / information
message.
If the PNOZmulti has received a
request without error, it will send the
following confirmation of receipt:
INFORMATION
The individual requests are
described in detail in
Chapter 5.
ID code
Request ID + 0x80
Meaning
Request received, everything OK
Reaction
(User program)
Continue communication
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
3.4-3
PNOZmulti - Special applications
Diagnostic Interface
Data Exchange
Error messages and information
messages
The user program or the PNOZmulti
sends one Byte as an error message
or for information.
ID-Code
0x60
0x62
0x64
0x65
INFORMATION
Further information on error
management can be found on
page 3.6-1
Sent by
User
PNOZmulti
User
PNOZmulti
Key
Data block received,
everything OK
Data block not received correctly
PNOZmulti
Request
not understood
PNOZmulti
Data Blocks
The data is sent within data blocks. A
data block consists of a varying
number of data bytes. The length of
a data block depends on the request.
Each data block has the same
structure.
Reaction
Continue communication
User program or PNOZmulti: Send
data block again
Repeat request in user program
Repeat request
Communication reset because the
time was exceeded
• Application data
The first n data bytes contain the
data requested via the command.
• Information data
- The penultimate data byte is
always 0x00.
- The last byte of each data block
is the check sum (Block Control
Check = BCC).
A data block with 34 bytes, for
example, has the following
check sum:
BCC = 0x00 - (Data byte 0 + ....
+ Data byte 31 + 0x00)
Data block
Data byte 0
Data byte 1
Data byte 2
....
....
....
Data byte n
0x00
BCC
3.4-4
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Diagnostic Interface
Data Exchange
Example
• The user program requests input
and output data from the
PNOZmulti.
• The PNOZmulti sends an
acknowledgement, which consists
of the relevant request 0x41 and
the confirmation of receipt 0x80
(0x41 + 0x80 = 0xC1).
• When the data is received, a fault
is detected; an information
message is sent to the PNOZmulti
via the user program.
• The PNOZmulti sends the data
again.
• Receipt of the data block is
confirmed via the user program,
using an information message.
User program
Request: Send input data (0x41)
PNOZmulti
Acknowledgement: Request received, everything OK (0xC1)
Data block
34 Bytes
Information message: Data block not received correctly (0x62)
Data block
34 Bytes
Information message: Data block OK (0x60)
Fig. 4-3: Example for request 0x41
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
3.4-5
PNOZmulti - Special applications
Diagnostic Interface
Data Exchange
3.4-6
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Overview
This chapter describes the requests
that the user program sends to the
PNOZmulti and the data blocks
defined with the request.
The following requests are available:
Request
0x14
0x2C
0x2D
0x50
0x40
0x41
0x43
0x44
0x5F
Meaning
Send virtual inputs to PNOZmulti
Send status of virtual inputs and outputs from the
PNOZmulti
Send diagnostic word from the PNOZmulti
Send data from the PNOZmulti in table form
Send version data from the PNOZmulti
Send all input and output data
Send all LED data
Send simplified status scan (group messages) from the
PNOZmulti
Send test
Data block
length
10
10
4
15
34
34
34
4
Required
base unit
PNOZ m0p V1.0
PNOZ m1p V4.0
PNOZ m2p V1.0
PNOZ m0p V1.0
PNOZ m1p V3.0
PNOZ m2p V1.0
34
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
Page
3-5-2
3-5-3
3-5-4
3-5-17
3-5-6
3-5-8
3-5-12
3-5-16
3-5-20
2007-04
3.5-1
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Request 0x14 - Send virtual inputs
to the PNOZmulti
Requirement
The PNOZmulti sends the error
message 0x62:
• If Bytes 3 to 5 are not the one’s
complement of Bytes 0 to 2.
• If the BCC is incorrect.
The user program employs request
0x14 to send 24 virtual inputs to the
PNOZmulti.
Data block
The data block consists of 10 Bytes.
Bytes 3 to 5 form the one’s
complement of Byte 1 to 3.
Byte No.
0
1
2
3
4
5
6
7
8
10
3.5-2
Data
Virtual inputs i7 to i0
Virtual inputs i15 to i8
Virtual inputs i23 to i16
One’s complement of
virtual inputs i7 to i0
One’s complement of
virtual inputs i15 to i8
One’s complement of
virtual inputs i23 to i16
0x00
0x00
0x00
BCC = 3
Note
Example: 0100 0010
Sets virtual inputs
I6 and I1 = 1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Request 0x2C - Send status of
virtual inputs and outputs from the
PNOZmulti
Request
The user program employs request
0x2C to request the status of the 24
virtual inputs and outputs from the
PNOZmulti.
Data block
The data block consists of 10 Bytes.
Byte No.
0
1
2
3
4
5
6
7
8
10
Data
Virtual inputs i7 to i0
Virtual inputs i15 to i8
Virtual inputs i23 to i16
Virtual outputs o7 to o0
Virtual outputs o15 to o8
Virtual outputs o23 to o16
Reserved
Reserved
0x00
BCC
Note
Example: 0100 0010
Status of virtual inputs
I6 and I1 = 1
Example: 0011 0100
Status of virtual outputs
O5, O4 and O2 = 1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-3
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Request 0x2D - Send diagnostic
word from the PNOZmulti
Request
The user program employs request
0x2D to request the diagnostic word
for a specific Element ID from the
PNOZmulti.
User program
PNOZmulti
Send request for diagnostic word
Acknowledgement
Request diagnostic word for Element ID
4 Bytes
Information message data block OK
Diagnostic word
4 Bytes
Information message data block OK
Fig. 5-1: Communication procedure
Data block
The data block that the user program
employs to specify a diagnostic word
for a specific Element ID consists of
4 Bytes.
3.5-4
Byte No.
0
Data
Element ID = 1 ... 100
1
2
3
0x00
0x00
BCC
Note
e.g. 21 hex for
Element ID = 33
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
The data block containing the
diagnostic data consists of 4 Bytes.
Byte No.
0
1
2
3
Data
Diagnostic word High Byte for requested Element ID
Diagnostic word Low Byte for requested Element ID
0x00
BCC
Note
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-5
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Request 0x40 - Version data from
the PNOZmulti
Request
The user program employs request
0x40 to request the version data
from the PNOZmulti.
Data block
The data block consists of 34 Bytes.
Byte No.
0 .. 3
4 ... 7
8 ... 11
12 and 13
14 and 15
16 ... 19
20
3.5-6
Data
Product number
Device number
Serial number
Check sum of user program in the PNOZmulti
Configurator
Check sum of user data on the chip card
Creation date of user program
Hardware registry: Expansion module left
21 ... 28
Hardware registry: Expansion module
right
29 ... 31
32
33
Reserved
0x00
BCC
Note
Day, month, year
No expansion module: 00
Virtual inputs and outputs: 40
No expansion module: 00
Expansion modules:
PNOZ mi1p: 08
PNOZ mo1p: 18
PNOZ mo2p: 10
PNOZ mo4p: 28
PNOZ mc1p: 20
PNOZ ms3p: 68
PNOZ ms4p: 78
PNOZ ms1p/PNOZ ms2p: 88
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Example
•
•
•
•
•
•
•
•
Product number:: 773100
Device number: 31
Serial number: 108668
Check sum user program:
55448
Check sum chip card 43795
Creation date: 11.05.2002
Without fieldbus module or virtual
inputs
Inputs
2 expansion modules
Byte No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23 ... 28
29 ... 31
32
33
Data
HH Byte product number
HL Byte product number
LH Byte product number
LL Byte product number
HH Byte device number
HL Byte device number
LH Byte device number
LL Byte device number
HH Byte serial number
HL Byte serial number
LH Byte serial number
LL Byte serial number
High Byte check sum user program
Low Byte check sum user program
High Byte check sum chip card
Low Byte check sum chip card
Creation date (day)
Creation date (month)
High Byte creation date (year)
Low Byte creation date (year)
Fieldbus module
Expansion module 1
Expansion module 2
Expansion module 3 - 8
Reserved
0x00
BCC
Value
0x00
0x0B
0xCB
0xE
0x00
0x00
0x00
0x1F
0x00
0x01
0xA8
0x7C
0xD8
0x98
0xAB
0x13
0x0B
0x05
0x07
0xD2
0x00
0x08
0x08
0x00
0x00
0x00
0x00
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-7
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Request 0x41 - Send all input and
output data
Request
The user program employs request
0x41 to request the input and output
data from the PNOZmulti.
Data block
The data block consists of 34 Bytes.
Byte No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21 -31
32
33
3.5-8
Data
Inputs of base unit I0 to I7
Inputs of base unit I8 to I15
Inputs of base unit I16 to I19
Outputs of base unit O0 to O3
Outputs of base unit Outputs O4 to O5
Byte1 for expansion module 1
Byte2 for expansion module 1
Byte1 for expansion module 2
Byte2 for expansion module 2
Byte1 for expansion module 3
Byte2 for expansion module 3
Byte1 for expansion module 4
Byte2 for expansion module 4
Byte1 for expansion module 5
Byte2 for expansion module 5
Byte1 for expansion module 6
Byte2 for expansion module 6
Byte1 for expansion module 7
Byte2 for expansion module 7
Byte1 for expansion module 8
Byte2 for expansion module 8
Reserved
0x00
BCC
Note
Bits 4 to 7 reserved
Bits 4 to 7 reserved
Bits 2 to 7 reserved
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Byte 1 and Byte 2 for the expansion
modules
As the expansion modules may be
input, output or signal modules, the
Bytes contain different data.
• Input module:
Byte 1
I7
I6
Byte 2
Reserved
I5
I4
I3
I2
I1
I0
• Relay output module:
Byte 1
x
x
Byte2
Reserved
x
x
x
x
O1
O0
x
O3
O2
O1
O0
A4
A12
A3
A11
A2
A10
A1
A9
A0
A8
• Semiconductor output module:
Byte 1
x
x
x
Byte 2
Reserved
• Signal module:
A7
A6
Byte 1
Byte 2
A15
A14
A5
A13
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-9
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Example
• Base unit with 7 expansion
modules, as shown in the
following diagram
• Assumption: all the inputs and
outputs are closed (Bit = 1)
Input module
Output module
Relay output module
Signal module
Semiconductor output module
Signal module
Input module
Base module
Expansion modules
Fig. 5-2: Example PNOZmulti modular safety system
3.5-10
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Status of data block
Byte No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
Assignment
1111 1111
1111 1111
xxxx 1111
xxxx 1111
xxxx xx11
1111 1111
xxxx xxxx
1111 1111
xxxx xxxx
xxxx xx11
xxxx xxxx
1111 1111
1111 1111
xxxx 1111
xxxx xxxx
1111 1111
1111 1111
1111 1111
xxxx xxxx
xxxx xxxx
xxxx xxxx
Data
Inputs I0 to I7
Inputs I8 to I15
Inputs I16 to I19
Outputs O0 to O3
Outputs O4 to O5
Inputs I0 to I7
Inputs I0 to I7
Outputs O0 to O1
0 to 7
8 to 15
Outputs O0 to O3
0 to 7
8 to 15
Inputs I0 to I7
Device
Base module
Expansion module 1
(input module)
Expansion module 2
(input module)
Expansion module 3
(relay output module)
Expansion module 4
(signal module)
Expansion module 5
(semiconductor output module)
Expansion module 6
(signal module)
Expansion module 7
(input module)
x = Contents are irrelevant
1 = Relevant bit
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-11
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Request 0x43 - Send LED data
Request
The user program employs request
0x43 to request data about the
status of the LEDs and the safety
system’s operating status.
Data block
The data block consists of 34 Bytes:
• Byte 0: System’s operating status
(Start, RUN, STOP)
• Bytes 1 to 13: LED status of the
RUN, DIAG, and FAULT-LEDs
((off, on, flashing)
• Byte 14 to 26: Status of the input
LEDs (flashing, not flashing)
• Bytes 27 to 29: Status of CI, CO
and OA0 LEDs
• Bytes 30 to 31: Reserved
Detailed structure of data block
• Byte 0 to 13:
Byte No.
0
1
2
3
4
3.5-12
Contents
0x12
0x53
0xA2
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
Op. mode/status/LED
START
RUN
STOP
RUN off
RUN on
RUN flashing
DIAG off
DIAG on
DIAG flashing
FAULT off
FAULT on
FAULT flashing
I FAULT off
I FAULT on
I FAULT flashing
Device
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Byte No.
5
6
7
8
9
10
11
12
13
Contents
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
0x00
0xFF
0x30
Op. mode/status/LED
O FAULT off
O FAULT on
O FAULT flashing
FAULT off
FAULT on
FAULT flashing
FAULT off
FAULT on
FAULT flashing
FAULT off
FAULT on
FAULT flashing
FAULT off
FAULT on
FAULT flashing
FAULT off
FAULT on
FAULT flashing
FAULT off
FAULT on
FAULT flashing
FAULT off
FAULT on
FAULT flashing
FAULT off
FAULT on
FAULT flashing
Device
Base unit
Expansion module 1
Expansion module 2
Expansion module 3
Expansion module 4
Expansion module 5
Expansion module 6
Expansion module 7
Expansion module 8
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-13
PNOZmulti - Special applications
Diagnostic Interface
Requirements
• Byte 14 to 26:
Bits 0 to 7 correspond respectively to
input LEDs I0 to I7, I8 to I15 or I16 to
I19 of the base unit, or I0 to I7 of the
expansion module.
Byte No.
14
15
16
17
18
19
20
21
22
23
24
25
26
Input LED
I0 to I7
I8 to I15
I16 to I19
Reserved
Reserved
I0 to I7
I0 to I7
I0 to I7
I0 to I7
I0 to I7
I0 to I7
I0 to I7
I0 to I7
Op. mode/status/LED
Flashing/not flashing
Flashing/not flashing
Flashing/not flashing
Device
Base unit
Flashing/not flashing
Flashing/not flashing
Flashing/not flashing
Flashing/not flashing
Flashing/not flashing
Flashing/not flashing
Flashing/not flashing
Flashing/not flashing
Expansion module 1*
Expansion module 2*
Expansion module 3*
Expansion module 4*
Expansion module 5*
Expansion module 6*
Expansion module 7*
Expansion module 8*
*only if input module
INFORMATION
Bytes 14 to 26 simply show
whether or not the input LED is
flashing.
• Bit = 0 → LED not flashing
• Bit = 1 → LED flashing
The key to the respective LED status
can be found in the technical
catalogue or in the operating
instructions supplied with the units.
3.5-14
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
• Bytes 27 to 31:
Byte No.
27
28
29
30 to 31
Contents
0x00
0xFF
0x00
0xFF
0x00
0xFF
Op. mode/status/LED
CI off
CI on
CO off
CO on
OA0 off
OA0 on
Reserved
Device
Base unit
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-15
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Request 0x44 - Send simplified
status scan (group messages)
from the PNOZmulti
Request
The user program employs Code ID
0x44 to request group messages
from the PNOZmulti.
Data block
The data block consists of 4 Bytes.
Byte No.
0
1
2
3
3.5-16
Bit
0
1
2
3
4
5... 7
0
Data
O FAULT
I FAULT
FAULT
DIAG
RUN
Reserved
Signal change at an input
1
Signal change at an output
2 ... 7
Reserved
0x00
BCC
Note
Error at an output
Error at an input
LED FAULT is lit/flashes
LED DIAG is lit/flashes
LED RUN is lit
At least one input signal has
changed since the last 0x44
request
At least one output signal has
changed since the last 0x44
request
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Code ID: 0x50 - Send data from the
PNOZmulti in table form
Request
The user program employs Code ID
0x50 to request data in table form
from the PNOZmulti.
PNOZmulti
User program
Request to send data in table form
Acknowledgement
Specify table and segment
4 Bytes
Information message data block OK
Data in table form
15 Bytes
Information message data block OK
Fig. 5-3: Communication procedure
INFORMATION
The contents of the tables and
segments are described in
detail in Chapter 2,
„Communication with fieldbus
modules“.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-17
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Data block
The data block that the user program
employs to specify the requested
data consists of 4 Bytes.
Byte No.
0
Data
Table number
1
Segment number
2
3
0x00
BCC
Note
Example:
0x04 for Table 4: Output status
Example:
0x01 for Segment 1: Status of outputs O8 ... O15
of expansion modules
0 – (Data byte 0 + Data byte 1)
The data block containing the data in
table form consists of 15 Bytes. It
contains the data from Segment y of
Table x.
Byte No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
3.5-18
Data
Byte 0 of Table x, Segment y
Byte 1 of Table x, Segment y
Byte 2 of Table x, Segment y
Byte 3 of Table x, Segment y
Byte 4 of Table x, Segment y
Byte 5 of Table x, Segment y
Byte 6 of Table x, Segment y
Byte 7 of Table x, Segment y
Byte 8 of Table x, Segment y
Byte 9 of Table x, Segment y
Byte 10 of Table x, Segment y
Byte 11 of Table x, Segment y
Byte 12 of Table x, Segment y
0x00
BCC
Note
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Example
The user program requests the
status of the inputs from the PNOZ
multi. The safety system consists of
one PNOZ m1p and one PNOZ mi1p
expansion module
• Code -ID 0x50 - Send data
in table form
• The PNOZmulti gives an
acknowledgement
• The user specifies its
request
Table 3: Byte 0 -> 0x03
Segment 0: Byte 1 -> 0x00
Byte 2 -> 0x00
BCC: Byte 3 -> 0x00
• PNOZmulti sends the
data block.
Byte No.
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Data
0000 1010
1100 1101
0000 1010
0000 0000
0000 0000
1011 0010
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0000 0000
0110 1101
Note
I7 ... I0: Base unit PNOZ m1p
I15 ... I8: Base unit PNOZ m1p
I19 ... I16: Base unit PNOZ m1p
I7 ... I0: PNOZ mi1p expansion module
BCC
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
3.5-19
PNOZmulti - Special applications
Diagnostic Interface
Requirements
Request 0x5F - Send test
Request
The user program employs Code ID
0x50 to request test data from the
PNOZmulti.
This request provides a simple
method for testing communication.
For example, if users send a
command to the PNOZmulti but get
no reaction, they can send the “Send
test” request to check whether the
connection is still intact.
Data block
The data block that the PNOZmulti
sends consists of 34 Bytes. The
contents of the data block includes
the byte number.
Byte No.
0
1
2
3
4
...
28
29
30
31
32
33
Contents*
0
1
2
3
4
...
28
29
30
31
00
16
The figures in this table are shown in
decimal to aid understanding.
3.5-20
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2007-04
PNOZmulti - Special applications
Diagnostic Interface
Error Management
Errors may occur during
communication, whether on the
PNOZmulti or in the user program.
The following tables describe the
reactions and procedures for both
devices in the case of an error.
User program
Error/message
Receives no acknowledgement of receipt
in response to a request.
Receives the message 0x64: Request not
understood
Receives an irrelevant byte instead of an
acknowledgement of receipt in response
to a request.
Receives the message 0x65:
Communication reset because the time
was exceeded.
Receives a data block which contains
fewer bytes than expected.
Does not receive an acknowledgement
0x60: Data block OK:
Receives a data block whose check sum
(BCC) is incorrect.
Receives the message 0x62: Data block
not received correctly.
Does not receive a data block in response
to the “Send test” request.
Reaction/remedy in user program
Wait until the communications timer * has elapsed. If invalid
data has been received, or no data at all, repeat the request**.
Repeat request**.
Reject byte and wait until the communications timer* has
elapsed. If invalid data has been received, or no data at all,
repeat the request**.
Repeat request**.
Wait until the communications timer * has elapsed. If
incomplete data has been received, repeat the request**.
Wait until the communications timer * has elapsed. If invalid
data has been received, repeat the request**.
Send error message 0x62: Data block not received correctly.
PNOZmulti will then send the data block again.
Send data block again. Do not reset communications timer *.
UART/Hardware defect
For details of * and ** please refer to
the “Notes” section at the end of this
chapter
PNOZmulti
Error/message
Having sent a data block, after 500 ms
has not received acknowledgement 0x60:
Data block OK.
Receives a data block which contains
fewer bytes than expected.
Receives error message 0x62: Data block
not received correctly.
Receives a data block whose check sum
(BCC) is incorrect.
Reaction/remedy PNOZmulti
Resets communication***. Sends error message 0x65.
Wait until the communications timer * has elapsed. Resets
communication*** if data has still not been received in its
entirety.
Sends data block again. Does not reset communications timer*.
Sends error message 0x62: Data block not received correctly.
User program must send data block again.
For details of * and *** please refer to
the “Notes” section at the end of this
chapter.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
3.6-1
PNOZmulti - Special applications
Diagnostic Interface
Error Management
Notes
* A communications timer monitors
the length of communication at each
stage (e.g. between a request and an
acknowledgement). Communication
is reset if the time is exceeded. The
time is 550 ms for the user program
and 500 ms for the PNOZmulti.
** If the user receives invalid data or
no data at all, even after repeating
the request, the request 0x5F should
be used to test communication (see
Chapter 5, Request 0x5F - Send
test).
*** Resetting communication means
resetting the step counter to zero.
Communication restarts with a
request from the user.
3.6-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2005-10
PNOZmulti - Special applications
Muting
Contents
Page
Muting
Introduction
Safety
Configuration
Operating modes
4.1-1
4.2-1
4.3-1
4.4-1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, e-mail: pilz.gmbh@pilz.de
2006-03
4.0-1
4.0-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, e-mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Muting
Introduction
This chapter describes the muting
function in conjunction with the
PNOZmulti modular safety system
units.
The safe inputs and outputs of base
modules and expansion modules are
suitable.
NOTICE
Please note the operating
manuals included with the
units for application of the
muting function. Please also
refer to the PNOZmulti
technical catalogue.
This chapter is subdivided as
follows:
4.1
4.2
4.3
4.4
Introduction
The introduction is designed to
familiarise you with the contents, structure and specific
order of this chapter.
Safety
This section covers intended
use, standards and safety
guidelines.
Configuration
This section provides information on configuring the muting
function in the PNOZmulti
Configurator.
Operating modes
This section provides information on operating modes,
sequential and parallel muting
and cross muting
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
4.1-1
PNOZmulti - Special applications
Muting
Introduction
4.1-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Muting
Safety
Intended use
The muting logic element is used to
override safety functions (ESPE/
AOPD) for a limited period of time
without interrupting the process
(muting) in accordance with
EN 61496-1.
For a limited period of time, and for a
specific operational phase (e.g. when
feeding materials), it will suspend the
effect of safety devices during the
working process. Once completed, it
will reset the safety function.
Safety guidelines
•
•
•
Use of this operating mode and the
arrangement of the sensors are
machine or plant-specific and
depend on the risk assessment of
the machine or plant.
Be sure that you observe the warning
notes given in the other parts of this
configuration guide and in the
PNOZmulti technical catalogue.
These are highlighted visually
through the use of symbols.
CAUTION!
Failure to observe the safety
regulations in this configuration guide and in the
PNOZmulti technical catalogue
will render the warranty invalid.
•
•
•
•
•
Standards
To use the muting element correctly,
you will need to have a good knowledge of the relevant standards and
directives. The following gives an
overview of the most important
standards:
• EN 61496-1: Safety of machinery
– Electrosensitive protective
equipment
• EN 60947-5-3: Low voltage
control gear - Control circuit
devices and switching elements
• EN 999: Safety of machinery –
Positioning of protective equipment
Please note this is not an exhaustive
list of safety standards and directives.
•
•
•
•
WARNING!
The following information must
be heeded!
Failure to comply with these
guidelines could result in
serious injury or death
death.
Refer to EN 61 496-1 and
EN 60947-5-3 when configuring,
setting up and operating the
muting device.
Refer to EN 999 with regard to the
layout of the AOPD.
Measures must be taken to
exclude common cause failures,
e.g. by the use of non-equivalent
signals or diverse sensors.
Muting switches should be
positioned so that it is impossible
for a person to trigger the muting
function.
The vehicle should be designed to
make it impossible for people to
ride on it.
Limit the size of the entry area by
applying appropriate safety
measures. People must not be
able to enter the danger area
during the muting phase.
If various transport speeds are
being used, consider the total
duration of the muting phase.
Remember that a new muting
phase can only be introduced
once the previous phase has been
completed.
Maintenance gates should be
provided if you secure equipment
through muting.
Please note that if the
maintenance gates are opened,
the plant absolutely must be
brought to a standstill in
accordance with the risk
classification.
Use of muting sensors with
contacts:
Supply the contacts of the muting
sensors via test pulse outputs
(test pulses).
Use of ESPE as muting sensors:
Test pulses cannot be used.
Therefore, for fault detection
(shorts across contacts), be sure
to use an N/O contact as sensor 1
and an N/C contact as sensor 2.
• Laying the connection cable to the
sensors in a way that is protected
against shorts (i.e. separate) may
provide an alternative to nonequivalent sensors.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-09
4.2-1
PNOZmulti - Special applications
Muting
Safety
4.2-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Muting
Configuration
Function
Output parameters
• Muting via light barriers or limit
switches
• Option of overriding in case of
fault
• Max. muting time can be set
• Time monitoring of the muting
sensors for simultaneity
• Configuration of bounce time for
contacting muting sensors
• Sequence monitoring of the
muting sensors
• Operating modes
- Sequential muting
- Parallel muting
- Cross muting
• Enable
Enable = 0: Fault detected (e.g.
simultaneity exceeded)
Enable = 1: The enable is granted
if no error was detected.
• Muting active
Display muting status (e.g. for
actuating a lamp)
Muting active = 0: No muting (light
curtain not overridden)
Muting active = 1: Muting active
(light curtain overridden)
Input parameters
• Muting sensor 1
N/O contact of muting sensor 1
Muting sensor 1 = 0: Not operated
Muting sensor 1 = 1: Operated
• Muting sensor 2
N/O contact of muting sensor 2
Muting sensor 2 = 0: Not operated
Muting sensor 2 = 1: Operated
• Light curtain
Light curtain = 0: Interrupted
Light curtain = 1: Not interrupted
Assign the light curtain input
parameter with the output of the
light curtain function element. The
light curtain function element must
be configured with the automatic
reset.
• Muting sensor 3
N/O contact of muting sensor 3
Muting sensor 3 = 0: Not operated
Muting sensor 3 = 1: Operated
• Muting sensor 4
N/O contact of muting sensor 4
Muting sensor 4 = 0: Not operated
Muting sensor 4 = 1: Operated
• Muting override
Muting override = 1: Suspend the
muting function if a fault occurs
(override) to override the muting
channel.
• Reset
Reset = 0/1 pulse edge: Reset the
muting element upon fault or start
the muting time.
Monitoring times
• Maximum muting time
This setting is used to adjust the
maximum permitted muting time.
Permitted value range: 1 to 900 s
(= 15 minutes)
• Simultaneity
This setting is used to define the
maximum time (synchronisation
time) which is permitted to elapse
between the actuation (0/1-pulse
edge) of MS1 and MS2 or of MS3
and MS4.
Permitted value range for parallel
muting and cross muting: 1 to 3 s
Permitted value range for sequential muting: 1 to 30 s
• Bounce time
With this setting, the time up to
the final contacting of the muting
sensors can be set.
Permitted value range: 50 to
800 ms
• Start-up condition
Muting override can be switched
on if at least one of the muting
sensors is active.
The enable output and Muting
active output parameter are set
during the override. Overriding is
monitored and has a maximum
duration that corresponds to the
set muting time.
• Switch-off condition
Muting override is switched off if
- the muting time has elapsed
or
- no muting sensor is assigned
and the light curtain is free
or
- muting override is reset to 0
(release override button).
CAUTION!
The following additional safety
requirements apply for the muting
override:
• The override switch must have a
hold-to-run control device (touchoperated switch).
• The override switch must be
installed in a fixed position outside
the danger zone.
• The danger zone and the muting
station must be visible from the
override switch position.
• The danger zone must be
identified as clear before the
override switch is operated and
while it is operated.
Muting override (override)
Reset
If there are faults, the muting station
can be overridden via the Muting
override input parameter.
Reset resets the muting element
after a fault or during start-up if
• no muting sensor is actuated
and
• the light curtain is clear.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-09
4.3-1
PNOZmulti - Special applications
Muting
Configuration
CAUTION!
The following additional safety
requirements apply for the reset
button:
• The danger zone and the muting
station must be visible from the
reset button position.
• The reset button may not be
operated until the danger zone
has been viewed and has been
identified as clear.
Restarting the muting time
Reset resumes muting and restarts
the muting time if
• muting was ended as a result of
the muting time elapsing (e.g. by
the conveyor feed stopping)
and
• the muting sensors and the light
curtain remain plausible.
4.3-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Muting
Operating modes
The following operating modes can
be realised:
• Sequential muting
• Parallel muting
• Cross muting
WARNING!
“During muting safe conditions
shall be provided by other
means” (EN 954-1). For
example, this may be achieved
by the conveyed item blocking
access to the hazardous area.
Even openings in or between
the individual parts of the
conveyor flow must never
enable access.
Terminology
• Muting On
“Muting On” is the switch condition for switching on the muting
function. When muting is activated, the Muting active output
parameter has a 1 signal and time
monitoring runs.
• Muting Of
Offf
“Muting Off” is the switch condition for ending the muting function.
When the muting function is
ended, output parameter Muting
active has a 0 signal.
INFORMATION
You will find important additional information on the use of
sensors or contacts in the
section titled “Safety”.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
4.4-1
PNOZmulti - Special applications
Muting
Operating modes - sequential muting
Muting sensor arrangement
A
6.4
B
• The distance between MS1 and
MS2 or MS3 and MS4 muting
sensors should be as long as
possible.
• Vehicle length W must be greater
than the distance between MS1
and MS3 or MS2 and MS4 (W > A
and W > B).
• MS2 and MS3 must be positioned
as close as possible in front of/
behind the AOPD.
MS1
MS2 AOPD
MS3
MS4
W
Switch conditions in sequential
mode
• Muting On
- Entering the danger zone:
1. Muting sensors MS1 and
MS2 must be operated
consecutively (first MS1,
then MS2) within the
configured simultaneity.
Muting is activated by
actuating MS2.
2. Muting sensors MS3 and
MS4 must be operated
consecutively (first MS3,
then MS4) within the
configured simultaneity.
3. MS1 and MS2 must be
released consecutively (first
MS1, then MS2).
4. MS3 and MS4 must be
released consecutively (first
MS3, then MS4).
- Leaving the danger zone:
1. Muting sensors MS4 and
MS3 must be operated
consecutively (first MS4,
then MS3) within the
configured simultaneity.
Muting is activated by
actuating MS3.
2. MS2 and MS1 must be
operated consecutively (first
MS2, then MS1).
3. MS4 and MS3 must be
released consecutively (first
MS4, then MS3).
4. MS2 and MS1 must be
released consecutively (first
MS2, then MS1).
4.4-2
AOPD
• Muting Off
Overriding of the safety function is
cancelled as soon as the penultimate muting sensor (MS2 or MS3)
no longer is actuated, i.e. only
one muting sensor remains
actuated.
Sequence errors
The muting sensors must be actuated in a specific sequence in
sequential mode. Once a particular
directional movement has started
(entry or exit), it must be fully completed. Any deviation from the
sequence shown will cause the
enable output (ENBL = 0) and the
Muting active output parameter to
reset.
• Vehicle length W greater than
distance C between MS1 and
MS4
All sensors are temporarily
actuated when passing through.
The first muting sensor (MS1 upon
entering, MS4 upon exiting)
becomes free only if all muting
sensors were actuated.
C
A
B
MS1
MS2 AOPD
MS3
MS4
W>C
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Muting
Operating modes - sequential muting
• Vehicle length W less than
distance C between MS1 and
MS4
When passing through, the first
muting sensor becomes free (MS1
upon entering, MS4 upon exiting)
before the last muting sensor is
actuated.
C
A
B
MS1
MS2 AOPD
MS3
MS4
W<C
MS1
0
1
1
1
1/0
0
0
0
0
MS2
0
0
1
1
1
1
0
0
0
MS3
0
0
0
1
1
1
1
0
0
MS4
0
0
0
0
1/0
1
1
1
0
Travel direction
Diagnostic word
Messages can be queried in the
PNOZmulti Configurator in bit mode
and additionally linked in the program.
• Bit 1: Light curtain, interrupted
(without active muting)
• Bit 2: Waiting for reset
• Bit 3: Unfeasible status of
sensors, override required (reset)
• Bit 8: Muting time exceeded
• Bit 9: Feasibility error, muting
sensors 1 and 2
Simultaneity exceeded, only one
sensor operated
• Bit 10: Feasibility error, muting
sensors 3 and 4
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
4.4-3
PNOZmulti - Special applications
Muting
Operating modes - sequential muting
Timing diagram (example)
Vehicle length W less than distance
C between MS1 and MS4
6.4
tsync
tsync
1
Reset
0
1
MS1
0
1
MS2
0
1
AOPD
0
MS3
0
MS4
0
Enable
0
Muting
0
1
1
1
1
tMUT
1
tsync = simultaneity
tMUT = muting time
4.4-4
2
3
4
➀: Set enable with reset
➁: Start muting via MS1/MS2
➂: End muting by clearing MS3
➃: Restart muting via MS1/MS2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Muting
Operating modes - parallel muting
Muting sensor arrangement
A
• Muting signals MS1 and MS2/
MS3 and MS4 must be positioned
at the same height to the left and
right of the vehicle.
• The vehicle length must be greater
than the distance between MS1
and MS3/MS2 and MS4.
• The distance between the light
curtain and the muting signal must
be as short as possible.
• Muting On
- Entering the danger area:
1. Muting sensors MS1 and
MS2 must be operated
within the configured
simultaneity. Muting is
activated.
2. Muting sensors MS3 and
MS4 must be operated
within the configured
simultaneity before MS1 and
MS2 are released.
- Leaving the danger area:
1. Muting sensors MS3 and
MS4 must be operated
within the configured
simultaneity. Muting is
activated.
2. Muting sensors MS1 and
MS2 must be operated
before MS3 and MS4 are
released.
• Muting Off
Overriding of the safety function is
cancelled as soon as the penultimate muting sensor no longer is
actuated upon entering (MS3 or
MS4) or exiting (MS1 or MS2), i.e.
only one muting sensor remains
actuated.
MS1 AOPD
MS3
MS2
MS4
W
AOPD
Diagnostic word
Messages can be queried in the
PNOZmulti Configurator in bit mode
and additionally linked in the program.
• Bit 1: Light curtain, interrupted
(without active muting)
• Bit 2: Waiting for reset (reset)
• Bit 3: Unfeasible status of
sensors, override required
• Bit 8: Muting time exceeded
• Bit 9: Feasibility error, muting
sensors 1 and 2
Simultaneity exceeded, only one
sensor operated
• Bit 10: Feasibility error, muting
sensors 3 and 4
Simultaneity exceeded, only one
sensor operated
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
4.4-5
PNOZmulti - Special applications
Muting
Operating modes - parallel muting
Timing diagram (example)
6.4
tsync
1
Reset
tsync
0
1
MS1
0
1
MS2
0
1
AOPD
0
MS3
0
MS4
0
Enable
1
0
Muting
0
1
1
1
tMUT
1
tsync = simultaneity
tMUT = muting time
4.4-6
2
3
4
➀: Set enable with reset
➁: Start muting via MS1/MS2
➂: End muting by clearing MS3 or MS4
➃: Restart muting via MS1/MS2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Muting
Operating modes - cross muting
Muting sensor arrangement
• Muting signals may come from
reflective or send and receive light
barriers, for example. The beams
must always intersect within the
danger area.
• The muting sensors must be
arranged such that the light
curtain is interrupted before the
beams can intersect outside the
danger zone.
• Muting sensors MS3 and MS4 are
not used.
WARNING!
Ensure that you maintain the
installation dimensions shown
in the adjacent diagram. If
these requirements are not
met, the safety of the guard
will be lost, which may lead to
serious injury and death!
MS1
AOPD
MS2
AOPD
Max. 20 to 30 cm
Light curtain
Access security
• Muting On
Muting sensors MS1 and MS2 must
be operated within the configured
simultaneity.
Muting sensor
• Muting Off
The suspension of the safety function
is lifted when one muting sensor at
most is still operated.
Diagnostic word
Min. 20 cm
Muting sensor
Danger zone
Messages can be queried in the
PNOZmulti Configurator in bit mode
and additionally linked in the program.
• Bit 1: Light curtain, interrupted
(without active muting)
• Bit 2: Waiting for reset (reset)
• Bit 3: Not feasible status of
sensors, override required
• Bit 8: Muting time exceeded
• Bit 9: Feasibility error, muting
sensors 1 and 2
Simultaneity exceeded, only one
sensor operated
Intersection of
muting sensor beams
Muting sensor
Arrangement of muting sensors (side view and view from top)
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
4.4-7
PNOZmulti - Special applications
Muting
Operating modes - cross muting
Timing diagram (example)
6.4
Reset
1
0
tsync
tsync
1
MS1
0
1
MS2
0
1
AOPD
0
Enable
0
Muting
0
1
1
tMUT
1
tsync = simultaneity
tMUT = muting time
4.4-8
2
3
4
➀: Set enable with reset
➁: Start muting via MS1/MS2
➂: End muting by clearing MS1 or MS2
➃: Restart muting via MS1/MS2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Safety mat
Contents
Page
Safety mat
5.1-1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, e-mail: pilz.gmbh@pilz.de
2006-03
5.0—1
5.0-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, e-mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Safety mat
This chapter describes the use of
safety mats in conjunction with the
PNOZmulti.
Please note the following:
• The operating manuals accompanying the PNOZmulti modules
• The PNOZmulti technical catalogue
• The installation manual and user
information provided by the
respective safety mat manufacturer (see “Intended use”).
Safety mat
• A safety device which detects a
person standing on it or stepping
on it. The safety mat comprises an
input device that responds to
applied pressure, signal
processing and a shutdown
device.
• In a safety mat, the effective
actuation area is locally distorted
when the input device is actuated.
• The safety mats must be connected to the inputs on the
PNOZmulti units via the PSEN im1
interface or type 1N4007 diodes
(see “Commissioning the safety
system”)
• Only safety mats without installed
terminating resistors are suitable.
• The safety mats trigger only when
they are stood on by persons
weighing more than 35 kg.
• The following are not permitted:
Walking aids such as canes and
wheeled vehicles
• The PNOZmulti modular safety
system is used for signal processing and as a shutdown device in
accordance with EN 1760-1,
09/97.
CAUTION!
When safety mats are connected to the PNOZmulti
units, the units (including the
coated version) may only be
operated at an ambient
temperature of 0 to +60 °C.
Function description
The safety mat is supplied with
PNOZmulti test pulse outputs. The
test pulses are evaluated by
PNOZmulti inputs (see section
entitled “Commissioning the safety
system”). Short across contacts and
open circuits are detected.
Intended use
Safety mats can be connected to the
base units
• PNOZ m0p
• PNOZ m1p
• PNOZ m1p coated version
• PNOZ m2p
as well as expansion module
• PNOZ mi1p
• The units may only be used as a
safety system in conjunction with
safety mats in accordance with
the 4-wire technology operating
principle (without monitoring
resistor)
- Series ESM-50 safety mats
from Bircher Reglomat
- Series SM/BK safety mats from
Mayser
Safety
• Do not install and commission the
safety system until you have read
and understood these operating
instructions, the technical catalogue and the installation manual
from the safety mat manufacturer.
You must also be familiar with the
applicable regulations for health
and safety at work and accident
prevention.
• Refer in particular to EN 1760-1.
• In the case of an error, the safety
system complies with Category 3
of EN 954-1. Note 3 in clause 4.15
of EN 1760-1 must be considered
for the safety mat.
• The EN 954-1-compliant categories for safety mats at machines
are specified in type C standards.
Configuration in the PNOZmulti
Configurator
• Operating modes
- Automatic reset (start):
The output immediately becomes “1” again after the
safety mat is activated and is
then cleared.
- Manual reset (start):
The output only becomes “1” if
the reset button was pressed.
This eliminates the possibility of
the reset button being automatically activated and overridden. Resetting is only possible
if the safety mat is not activated.
• Start-up test
The start-up test prevents automatic restarting after a power
failure and subsequent-return of
voltage. The unit checks that the
unactivated safety mat has been
activated and then cleared after
supply voltage was applied.
• The output of the safety mat
function element is “1” if the
safety mat is not activated. This
safety function must be retained
for additional connection of this
signal in the PNOZmulti
Configurator:
- Semiconductor outputs: High
signal
- Relay outputs: Safety contacts
closed
Allocation of the test pulses to the
inputs
The test pulses can only be connected to the inputs as follows:
• Input 1: Test T0
Input 2: Test pulse T1
or
• Input 1: Test pulse T2
Input 2: Test pulse T3
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
INFORMATION
Test pulses which you are
using for the safety mat cannot
be reused for test pulses in
conjunction with other safety
devices
2006-03
5.1-1
PNOZmulti - Special applications
Safety mat
Commissioning the safety system
When using safety mats, please note
the following:
• The safety mats trigger only when
they are stood on by persons
weighing more than 35 kg.
• The following are not permitted:
Walking aids such as canes and
wheeled vehicles
Preparing for commissioning:
Please note the following when
preparing for commissioning:
• Cables that have to be laid
outside the control cabinet must
be protected from mechanical
damage, e.g. by installing them in
a conduit.
• Safety mats may not be
connected with a resistor.
• Use the configured test pulse
outputs exclusively for pulsing the
safety mats.
• Be sure to note the information
provided in “Technical details”.
• Please note:
Always connect the safety mats to
the PNOZmulti units via
- interface PSEN im1,
- diodes of type 1N4003 to
1N4007,
- or via the terminal block with
filter, order no. 774 195,
774 196.
0 V may not be connected to
the terminal block!
Preparing the unit for operation:
• Connect the safety mat to the test
pulse outputs and the inputs (in
examples I0 to I3).
Input circuit
Connecting one safety mat,
max. 8 m2 safety mat area
T0/T2
1.1
2
1.2
...
T1/T3
1
5.1
PSEN im1
5.2
I0
PNOZmulti
1 ... max. 5
T0/T2
T1/T3
1
1.1
2
1.2
...
...
Connection of multiple safety
mats, permitted per dual-pole
input: Max. 5 safety mats in series,
max. 8 m2 safety mat area
I1
5.1
PSEN im1
PNOZmulti
5.1-2
...
5.2
I0
I1
I2
I3
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Safety mat
• Set the reset features through
wiring of the reset circuit (in
example I5). Only effective if
manual reset is configured in the
PNOZmulti Configurator.
Manual reset
S3
I5
24 V DC
Run
The safety system can only be
started when the safety mat is not
activated. The unit detects the
operating mode set on start-up.
Diagnostic word
Messages can be queried in the
PNOZmulti Configurator in bit mode
and additionally linked in the program.
• Bit 0: Safety mat free, enable
issued
• Bit 2: Safety mat activated
• Bit 3: Waiting for reset
• Bit 4: Waiting for start-up test
• Bit 6: Open circuit detected, signal
error
Technical details
Reaction time (actuation of the safety mat until an instantaneous safety output drops out)
Semiconductor output
Relay output
Max. area of safety mats per dual-pole input
Max. number of safety mats connected in series per dual-pole input
Min. cross section of external conductor
Max. cable runs, PNOZmulti - safety mat
Max. safety mat resistance
max. 50 ms
max. 70 ms
8 m2
5
0.5 mm2
100 m
150 ohms
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
5.1-3
PNOZmulti - Special applications
Safety mat
5.1-4
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-03
PNOZmulti - Special applications
Diagnostic word
Contents
Page
Diagnostic word
Introduction
Overview
Compilation of the diagnostic words
6.1-1
6.2-1
6.3-1
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telepone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
6.0-1
6.0-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telepone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
Special applications
Diagnostic word
Introduction
This chapter describes the
diagnostic words in the modular
PNOZmulti safety system. By
evaluating the diagnostic words you
can obtain important information on
operating conditions and
malfunctions within your application.
Please refer also to the following
chapters in this configuration guide:
• Chapter 2: Communication with
fieldbus modules
• Chapter 3: Diagnostic interface
This chapter is subdivided as
follows:
6.1
6.2
6.3
Introduction
The introduction is designed to
familiarise you with the
contents, structure and specific
order of this chapter.
Overview
This section contains important
information about the
diagnostic words.
Compilation of the diagnostic
words
This section lists all the
diagnostic words with
explanatory notes.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
6.1-1
Special applications
Diagnostic word
Introduction
6.1-2
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
PNOZmulti - Special applications
Diagnostic word
Overview
Diagnostic word
Structure of the diagnostic word
A diagnostic word can be read out
for those elements in the PNOZmulti
Configurator that can store a status.
The diagnostic word contains
information on a particular element,
such as:
• Operating status (e.g. safety gate
was opened)
• Error messages (e.g. N/C contact
failed to switch or switched too
late)
The diagnostic word has 16 bits:
Elements with diagnostic word
The diagnostic word is accessed by
activating an Element ID. The
permitted value range for the Element ID is 1 ... 100. Elements with an
element ID include:
• Function elements
- E-STOP
- Safety gate
- Safety gate with guard locking
- Light curtain
- Enable switch
- Foot switch
- Safety mat
- Two-hand button
- Operating mode selector
switch
• Cascading
- Cascading input
- Cascading output
• Logic elements
- RS flip-flops
- Reset element
- Speed monitor
- Press-related elements
- Run monitoring
- Rotary cam arrangement
monitoring
- Set-up mode
- Single stroke
- Automatic
- Light curtain
- Muting elements
- Sequential muting
- Parallel muting
- Cross muting
• Output elements
- Output elements with a
feedback loop
- Safety valve
Bit
15
14
...
2
1
INFORMATION
Detailed information on PVIS
expanded diagnostics can be
found in the PNOZmulti
Configurator’s online help.
0
• If the diagnostic word = 0, the
output of the respective element
= 1. The element was enabled.
Exceptions: On various function
elements the status of the inputs
is evaluated (see Chapter 6.3)
• Otherwise, at least one of the bits
from 0 ... 15 of the diagnostic
word is set and can be evaluated,
e.g. Bit 1 =1:
00000000 00000010
Key: Safety gate was opened
Evaluate diagnostic word
• Evaluation in the user program
One bit from the diagnostic word
can be linked further within the
user program. The user selects a
bit within a diagnostic word and
polls it. An LED can be driven in
this way, for example.
• Evaluation via the serial
interface
The diagnostic word is requested
via the RS 232 interface on the
base unit, using the element’s ID.
INFORMATION
Detailed information can be
found in Chapter 3 of this
configuration guide:
“Diagnostic interface”
• Evaluation via a fieldbus
The diagnostic word is requested
via a connected fieldbus module,
via the element’s ID.
INFORMATION
Detailed information can be
found in Chapter 2 of this
configuration guide:
“Communication with fieldbus
modules”
• Evaluation using PVIS expanded
diagnostics
The bits of a diagnostic word can
be configured for PVIS expanded
diagnostics in the PNOZmulti
Configurator.
A “Safety Device” diagnostic type
is assigned to an element. It
contains the diagnostic word as
an event message. An event
message including remedies
(actions) is defined in the
diagnostic type for each event, i.e.
for every potential element status.
The event messages and actions
can also be supplmented through
additional information, which is
helpful during diagnostics
(equipment identifier, location
description)
The event messages can be
displayed on the PMImicro diag,
for example.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
6.2-1
PNOZmulti - Special applications
Diagnostic word
Overview
PNOZmulti Configurator
Element with status
Element with
ID = 1...100
Diagnostic word element
Link bit within
the user
program, e.g. to
an output
Diagnostic
wordfor
element with
ID = 1...100
Output
e.g. select
Bit 2
PVIS
Element with
ID = 1...100
PVIS:
e.g.
Activate Bit
2 and 3
Download
project
PNOZmulti fieldbus module
Fieldbus
PNOZmulti base unit
RS 232
Read diagnostic word
Read diagnostic word or display the
event messages and actions using
the PMImicro for example
Example
Safety gate with Element ID = 5:
• Dual-channel
• Manual reset
• Start-up test
Evaluation of the following bits:
• Bit 2 = 1: Safety gate is ready for
reset. The reset button for manual
reset must be operated
• Bit 8 = 1: Error in the test pulse
wiring
Bit 2
Bit 8
6.2-2
Safety gate function element with ID = 5
0000 0000 0000 0000 Enable issued
0000 0000 0000 0001
0000 0000 0000 0010 Safety gate was opened
0000 0000 0000 0100 Safety gate is ready for reset
0000 0000 0000 1000 Function test must be performed
0000 0000 0001 0000
0000 0000 0010 0000
0000 0000 0100 0000
0000 0000 1000 0000
0000 0001 0000 0000
0000 0010 0000 0000
0000 0100 0000 0000
0000 1000 0000 0000
0001 0000 0000 0000
0010 0000 0000 0000
0100 0000 0000 0000
1000 0000 0000 0000
N/C contact failed to switch or switched too late
Evaluate bit 2 of the diagnostic
word logic element for ID =5 within the user program
Poll diagnostic word for ID = 5 via
RS 232
Poll diagnostic word for ID = 5 via
fieldbus module
Error in the test pulse wiring
Display Bit 2 and 8 of the safety
gate function element for ID = 5
(e.g. PMImicro diag)
There is a 1 signal at input 1.
There is a 1 signal at input 2.
There is a 1 signal at input 3.
There is a 1 signal at input 4.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
PNOZmulti - Special applications
Diagnostic word
Compilation of the diagnostic words
Status of the bits
INFORMATION
If you are using PVIS
expanded diagnostics, you will
receive additional information
(actions) on your display unit
alongside the diagnostic word.
Please also refer to the
explanations regarding
element configuration in the
PNOZmulti Configurator’s
online help.
In the following tables, the respective
bit =1 when the corresponding
message applies. If no bit = 1, i.e.
data word DW = 0, then no error is
present.
Exception: On some function
elements the status of the input
signals is polled. The corresponding
bit =1 without an error being present.
Function elements
•
•
•
•
•
•
E-STOP
Safety gate
Safety gate with guard locking
Light curtain
Enable switch
Foot switch
Bit
Bit 1
How the inputs are counted:
Input 1
Input 2
Input 3
Input 4
Bit 3
Message
E-STOP:
E-STOP pushbutton was operated.
Safety gate, safety gate with guard locking:
Safety gate was opened.
Light curtain:
Light curtain was interrupted.
Enable switch:
Enable switch has not been operated or is fully depressed.
Foot switch:
Foot switch must be operated.
- E-STOP pushbutton
- Safety gate
- Light curtain
- Enable switch
- Foot switch
is ready for reset.
Function test must be performed.
Bit 5
N/C contact 1 or 2 failed to switch or switched too late.
A start-up test was configured, but has not yet been
run.
Simultaneity is monitored on many switch types.
Bit 8
Bit 12
Bit 13
Bit 14
Bit 15
Error in the test pulse wiring.
There is a 1 signal at input 1.
There is a 1 signal at input 2.
There is a 1 signal at input 3.
There is a 1 signal at input 4.
Purely for information.
Purely for information.
Purely for information.
Purely for information.
Bit 2
Comment
The safety device was triggered (E-STOP operated,
safety gate opened,...)
Manual or monitored reset was configured. The reset
button has not yet been operated.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
6.3-1
PNOZmulti - Special applications
Diagnostic word
Compilation of the diagnostic words
• Safety mat
1.1
Bit
Bit 1
Bit 2
Message
Safety mat was activated.
Safety mat is ready for reset.
Bit 3
Bit 5
Start-up test must be performed.
Error caused by safety mat.
Comment
Manual reset has been configured. A reset is only possible if the safety mat has not been activated.
A start-up test was configured, but has not yet been
run.
Open circuit, signal error, wiring error detected
• Two-hand button
DW/Bit
Bit 1
Bit 4
Bit 5
Message
Two-hand button must be operated.
Pushbutton 1 or 2 was operated too late.
Pushbutton 1 or 2 was not operated.
Bit 8
Error in the test pulse wiring.
Comment
Switches are in their start position.
Simultaneity was exceeded.
One of the pushbuttons was operated too late or was
not operated at all. Or one of the pushbuttons was operated and then released.
• Operating mode selector switch
DW/Bit
Bit 5
Bit 8
Message
The input signals at the operating mode selector switch
are faulty
Error in the test pulse wiring.
Comment
No input is “1”.
Cascading
• Cascading output
DW/Bit
Bit 8
Message
The signal at the CO output is faulty.
Comment
For example: Fault, short circuit at CO cascading output
• Cascading input
Bit
Bit 8
Message
The signal at the CI input is faulty.
Comment
CI input is not connected to a CO output.
Logic elements
• RS flip-flop
Bit
Bit 2
Bit 8
Message
Input S is ready to set.
There is a 1 signal at input R.
Comment
Input S is “0” after reset
Input R =1
• Reset element
6.3-2
Bit
Bit 2
Message
Reset button is ready for reset.
Bit 3
Reset button is waiting for the input signal.
Comment
Input signal is present, reset button can be operated.
No input signal is present.
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
PNOZmulti - Special applications
Diagnostic word
Compilation of the diagnostic words
• Speed monitors PNOZ ms1p, PNOZ ms2p
Bit
Bit 2
Message
Speed monitor is ready for reset.
Bit 3
Cannot monitor the speed because no speed has been
selected.
Bit 8
Selected speed was exceeded.
Comment
Manual or monitored reset was configured. The reset
button has not yet been operated.
With inputs n1 to n8, standstill or speed monitoring is
initialised by a “1” signal. Only one input may occupy
the “1” signal status.
The speed at one of the active inputs n1 to n8 has been
exceeded
• Speed monitors PNOZ ms1p, PNOZ ms2p with proximity switch
Bit 2, 3 and 8 see speed monitors above
Bit
Bit 9
Bit 10
Message
No signal from the proximity switches.
The proximity switches are measuring different speeds.
Comment
The bit is set, if the speed differential exceeds the
configured standstill frequency.
• Speed monitors PNOZ ms1p, PNOZ ms2p with incremental encoder
Bit 2, 3 and 8 see speed monitors above
Bit
Bit 9
Bit 10
Bit 11
Message
No signal from the incremental encoder.
Different speeds have been measured for track A and
track B.
Cannot determine the direction of rotation.
Comment
The bit is set, if the speed differential exceeds the
configured standstill frequency.
The speed monitor has detected a different direction of
rotation on tracks A and B
• Speed monitors PNOZ ms1p, PNOZ ms2p with proximity switch and incremental encoder on one axis
- Bit 2, 3 and 8 see speed monitors above
- Bit 9, 10, 11 see speed monitors with incremental encoder above
Bit
Bit 12
Bit 13
Message
The incremental encoder is signalling standstill and the
proximity switch is signalling movement.
The incremental encoder is signalling movement and
the proximity switch is signalling standstill.
Comment
The mechanical connection between incremental encoder and shaft has been broken.
• Speed monitor PNOZ ms3p
- Bit 2, 3 and 8 see speed monitors PNOZ ms1p, PNOZ ms2p above
- Bit 9, 11 see speed monitors PNOZ ms1p, PNOZ ms2p with incremental encoder above
Bit
Bit 10
Bit 14
Message
Unfeasible or single-channel signal from the incremental
encoder.
Speed monitoring is deactivated.
Comment
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
6.3-3
PNOZmulti - Special applications
Diagnostic word
Compilation of the diagnostic words
• Speed monitor PNOZ ms4p
- Bit 2, 8 see speed monitors PNOZ ms1p, PNOZ ms2p
- Bit 9, 11 see speed monitors PNOZ ms1p, PNOZ ms2p with incremental encoder
1.1
Bit
Bit 3
Bit 4
Bit 10
Bit 14
Message
New speed must be accepted.
Cannot monitor the speed because the selected speed
has not been configured.
Unfeasible or single-channel signal from the incremental
encoder
Speed monitoring is deactivated
Comment
• Press element: Run monitoring
Bit
Bit 2
Bit 8
Bit 9
Message
Run monitoring is ready for reset.
Start-up time was exceeded
Shaft is broken
Comment
Apply 1/0 pulse edge at Reset input parameter.
The set start-up time has elapsed.
- The camshaft is no longer mechanically connected to
the shaft
- Open circuit in the encoder circuit
• Press element: Rotary cam arrangement monitoring
Bit
Bit 2
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Message
Monitoring of the rotary cam arrangement is ready for reset.
Overrun was exceeded.
The run-up cam failed to switch off when the overrun
cam was switched off.
The run-up cam failed to switch on when the overrun
cam was switched on.
The overrun cam failed to switch off when the run-up
cam was switched on.
The overrun cam failed to switch on when the run-up
cam was switched off.
Comment
1/0 pulse edge at Reset input parameter
NL: Overrun cam, HL: Run-up cam
Plausibility error 1: NL = 1/0 pulse edge and HL = 1
Plausibility error 2: NL = 0/1 pulse edge and HL = 0
Plausibility error 3: HL = 0/1 pulse edge and HL = 1
Plausibility error 4: HL = 1/0 pulse edge and NL = 0
• Press element: Set-up mode
DW/Bit
DW = 0
Bit 0
Bit 2
Bit 8
Bit 9
Bit 11
6.3-4
Message
“Set-up” mode has been enabled
“Set-up” mode is not active.
Press is ready for reset.
Cannot switch on because the start enable (“EN2”) has
not been triggered.
Cannot switch on because the static enable (“EN1”) has
not been triggered.
Press was stopped because the static enable (“EN1”) is
missing.
Comment
Enable has not been triggered, input parameter MODE = 0
1/0 pulse edge at reset input parameter
No enable because start enable EN2 = 0
No enable because static enable EN1 = 0
No enable because static enable EN1 = 0 during operation
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
PNOZmulti - Special applications
Diagnostic word
Compilation of the diagnostic words
• Press element: Single stroke
DW/Bit
DW = 0
Bit 0
Bit 2
Bit 8
Bit 9
Bit 10
Bit 11
Bit 12
Message
“Single-stroke” mode has been enabled
“Single stroke” mode is not active.
Press is ready for reset.
Cannot switch on because the start enable (“EN2”) has
not been triggered.
Cannot switch on because the static enable (“EN1”) has
not been triggered.
Cannot switch on because the safety enable (“EN3”)
has not been triggered.
Press was stopped because the static enable (“EN1”) is
missing.
Safety enable (“EN3“) is missing.
Comment
Enable has not been triggered, input parameter MODE = 0
1/0 pulse edge at reset input parameter
No enable because start enable EN2 = 0
No enable because static enable EN1 = 0
No enable because there is no safety enable EN3 = 0
No enable because static enable EN1 = 0 during operation
No enable because safety enable EN3 = 0 during operation
• Press element: Automatic mode
DW/Bit
DW = 0
Bit 0
Bit 2
Bit 8
Bit 9
Bit 11
Bit 13
Message
“Automatic” mode has been enabled
“Automatic” mode is not active.
Press is ready for reset.
Cannot switch on because the start enable (“EN2”) has
not been triggered.
Cannot switch on because the static enable (“EN1”) has
not been triggered.
Press was stopped because the static enable (“EN1”) is
missing.
Cannot switch on because the stop button has been
operated.
Comment
Enable has not been triggered, input parameter MODE = 0
1/0 pulse edge at reset input parameter
No enable because start enable EN2 = 0
No enable because static enable EN1 = 0
No enable because static enable EN1 = 0 during operation
No enable because input parameter STOP = 0
• Press element: Light curtain
DW/Bit
DW = 0
Bit 0
Bit 2
Bit 8
Message
“Break” mode has been enabled
“Break” mode is not active.
Light curtain is ready for break mode.
Enable must be performed.
Comment
Enable has not been triggered, input parameter MODE = 0
Break mode is active, waiting for break
1/0 pulse edge at Reset input parameter, wait for reset
• Sequential muting, parallel muting, cross muting
DW/Bit
DW = 0
Bit 1
Bit 2
Bit 3
Bit 8
Bit 9
Bit 10
Message
Enable triggered
Optical safety device was triggered, although muting is
inactive.
Safety device is ready for reset.
There is an object in the muting zone or the optical
safety device is faulty.
An object passed through the muting zone too slowly.
Comment
Error caused by muting sensor 1 and/or muting sensor
2.
Error caused by muting sensor 3 and/or muting sensor
4.
Feasibility error, muting sensors 1 and 2
Lght curtain interrupted (without active muting), resets
muting after error or starts muting
Waiting for reset (reset)
Sensor status unfeasable, override required
Muting time exceeded, only one sensor operated
Feasibility error, muting sensors 3 and 4,
not in the case of cross muting
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
6.3-5
PNOZmulti - Special applications
Diagnostic word
Compilation of the diagnostic words
Output elements
• Output elements with a feedback loop
1.1
DW/Bit
DW = 0
Bit 8
Message
Enable triggered
Feedback loop monitoring is registering an error.
Comment
Message
Valve is not being driven.
Valve is ready for reset.
Cannot switch on because, according to the feedback
loop, the valve is already switched on.
When the valve was switched on, the feedback loop
failed to open or opened too late.
When the valve was switched off, the feedback loop
failed to close or closed too late.
Error caused by valve or feedback loop
Comment
- When the output was switched on, the feedback loop
was not closed (= 1).
- After the output was switched on the feedback loop
was not opened within 3 s (= 0).
• Safety valve
Bit
Bit 0
Bit 2
Bit 8
Bit 11
Bit 12
Bit 13
6.3-6
Reset error messages on the reset input
Start attempt with feedback loop open
Power-up monitoring time TOn exceeded, feedback
loop did not open during TOn
Switch off monitoring time T0ff exceeded, feedback
loop did not close during TOff
Feedback loop closes when the valve is driven
Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: pilz.gmbh@pilz.de
2006-11
Pilz GmbH & Co. KG
Felix-Wankel-Straße 2
73760 Ostfildern
Germany
Telephone: +49 711 3409-0
Telefax:
+49 711 3409-133
E-Mail:
pilz.gmbh@pilz.de
AU
Pilz Skandinavien K/S
Safe Automation
Ellegaardvej 25 L
6400 Sonderborg
Denmark
Telephone: +45 74436332
Telefax:
+45 74436342
E-Mail:
pilz@pilz.dk
DK
Pilz Australia
Safe Automation
Suite C1, 756 Blackburn Road
Clayton, Melbourne VIC 3168
Australia
Telephone: +61 3 95446300
Telefax:
+61 3 95446311
E-Mail:
safety@pilz.com.au
BE
LU
Pilz Belgium
Safe Automation
Bijenstraat 4
9051 Gent (Sint-Denijs-Westrem)
Belgium
Telephone: +32 9 3217570
Telefax:
+32 9 3217571
E-Mail:
info@pilz.be
BR
ES
Pilz lndustrieelektronik S.L.
Safe Automation
Camí Ral, 130
Polígono Industrial Palou Nord
08400 Granollers
Spain
Telephone: +34 938497433
Telefax:
+34 938497544
E-Mail:
pilz@pilz.es
FI
Pilz do Brasil
Automação Segura
Rua Ártico, 123 - Jd. do Mar
09726-300
São Bernardo do Campo - SP
Brazil
Telephone: +55 11 4337-1241
Telefax:
+55 11 4337-1242
E-Mail:
pilz@pilz.com.br
Pilz Skandinavien K/S
Safe Automation
Nuijamiestentie 5 A
00400 Helsinki
Finland
Telephone: +358 9 27093700
Telefax:
+358 9 27093709
E-Mail:
pilz.fi@pilz.dk
CH
Pilz France Electronic
1, rue Jacob Mayer
BP 12
67037 Strasbourg Cedex 2
France
Telephone: +33 3 88104000
Telefax:
+33 3 88108000
E-Mail:
siege@pilz-france.fr
Pilz lndustrieelektronik GmbH
Gewerbepark Hintermättli
Postfach 6
5506 Mägenwil
Switzerland
Telephone: +41 62 88979-30
Telefax:
+41 62 88979-40
E-Mail:
pilz@pilz.ch
CN
Pilz Industrial Automation
Trading (Shanghai) Co., Ltd.
Safe Automation
Rm. 704-706
No. 457 Wu Lu Mu Qi (N) Road
Shanghai 200040
China
Telephone: +86 21 62494658
Telefax:
+86 21 62491300
sales@pilz.com.cn
E-Mail:
FR
GB
Pilz Automation Technology
Safe Automation
Willow House, Medlicott Close
Oakley Hay Business Park
Corby
Northants NN18 9NF
United Kingdom
Telephone: +44 1536 460766
Telefax:
+44 1536 460866
E-Mail:
sales@pilz.co.uk
IE
Pilz Ireland Industrial Automation
Cork Business and Technology Park
Model Farm Road
Cork
Ireland
Telephone: +353 21 4346535
Telefax:
+353 21 4804994
E-Mail:
sales@pilz.ie
IT
Pilz ltalia Srl
Automazione sicura
Via Meda 2/A
22060 Novedrate (CO)
Italy
Telephone: +39 031 789511
Telefax:
+39 031 789555
E-Mail:
info@pilz.it
JP
Pilz Japan Co., Ltd.
Safe Automation
Shin-Yokohama Fujika Building 5F
2-5-9 Shin-Yokohama
Kohoku-ku
Yokohama 222-0033
Japan
Telephone: +81 45 471-2281
Telefax:
+81 45 471-2283
E-Mail:
pilz@pilz.co.jp
KR
Pilz Korea Ltd.
Safe Automation
9F Jo-Yang Bld. 50-10
Chungmuro2-Ga Jung-Gu
100-861 Seoul
Republic of Korea
Telephone: +82 2 2263 9541
Telefax:
+82 2 2263 9542
E-Mail:
info@pilzkorea.co.kr
MX
Pilz de México, S. de R.L. de C.V.
Automatización Segura
Circuito Pintores 170
Cd. Satélite
Naucalpan, Méx. 53100
Mexico
Telephone: +52 55 5572 1300
Telefax:
+52 55 5572 1300
E-Mail:
info@mx.pilz.com
NL
Pilz Nederland
Veilige automatisering
Postbus 186
4130 ED Vianen
Netherlands
Telephone: +31 347 320477
Telefax:
+31 347 320485
E-Mail:
info@pilz.nl
NZ
Pilz New Zealand
Safe Automation
5 Nixon Road
Mangere
Auckland
New Zealand
Telephone: +64 9 6345350
Telefax:
+64 9 6345352
E-Mail:
t.catterson@pilz.co.nz
PL
Pilz Polska Sp. z o.o.
Safe Automation
ul. Marywilska 34H
03-231 Warszawa
Poland
Telephone: +48 22 8847100
Telefax:
+48 22 8847109
E-Mail:
info@pilz.pl
PT
Pilz Industrieelektronik S.L.
R. Eng Duarte Pacheco, 120
4 Andar Sala 21
4470-174 Maia
Portugal
Telephone: +351 229407594
Telefax:
+351 229407595
E-Mail:
pilz@pilz.es
SE
Pilz Skandinavien K/S
Safe Automation
Energigatan 10 B
43437 Kungsbacka
Sweden
Telephone: +46 300 13990
Telefax:
+46 300 30740
E-Mail:
pilz.se@pilz.dk
TR
Pilz Emniyet Otomasyon
Ürünleri ve Hizmetleri Tic. Ltd. Şti.
Kayışdağı Cad. Beykonağı Plaza
No:130 K:2 D:2
Kayışdağı-İstanbul
Turkey
Telephone: +90 216 5775550
Telefax:
+90 216 5775549
E-Mail:
pilz.tr@pilz.de
US
CA
Pilz Automation Safety L.P.
7150 Commerce Boulevard
Canton
Michigan 48187
USA
Telephone: +1 734 354 0272
Telefax:
+1 734 354 3355
E-Mail:
info@pilzusa.com
…
www
Please refer to our homepage
for further details or contact our
headquarters.
Technical support
In many countries we are
represented by sales partners.
Pilz GmbH & Co. KG
Felix-Wankel-Straße 2
73760 Ostfildern, Germany
Telephone: +49 711 3409-0
Telefax:
+49 711 3409-133
E-Mail:
pilz.gmbh@pilz.de
2-1-2-2-008, 2008-10 Printed in Germany
© Pilz GmbH & Co. KG, 2008
DE
Pilz Ges.m.b.H.
Sichere Automation
Modecenterstraße 14
1030 Wien
Austria
Telephone: +43 1 7986263-0
Telefax:
+43 1 7986264
E-Mail:
pilz@pilz.at
www.pilz.com
+49 711 3409-444
In some countries, InduraNET p®, Pilz®, PIT®, PMCprotego®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®, SafetyEYE®, SafetyNET p®, the spirit of safety® are registered,
protected trademarks of Pilz GmbH & Co. KG. Text and graphics in this leaflet are simply intended to give an overview of the system. No responsibility accepted for errors or omissions.
AT
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