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PSSu E S INC 24V se(-T)
} Decentralised system PSSuniversal I/O
Operating Manual 1001380-EN-04
Preface
This document is a translation of the original document.
All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made for internal purposes. Suggestions and comments for improving this documentation will be gratefully received.
Source code from third-party manufacturers or open source software has been used for some components. The relevant licence information is available on the Internet on the Pilz homepage.
Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®,
SafetyEYE®, SafetyNET p®, the spirit of safety® are registered and protected trademarks of Pilz GmbH & Co. KG in some countries.
SD means Secure Digital
Contents
Section 1
Section 2
Section 3
Section 4
Section 5
Introduction
1.1
Validity of documentation
1.1.1
1.1.2
1.2
Retaining the documentation
Terminology: System environment A and B
Definition of symbols
Overview
2.1
Module structure
2.2
2.3
Module features
Front view
Safety
3.1
3.2
3.2.1
3.2.2
3.2.3
Intended use
Safety regulations
Use of qualified personnel
Warranty and liability
Disposal
Function description
4.1
Block diagram
4.2
Module features
4.2.1
4.2.2
Integrated protection mechanisms
Function description
4.2.2.1 Functional inputs (G, L, S)
4.2.2.2 Supply voltage for encoder
4.2.2.3 Overflow
4.2.3
Incremental encoder operating mode
4.2.4
4.2.5
Counter operating mode
Functions
4.2.5.1 Measure period length
4.2.5.2 Transfer counter status via latch pulse
4.2.5.3 Transfer counter status via zero pulse
4.2.5.4 Set counter status
4.2.5.5 Monitor limit value
4.3
4.3.1
Configuration
Operating modes and parameters
4.3.2
Input/output data
4.3.2.1 PSSu assignment in system environment A
4.3.2.2 PSSu assignment in system environment B
Installation
5.1
General installation guidelines
5.1.1
5.2
5.3
Dimensions
Installing the base module
Inserting and removing an electronic module
5.3.1
5.3.2
Inserting an electronic module
Removing an electronic module
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10
11
11
11
11
7
8
7
7
12
12
12
14
14
15
16
12
12
13
13
16
17
18
19
20
21
21
22
22
24
26
26
26
26
27
28
29
5
5
6
5
5
3
Contents
Section 6
Section 7
Section 8
Section 9
5.3.3
Changing an electronic module during operation
Wiring
6.1
6.1.1
6.2
6.3
General wiring guidelines
Mechanical connection of the base modules
Terminal configuration
Connecting the module
Operation
7.1
Messages
7.2
Display elements
7.2.1
7.2.2
7.2.3
7.3
Display elements for module diagnostics
Display elements for counter status
Display elements for status of the functional inputs
Status information
Technical details
Order reference
9.1
Product
9.2
Accessories
38
41
41
41
36
36
36
36
37
37
37
29
30
30
30
32
34
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Introduction
1
1.1
1.1.1
1.1.2
Introduction
Validity of documentation
This documentation is valid for the products PSSu E S INC 24V se and PSSu E S INC 24V se-T. It is valid until new documentation is published.
This operating manual explains the function and operation, describes the installation and provides guidelines on how to connect the product.
The module PSSu E S INC 24V se-T is suitable for use where there are increased environmental requirements (see Technical Details).
Retaining the documentation
This documentation is intended for instruction and should be retained for future reference.
Terminology: System environment A and B
The PSSu system can be used in two different system environments. The module's application area is described in the chapter "Intended Use" of the manual.
The distinction is made between
} PSSu in system environment A
} PSSu in system environment B
The distinction is based on the application area of the PSSu system.
PSSu in system environment A may be used in the
} Decentralised system PSSu I/O
} Not in the automation system PSS 4000
PSSu in system environment B may be used in the
} Automation system PSS 4000, e.g. with
– Decentralised system PSSu I/O with SafetyNET p
– Control system PSSu PLC
– Control system PSSu multi
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Introduction
1.2
Definition of symbols
Information that is particularly important is identified as follows:
DANGER!
This warning must be heeded! It warns of a hazardous situation that poses an immediate threat of serious injury and death and indicates preventive measures that can be taken.
WARNING!
This warning must be heeded! It warns of a hazardous situation that could lead to serious injury and death and indicates preventive measures that can be taken.
CAUTION!
This refers to a hazard that can lead to a less serious or minor injury plus material damage, and also provides information on preventive measures that can be taken.
NOTICE
This describes a situation in which the product or devices could be damaged and also provides information on preventive measures that can be taken. It also highlights areas within the text that are of particular importance.
INFORMATION
This gives advice on applications and provides information on special features.
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Overview
2
2.1
2.2
Overview
Module structure
A module consists of
} Electronic module and
} Base module with
– Screw terminals or
– Cage clamp terminals
The base modules are the carrier units for the electronic modules and are used to connect the field wiring. The electronic modules are inserted on to the base modules and determine the module's function.
Details of the base modules that can be used are available in the chapter entitled “Intended
Use”.
Module features
The product has the following features:
} Connection of a rotary encoder with HTL output signal
} Inputs for
– Counter pulses (inputs A, B), single-pole, referenced to earth (single-ended)
– Zero pulse (inputs C), single-pole, referenced to earth (single-ended)
– Stopping the counter (input G, Gate)
– Memory function (Input L, Latch)
– Rotary encoder status (Input S, Status)
} Outputs:
– 24 VDC supply voltage for encoder
– 1 semiconductor output (switches depending on the counter status)
} Resolution of the counter and latch memory: 32 Bit
} Operating modes:
– Incremental encoder
– Counter
} Pulse multiplication (up to four times)
} No potential isolation between periphery supply and inputs/outputs
} LEDs for:
– Data transfer per input A, B, C
– Status per functional input (Gate, Latch, Status)
– Module error
} For standard applications in system environment A and B
} T-type:
PSSu E S INC 24V se-T: for increased environmental requirements
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Overview
2.3
Front view
A
B
Err
C
1
2
PSSu E S
INC 24V se
312486
000000
001
3
11
A
21
B
22 12
0V
13
0V
23
(C) (C)
14
S1
24
S1
4
G
S
L
5
PSSu E S
INC 24V se
41
C
32
41
G
42
S
33
S
43
(C) (C)
34
O0
44
L
6
11 21 31
10
11
41
12
7
12 22 32 42
8
13 23 33 43
9
14 24 34 44
A
B
Legend:
} A: Electronic module
} B: Base module
} 1: LEDs for
– Module diagnostics
– Status of the input channels A, B, C
} 2: Labelling strip with:
– Name of electronic module
– Order number
– Serial number
– Hardware version number
– 2D code
} 3: Labelling strip for the terminal configuration on the base module
} 4: LEDs for
– Status of function inputs G, L, S
} 5: Name of electronic module
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Overview
} 6: Connection level 1 (terminals 11, 21, 31, 41)
} 7: Connection level 2 (terminals 12, 22, 32, 42)
} 8: Connection level 3 (terminals 13, 23, 33, 43)
} 9: Connection level 4 (terminals 14, 24, 34, 44)
} 10: Square mounting holes (connection levels 1, 2, 3 and 4)
– With screw to loosen/tighten the screw terminal on base modules with screw terminals
– With mechanism to operate the cage clamp on base modules with cage clamp terminals
} 11: Round connection holes (connection levels 1, 2, 3 and 4) for connecting the signal lines
} 12: Mounting slot for colour marker to label the connection level (connection levels 1, 2,
3 and 4)
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Safety
3
3.1
Safety
Intended use
The module can be used to connect an incremental encoder with HTL output signal for standard functions.
The module may be used for standard applications in system environment A and B.
The modules PSSu E S INC 24V se and PSSu E S INC 24V se-T may be used as a safety component in accordance with the Lifts Directive 95/16/EC, EN 81-1, EN 81-2 and
EN 115-1.
The programmable safety system should be installed in a protected environment that meets at least the requirements of pollution degree 2. Example: Protected inside space or control cabinet with protection class IP54 and corresponding air conditioning.
The module PSSu E S INC 24V se-T is suitable for use where there are increased environmental requirements (see Technical Details).
Intended use includes making the electrical installation EMC-compliant. Please refer to the guidelines stated in the "PSSuniversal Installation Manual". The module is designed for use in an industrial environment. It is not suitable for use in a domestic environment, as this can lead to interference.
The following is deemed improper use in particular:
} Any component, technical or electrical modification to the module
} Use of the module outside the areas described in this manual
} Any use of the module that is not in accordance with the technical details.
INFORMATION
The module is supported by:
} PSSuniversal Configurator and PSSuniversal Assistant from Version
1.9.0.
} PAS4000 from version 1.7.0
– We recommend that you always use the latest version (download from www.pilz.de).
The PSSu E S INC 24V se module may be used in conjunction with the following base modules:
} PSSu BP 2/16 S
} PSSu BP 2/16 C
} PSSu BP-C 2/16 S
} PSSu BP-C 2/16 C
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Safety
3.2
3.2.1
3.2.2
3.2.3
The module PSSu E S INC 24V se-T may be used in conjunction with the following base modules:
} PSSu BP 2/16 S-T
} PSSu BP 2/16 C-T
} PSSu BP-C 2/16 S-T
} PSSu BP-C 2/16 C-T
Safety regulations
Use of qualified personnel
The products may only be assembled, installed, programmed, commissioned, operated, maintained and decommissioned by competent persons.
A competent person is someone who, because of their training, experience and current professional activity, has the specialist knowledge required to test, assess and operate the work equipment, devices, systems, plant and machinery in accordance with the general standards and guidelines for safety technology.
It is the company’s responsibility only to employ personnel who:
} Are familiar with the basic regulations concerning health and safety / accident prevention
} Have read and understood the information provided in this description under "Safety"
} And have a good knowledge of the generic and specialist standards applicable to the specific application.
Warranty and liability
All claims to warranty and liability will be rendered invalid if
} The product was used contrary to the purpose for which it is intended
} Damage can be attributed to not having followed the guidelines in the manual
} Operating personnel are not suitably qualified
} Any type of modification has been made (e.g. exchanging components on the PCB boards, soldering work etc.).
Disposal
} In safety-related applications, please comply with the mission time T
M lated characteristic data.
in the safety-re-
} When decommissioning, please comply with local regulations regarding the disposal of electronic devices (e.g. Electrical and Electronic Equipment Act).
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Function description
4
4.1
4.2
4.2.1
4.2.2
Function description
Block diagram
11 21 31 41 42 44
Periphery
Supply
+ 24 V DC
Module
Supply
+ 5 V DC
C-Rail
Data
(ST)
C-Rail
13 23 33 43
Input A Input B Input C
Inputs
G, S, L
Output
14
24 V
24 12
0V
22
Output
34
Module features
Integrated protection mechanisms
When the PSSu E F PS1(-T) or PSSu E F PS2(-T)(-R) is used to supply the system, the module supply is buffered for 20 ms if the supply voltage is interrupted.
The module detects the following errors:
} Start-up error
} Configuration error
} ST communication error
} Bus termination error
} Supply voltage overload for the encoder
Function description
Module supply
} The module supply provides the module with voltage.
Inputs
} 3 single-pole inputs referenced to earth: A, B, C, for connecting an incremental encoder or an encoder that provides rising edges as counter pulses.
} 3 single-pole inputs referenced to earth: G, L, S, for special functions
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Function description
4.2.2.1
4.2.2.2
Outputs:
} Supply voltage for encoder, 24 VDC, 100 mA
} Semiconductor output (switches depending on the counter status)
“0” signal (0 V) at the output:
– Output is high impedance
– No current to the load
“1” signal (+24 V) at the output:
– Output is low impedance
– Current is supplied to the load
Operating modes
} Incremental encoder
} Counter
Functions
} Period length measurement or
} Storing the counter status in latch memory after a latch pulse or zero pulse
} Setting the counter status
The electronic module transfers the data and status information to the head module via the module bus. The choice of function and the function's configuration are defined via the system software.
Functional inputs (G, L, S)
The single-pole inputs (G, L, S) are used for special functions. Inputs G and L may be connected to external signal sources, e.g. to a higher order control system.
} Input G (gate input)
The counter is stopped with a 1 signal. The module ignores the counter pulses at the inputs until a 0 signal returns.
} Input L (input for latch pulse)
At a rising edge, the module stores the current counter value in the latch memory. The counter continues counting; it is not stopped by the latch pulse. The module transmits the stored value to the head module. The period length measurement may be configured as an alternative to the latch function.
} Input S (status input)
The encoder's fault signal output can be connected to the status input. The module transmits the input state to the head module with the status information.
Supply voltage for encoder
The module provides a supply voltage of 24 VDC / 100 mA to supply the rotary encoder.
The output is short circuit-proof. In the event of an overload, the supply voltage is switched off and a warning is issued on the bus. The supply voltage is re-established when the cause of the overload has been rectified.
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Function description
4.2.2.3
4.2.3
Overflow
In both operating modes the counter can accept values from 0000 0000
H
to FFFF FFFF
H
.
} With an underflow the value drops below 0000 0000
FFFF FFFF
H
.
H
and the counter continues from
} With an overflow the value FFFF FFFF
H
0000 0000
H
.
is exceeded and the counter continues from
The overflow or underflow is signalled to the head module as status information.
The status information overflow is reset:
} if the value again falls below 0000 0000
H
(underflow).
} if 5555 0000
H
is exceeded (the lower third of the value range).
The status information underflow is reset:
} if FFFF FFFF
H
is exceeded again (overflow).
} if AAAA FFFF
H
is exceeded (the upper third of the value range).
Incremental encoder operating mode
The counter outputs and the output for the incremental encoder's zero pulse are connected to the single-pole inputs (A, B, C).
} Inputs A, B
The first channel of the encoder is connected to input A, the second to input B. The second channel is 90° out of phase. If channel A is leading, the module counts forwards. If channel A is lagging, the module counts backwards (see timing diagram).
} Input C
The output for the incremental encoder's zero pulse is connected to input C. An incremental encoder typically supplies one zero pulse per rotation. If the zero pulse function is activated, the module copies the last value prior to the zero pulse into the latch memory and passes it to the process image of inputs (see chapter entitled "Transfer counter status via latch pulse").
a b c d e
C
G
L
A
B
Legend:
} a: The counter counts backwards because the signal at channel A is lagging.
} b: The module has received a zero pulse. Provided the function is activated, the counter value is copied into the latch memory with a rising edge at input C.
} c: The counter counts forwards because the signal at channel A is leading.
} d: The module has received a latch pulse. Provided the function is activated, the counter value is copied into the latch memory with a rising edge at input L.
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Function description
} e: The counter is disabled because there is a 1 signal at input G.
The module can evaluate the counter pulses once, twice or four times (configuration in the
PSSu Configurator or PAS4000).
4.2.4
2x
4x
A
B
} Single evaluation:
Each rising edge at channel A increases the counter status.
} Double evaluation:
Each rising and each falling edge at channel A increases the counter status.
} Quadruple evaluation (default):
Each rising and each falling edge at channel A and channel B increases the counter status.
Counter operating mode
In counter operating mode, the module's single-pole inputs A, B, C have the following functions:
} Input A (Count)
Input A is the input for the encoder's counter pulses. The module counts each rising edge.
} Input B (Up/down)
At a 0 signal the module counts forwards. At a 1 signal the module counts backwards.
} Input C (Gate/Latch)
The counter is stopped with a 1 signal. The module ignores the counter pulses at the input until a 0 signal returns.
a b c d e
C
G
L
A
B
Legend:
} a: The counter counts forwards because there is 0 signal at channel B.
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Function description
4.2.5
4.2.5.1
} b: At the next rising edge at channel A, the counter counts backwards because there is a 1 signal at channel B.
} c: The counter is disabled because there is a 1 signal at input C.
} d: The module has received a latch pulse. Provided the function is activated, the counter value is copied into the latch memory with a rising edge at input L.
} e: The counter is disabled because there is a 1 signal at input G.
Functions
Measure period length
The module can record the period length of the counter pulses on channel A. The period length is the time between two rising edges at channel A. It is transferred to the process image of inputs as multiple of 200 ns.
Prerequisite: This function is configured in the PSSu Configurator / PAS4000.
PIO
PII
Legend:
} PIO: Bit 1 of the function call in the process image of outputs or I/O data Output-
Data.LatchOrMeasure
} PII: Bit 1 of the status byte in the process image of inputs or I/O data InputData.LatchOrMeasureDone
Key to timing diagram:
Section Function a b c d
Start measurement
Output measured value
Set status bit
Finish measurement
Ready for new measurement
Procedure for PSSu in system environment A
In the user program, set Bit 1 of the function call
Measured value is transferred into the process image of inputs
The module sets Bit 1 of the status byte
In the user program, reset Bit
1 of the function call
The module resets Bit 1 of the status byte
Procedure for PSSu in system environment B
In the user program, set OutputData.LatchOrMeasure
Measured value is written in
InputData.LatchOrPeriod
The module sets Input-
Data.LatchOrMeasureDone
In the user program, reset
OutputData.LatchOrMeasure
The module resets Input-
Data.LatchOrMeasureDone
The result of the last period length measurement remains in the process image of inputs until the module signals a new measurement result by setting the status information. Before the initial measurement the process image of inputs contains 0000 0000
H
or FFFF FFFF
H
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Function description
4.2.5.2
The module issues the result of period length measurement in multiples of 200 ns.
Example:
} The process image of inputs contains 32
H
/50
D
} The period length is 200 ns x 50 = 10 μs
Transfer counter status via latch pulse
A signal output can be connected to input L on the module for a latch pulse. The latch pulse may come from a PLC or position switch, for example. Using the latch function it is possible to record and transmit the counter status at the time of this latch pulse.
Prerequisite: This function is configured in the PSSu Configurator / PAS4000.
PIO
PII
Legend:
} PIO: Bit 1 of the byte for function calls in the process image of outputs or I/O data OutputData.LatchOrMeasure
} L: Input L for external latch
} PII: Bit 1 of the status byte in the process image of inputs or I/O data InputData.LatchOrMeasureDone
Key to timing diagram:
Section Function a Activate latch function b c
Procedure for PSSu in system environment A
In the user program, set Bit 1 of the function call
Fill latch memory Rising edge at input L:
Counter status is transferred to the latch memory
Output counter status
Set status bit
Counter status is transferred to the process image of inputs
The module sets Bit 1 of the status byte d e
Finish latch function
Ready for new latch function
In the user program, reset Bit
1 of the function call
The module resets Bit 1 of the status byte
Procedure for PSSu in system environment B
In the user program, set OutputData.LatchOrMeasure
Rising edge at input L:
Counter status is transferred to the latch memory
Counter status is written in
InputData.LatchOrPeriod
The module sets Input-
Data.LatchOrMeasureDone
In the user program, reset
OutputData.LatchOrMeasure
The module resets Input-
Data.LatchOrMeasureDone
The contents of the latch memory remains in the process image of inputs until the module signals a new memory value by setting the status information. Before the initial transfer the process image of inputs contains 0000 0000
H
or FFFF FFFF
H
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Function description
4.2.5.3
The module always transmits the counter status when the first latch pulse occurs after the function has started. All subsequent latch pulses are ignored until the function is completed and reset.
Transfer counter status via zero pulse
The output for the incremental encoder's zero pulse is connected to input C. An incremental encoder typically supplies one zero pulse per rotation. Using the zero pulse function it is possible to record the last counter status before the zero pulse and transmit it via the process image of inputs.
INFORMATION
In Counter operating mode, a rising edge at input C stops the counter.
PIO
PII
Legend:
} PIO: Bit 0 of the function call in the process image of outputs or I/O datum Output-
Data.ZeroPulseActive
} C: Input C
} PII: Bit 0 of the status byte in the process image of inputs or I/O datum Input-
Data.ZeroPulse
Key to timing diagram:
Section Function a Activate zero pulse function b c
Procedure for PSSu in system environment A
In the user program, set Bit 0 of the function call
Fill latch memory Rising edge at input C:
Counter status is transferred to the latch memory
Output counter status
Set status bit
Counter status is transferred to the process image of inputs
The module sets Bit 0 of the status byte d Finish zero pulse function
In the user program, reset Bit
0 of the function call
Procedure for PSSu in system environment B
In the user program, set OutputData.ZeroPulseActiv
Rising edge at input C:
Counter status is transferred to the latch memory
Counter status is written in
InputData.LatchOrPeriod
The module sets Input-
Data.ZeroPulse
In the user program, reset
OutputData.ZeroPulseActiv
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Function description
4.2.5.4
Section Function e Ready for new latch function
Procedure for PSSu in system environment A
The module resets Bit 0 of the status byte
Procedure for PSSu in system environment B
The module resets Input-
Data.ZeroPulse
The zero pulse function has priority over the latch function and the "Period length measurement" function. If this function is activated, both the other functions are ignored, even if they have been activated.
The module always transmits the counter status when the first zero pulse occurs after the function has started. The counter statuses on all subsequent zero pulses are ignored until the function has been completed and reset.
Set counter status
The "Set counter status" function sets the counter to any value. The value is stated in the user program. The module transfers the value and continues counting from this counter status.
PIO
PII
Legend:
} PIO: Bit 2 of the function call in the process image of outputs or I/O data Output-
Data.SetCounter
} PII: Bit 2 of the status byte in the process image of inputs or I/O data InputData.Set-
CounterDone
Key to timing diagram:
Section Function a b c d e
Enter counter status
Transfer counter status
Acknowledge transfer
Finish transfer
Ready for new function
Procedure for PSSu in system environment A
In the user program, write the default counter status in the process image of outputs
In the user program, set Bit 2 of the function call
The module sets Bit 2 of the status byte; the underflow and overflow bits are reset
In the user program, reset Bit
2 of the function call
The module resets Bit 2 of the status byte
Procedure for PSSu in system environment B
In the user program, assign the default counter status to
OutputData.NewCounter-
Value
In the user program, set OutputData.SetCounter
The module sets Input-
Data.SetCounterDone; Input-
Data.Underflow and Input-
Data.Overflow are reset
In the user program, reset
OutputData.SetCounter
The module resets Input-
Data.SetCounterDone
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Function description
4.2.5.5
Monitor limit value
The module's output O0 is switched when a limit value is reached. The status of the output
("0" or "1") is defined with a polarity bit.
The function must first be activated via an enable bit.
Limit value
Counter status
PIO Bit 3: Enable
PIO Bit 4:
Polarity
+
-
&
24 V
O0
Timing diagram a b c d
Counter
PIO (3)
PIO (4)
O0
Legend:
} Counter: Count
} PIO (3): Bit 3 of the function call in the process image of outputs or I/O datum Output-
Data.LimitValueActive
} PIO (4): Bit 4 of the function call in the process image of outputs or I/O datum Output-
Data.InvertOutput
} O0: Output O0
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Function description
4.3
4.3.1
Key to timing diagram:
Section Function a Activate monitoring function b c d
Limit value reached
Output polarity changed
Limit value reached
Procedure for PSSu in system environment A
In the user program, set Bit 3 of the function call. Output
O0 ("0" or "1") is set based on Bit 4 of the function call
Output O0 ("0" or "1") is set based on Bit 4 of the function call
In the user program, set Bit 4 of the function call. Output
O0 switches polarity
Output O0 ("0" or "1") is set based on Bit 4 of the function call
Procedure for PSSu in system environment B
In the user program, set OutputData.LimitValueActive
Output O0 ("0" or "1") is set based on OutputData.InvertOutput
In the user program, set OutputData.InvertOutput. Output
O0 switches polarity
Output O0 ("0" or "1") is set based on OutputData.InvertOutput
Configuration
Operating modes and parameters
The module has the following configuration options:
Configuration
Operating mode
Signal for gate input
Period length measurement or latch function
Multiple evaluation
Status input
Default value
X
X
X
X
X
Meaning
Incremental encoder operating mode
Counter operating mode
Input G disables at a 1 signal
Input G disables at a 0 signal
Latch function
Period length measurement
Quadruple evaluation
Double evaluation
Single evaluation
The status at input S is transmitted via a bit.
The status is transmitted via two redundant bits.
The status is transmitted via two diverse bits.
(1)
(1) Transmitting the status via two bits enables simple fault detection: Two redundant bits must always be the same, two diverse bits must always be different, otherwise the transmission is faulty.
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Function description
4.3.2
4.3.2.1
INFORMATION
Only Pilz system software should be used to change the parameters.
Input/output data
PSSu assignment in system environment A
In the PII the module occupies
} 32 Bits with counter data
} 32 Bits with data from the latch memory or with the result from the period length measurement
} 8 Bits with the status byte
In the PIO the module occupies
} 32 Bits with the default counter status
} 32 Bits with the limit value
} 8 Bits with function calls
Description
Status byte
Current counter status
Counter status from the latch memory or result from the period length measurement
Byte for function calls
ST-PII bit assignment LSB … MSB
0 … 7
8 … 39
40 … 71
ST-PIO bit assignment LSB … MSB Notes
See "Status byte assignment" table
Measured value in incremental encoder or counter operating mode
Value recorded after a latch or zero pulse or period length
0 … 7
Default counter status
Specify limit value
8 … 39
40 … 71
See table: "Overview of function calls"
Value at which the counter is set
Value at which the limit value is set
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Function description
Overview of function calls:
Function calls
Transfer counter status via zero pulse
Transfer counter status via latch pulse or measure period length (1)
Set counter status
Monitor limit value
Invert output O0
Bit
0
1
2
3
4
Assignment
0: Input C (zero pulse) inactive
1: Input C (zero pulse) active
0: Input L (latch pulse) inactive/period length measurement inactive
1: Input L (latch pulse) active/period length measurement active
0: Do not transfer default counter status
1: Adopt default counter status
0: Limit value monitoring inactive
1: Limit value monitoring active
0: Output O0 not inverted
1: Output O0 inverted
5 … 7 Reserved
(1) Whether the period length is measured or the latch pulse is evaluated, must be defined in the PSSu Configurator.
Status byte assignment:
Meaning
Zero pulse
Latch pulse or period length measurement
Default counter status
Counter underflow
Counter overflow
Status input S, Bit 1
Status input S, Bit 2
Reserved
Bit
0
1
2
3
4
5
6
7
Assignment
0: No zero pulse at input C
1: Zero pulse at input C
0: Period length or contents of latch memory not transferred
1: Period length or contents of latch memory transferred
0: Default counter status not transferred
1: Default counter status transferred
0: No counter underflow
1: Counter underflow
0: No counter overflow
1: Counter overflow
-
0: Status input, Bit 1 (message from encoder)
1: Status input, Bit 1
0: Status input, Bit 2 (1)
1: Status input, Bit 2
(1) When configuring the module, users can determine the evaluation method for the status input: single, redundant or diverse. Transmitting the status via two bits enables simple fault detection: Two redundant bits must always be the same, two diverse bits must always be different, otherwise the transmission is faulty.
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Function description
4.3.2.2
PSSu assignment in system environment B
Data access is via pre-defined I/O data types:
I/O data name I/O data type I/O data element
OutputData ST_O_INC_24
V
ZeroPulseActiv:
BOOL
LatchOrMeasure:
BOOL
Meaning
FALSE: Input C (zero pulse) inactive
TRUE: Input C (zero pulse) active
FALSE: Input L (latch pulse) inactive/period length measurement inactive
TRUE: Input L (latch pulse) active/ period length measurement active
SetCounter: BOOL FALSE: Do not transfer default counter status
TRUE: Adopt default counter status
NewCounterValue:
DWORD
Default counter status
LimitValueActive:
BOOL
FALSE: Limit value monitoring inactive
TRUE: Limit value monitoring active
InvertOutput: BOOL FALSE: Output O0 not inverted
TRUE: Output O0 inverted
LimitValue: DWORD Value at which the limit value is set
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Function description
I/O data name
InputData
I/O data type I/O data element
ST_I_INC CurrentData:
DWORD
LatchOrPeriod:
DWORD
ZeroPulse: BOOL
LatchOrMeasure-
Done: BOOL
SetCounterDONE:
BOOL
Underflow: BOOL
Overflow: BOOL
State1: BOOL
State2: BOOL
Meaning
Current counter status in incremental encoder or counter operating mode
Counter status after a latch or zero pulse or period length
FALSE: No zero pulse at input C
TRUE: Zero pulse at input C
FALSE: Period length or contents of latch memory not transferred
TRUE: Period length or contents of latch memory transferred
FALSE: Default counter status not transferred
TRUE: Default counter status transferred
FALSE: No counter underflow
TRUE: Counter underflow
FALSE: No counter overflow
TRUE: Counter overflow
FALSE: Status input, Bit 1 (message from encoder)
TRUE: Status input, Bit 1
FALSE: Status input, Bit 2 (1)
TRUE: Status input, Bit 2
(1) When configuring the module, users can determine the evaluation method for the status input: single, redundant or diverse. Transmitting the status via two bits enables simple fault detection: Two redundant bits must always be the same, two diverse bits must always be different, otherwise the transmission is faulty.
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Installation
5
5.1
5.1.1
Installation
General installation guidelines
Please refer also to the PSSuniversal Installation Manual.
NOTICE
Damage due to electrostatic discharge!
Electrostatic discharge can damage components. Ensure against discharge before touching the product, e.g. by touching an earthed, conductive surface or by wearing an earthed armband.
Dimensions
25,2 mm
(0.992")
8,1 mm
(0.319")
52,1 mm
(2.051")
25,2 mm
(0.992")
72,7 mm
(2.862")
5.2
Installing the base module
Prerequisite:
} The head module must be installed.
} If the head module does not have an integrated power supply, a supply voltage module must be installed to the right of the head module.
Please note:
} For mechanical reasons it is not possible to mix base modules with screw terminals and base modules with cage clamp terminals.
} All contacts should be protected from contamination.
} The mechanics of the base modules are designed for 50 plug in/out cycles.
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Installation
Procedure:
} We recommend that you wire up the base modules before inserting the electronic modules.
} Slot the groove on the base module on to the mounting rail from below [1].
} Push the base module back [2] until you hear it lock into position.
} On the mounting rail, slide the base module to the left until you hear the two lateral mounting hooks on the adjacent module lock into position [3].
Schematic representation:
[2]
5.3
[1]
[3]
Inserting and removing an electronic module
Please note:
} Only insert on to base modules that are already installed.
} Preferably these base modules should be ready wired.
} Electronic modules with outputs may only be inserted and removed when the load is switched off. Unforeseeable error reactions may be triggered if modules are inserted and removed under load.
} When an electronic module is plugged into a base module for the first time, one part of the coding element remains on the electronic module, while its counterpart is fixed on to the base module. This is how the base module is coded.
} The mechanics of the electronic modules are designed for 50 plug in/out cycles.
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Installation
5.3.1
Inserting an electronic module
Procedure:
} The electronic module must audibly lock into position [1].
} Mark the electronic module using the labelling strips [2].
Schematic representation:
[2]
[1]
[1]
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Installation
5.3.2
Removing an electronic module
Procedure:
} Press the locking mechanisms [1] together simultaneously.
} Pull out the electronic module [2].
Schematic representation:
[1]
[2]
[1]
5.3.3
Changing an electronic module during operation
It is possible to change an electronic module during operation. The configuration data is retained when a module is changed.
Effects:
} System environment A:
– In the event of a potential FS communication error, the FS section of the PSSu system and all relevant I/O-Groups (SafetyBUS p) switch to a STOP condition.
} System environment B:
– All FS hardware outputs on the PSSu system switch to a safe condition.
– The substitute values are used for the modules' FS outputs, with Valid Bits =
FALSE.
CAUTION!
Sparking can cause interference and errors!
Only change the module when the load is switched off!
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Wiring
6
6.1
6.1.1
Wiring
General wiring guidelines
Please note:
} The module's connections are galvanically isolated from the module supply.
} The module evaluates open inputs (A, B, C) as a 0 signal.
} The module evaluates open function inputs (G, L, S) as a 0 signal.
} We recommend that you use shielded signal lines.
} On base modules with C-rail:
– Connect the shield to the terminals on the C-rail.
– Connect the C-rail with low impedance to the functional earth.
} On base modules without C-rail:
– Connect the shield as shown in the terminal configuration section.
– The module connects the shield to the functional earth via the mounting rail.
} The channel for the incremental encoder's zero pulse has a different designation depending on the manufacturer (N, C, Z, 0,...)
} The supply voltages must be extra low voltages with protective electrical separation
(PELV or SELV) in accordance with VDE 0100, Part 410.
} Use copper wiring.
} The terminal configuration as stated on the front plate applies for base modules with Crail. The terminal configuration as stated in the technical documentation applies for all other base modules.
Mechanical connection of the base modules
Procedure:
} Use a flat blade screwdriver (DIN 5264-A)!
DIN 5264-A
} Strip the wire back 8 mm.
} If necessary, label the connection level with a colour marker [3].
} Base module with screw terminals:
– Use a screwdriver to loosen the screw on the screw terminal [1]
– Insert the stripped cable into the round fixing hole [2], as far as it will go.
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Wiring
– Tighten up the screw on the screw terminal.
– Check that the cable is firmly seated.
} Base module with cage clamp terminals:
– Insert the screwdriver [4] into the square hole [1].
– Insert the stripped cable into the round fixing hole [2], as far as it will go [5].
– Pull out the screwdriver [6].
– Check that the cable is firmly seated.
11 21
[1]
[2]
[3]
[4]
[5]
[6]
Please note:
} The minimum cable cross section for field connection terminals on the base modules is
0.14 mm 2 (AWG26).
} The maximum cable cross section for field connection terminals is:
– Digital inputs: 1.5 mm 2 (AWG16)
– Digital outputs: 2.0 mm 2 (AWG14)
– Inputs/outputs on the counter modules: 1.5 mm 2 (AWG16)
– Analogue inputs/outputs: 1.5 mm 2 (AWG16)
– Communication cables: 1.5 mm 2 (AWG16)
– Test pulse outputs: 1.5 mm 2 (AWG16)
– Power supply: 2.5 mm 2 (AWG12)
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Wiring
6.2
– Functional earth: 2.5 mm 2 (AWG12)
} On base modules with screw terminals:
– If you use a multi-strand cable to connect the I/Os, it is recommended that you use ferrules conforming to Parts 1 and 2 of DIN 46228, 0.14 ... 1.5 mm 2 , Form A or C, although this is not essential. To crimp the ferrules you can use crimp pliers (crimp form A or C) conforming to EN 60947-1, such as the PZ 1.5 or PZ 6.5 from
Weidmüller, for example.
– Maximum torque setting: 0.8 Nm
} Use copper wiring.
Terminal configuration
Base module
Screw terminals:
PSSu BP 2/16 S
PSSu BP 2/16 S-T
Terminal configuration
Without C-rail:
11: Input A
Cage clamp terminals:
PSSu BP 2/16 C
PSSu BP 2/16 C-T
21: Input B
31: Input C
11 21 31 41
12 22 32 42
13 23 33 43
41: Input G (Gate)
14 24 34 44
12-22: 0 V encoder
(12-22 linked within the base module)
32-42: Input S (Status)
(32-42 linked within the base module)
13-23-33-43: Shield connection
(13-23-33-43 linked within the base module)
14-24: Supply voltage output for encoder
34: Output for limit value monitoring
44: Input L (Latch)
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Wiring
Base module
Screw terminals:
PSSu BP-C 2/16 S
PSSu BP-C 2/16 S-T
Cage clamp terminals:
PSSu BP-C 2/16 C
PSSu BP-C 2/16 C-T
Terminal configuration
With C-rail:
11: Input A
21: Input B
31: Input C
41: Input G (Gate)
12-22: 0 V encoder
(12-22 linked within the base module)
32-42: Input S (Status)
(32-42 linked within the base module)
13-23-33-43: C-rail supply shield connection
(13-23-33-43 linked within the base module)
14-24: Supply voltage output for encoder
34: Output for limit value monitoring
44: Input L (Latch)
11 21 31 41
12 22 32 42
13 23 33 43
14 24 34 44
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Wiring
6.3
Connecting the module
Incremental encoder operating mode
Encoder is supplied via output 14 (S1)
With C-rail
Output O0: Output for limit value monitoring
11 21 31 41
12 22 32 42
13 23 33 43
14 24 34 44
Incremental encoder operating mode
Encoder is supplied via output 14 (S1)
Without C-rail
Output O0: Output for limit value monitoring
11 21 31 41
12 22 32 42
13 23 33 43
14 24 34 44
0 V
A
B
C
Gate
Status
Latch
24 V
Output O0
0 V
A
B
C
Gate
Status
Latch
24 V
Output O0
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Wiring
Counter operating mode
Encoder is supplied via output 14 (S1)
Function inputs (G, L,
S) not connected.
With C-rail
Output O0: Output for limit value monitoring 11 21 31 41
12 22 32 42
13 23 33 43
14 24 34 44
Counter operating mode
Encoder is supplied via output 14 (S1)
Function inputs (G, L,
S) not connected.
Without C-rail
11 21 31 41
12 22 32 42
13 23 33 43
14 24 34 44
0 V
A (Count)
B (Up/Down)
C (Gate)
24 V
Output O0
0 V
A (Count)
B (Up/Down)
C (Gate)
24 V
Output O0
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Operation
7 Operation
7.1
Module error
Start-up error
Messages
A module error is displayed via the "Err" LED (see section entitled "Display elements"). It is signalled to the head module and then entered in the
} Error stack, with PSSu in system environment A
} Diagnostic log, with PSSu in system environment B.
of the head module.
The module can detect the following errors:
Configuration error
ST communication error
Bus termination error
Supply voltage overload for encoder
Statement
Error as the PSSu system starts up
Remedy
Change faulty module.
Incorrect module type configured. The configured hardware registry does not match the actual hardware registry.
Error during ST communication
There is no terminating plate or there is a bad contact with the module bus.
Supply voltage for encoder overloaded or short-circuited
Change faulty module.
Install a terminating plate with integrated end bracket or insert the base modules together correctly.
Rectify overload or short circuit
7.2
Display elements
Legend
LED on
LED off
7.2.1
Display elements for module diagnostics
The module has an LED for displaying module errors ("Err" LED).
Err Err
LED
Name
Err
Colour
- - -
Status
Red
11
I0
21
I1
Meaning
No error
Module error
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Operation
7.2.2
A
B
Err
C
Display elements for counter status
The module has three LEDs for the status of the counter inputs (LEDs "A", "B" and "C").
A
B
Err
C
LED
Name
A
Key
Colour Status Signal
- - 0 signal at counter input A
11
O0
21 31
O1
41
B
C green
- - green
- - green
1 signal at counter input A
0 signal at counter input B
1 signal at counter input B
0 signal at counter input C
1 signal at counter input C
7.2.3
A
B
Err
C
Display elements for status of the functional inputs
The module has three LEDs for the status of the function inputs (LEDs "G", "L" and "S").
LED
Description
G
Key
Colour Status Signal
- - 0 signal at function input G
Green 1 signal at function input G 11
A
12
0V
13
(C)
21
B
22
0V
23
(C)
14
S1
24
S1
G
S
L
41
C
32
S
33
(C)
34
O0
44
L
41
G
42
S
43
(C)
G
S
L
L
S
- - -
Green
- - -
Green
0 signal at function input L
1 signal at function input L
0 signal at function input S
1 signal at function input S
7.3
Status information
The way in which status information is assigned to the status byte and I/O data is described in the chapter entitled "Function Description", under "Input/output data".
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Technical details
8 Technical details
General
Approvals
Application range
Module's device code
Number of ST input bits
Number of ST output bits
Number of ST status bits
Number of ST control bits
Application in system environment
A
From ST firmware version, other head modules
From ST firmware version PSSu
H S PN
18
3
Application in system environment
B
From ST firmware version, head modules
Electrical data
1.7.0
312486
Internal supply voltage (module supply)
Module's power consumption 0,85 W
Periphery's supply voltage (periphery supply)
8
8
64
64
312486
CE, TÜV, cULus Listed
Standard
0322h
Voltage range
Module's current consumption with no load
Incremental encoder input
Number of counter inputs
16,8 - 30,0 V
10 mA
Module's power consumption with no load 0,24 W
Max. power dissipation of module 1,40 W
312486
1
Type of counter inputs
Signal at counter inputs A and B and/or C
Incremental encoder single-ended (HTL)
Permitted low signal range on
LATCH/GATE/STATUS signals
Permitted high signal range on
LATCH/GATE/STATUS signals
-3 - 5 V
11 - 30 V
Typ. input current of the LATCH and/or GATE and/or STATUS signals at low level
Typ. input current of the LATCH and/or GATE and/or STATUS signals at high level
Max. number of bits on the counter input
0 mA
4,0 mA
32 Bit
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3
8
8
64
64
314486
CE, TÜV
Standard
0322h
1.7.0
314486
0,85 W
16,8 - 30,0 V
10 mA
0,24 W
1,40 W
314486
1
Incremental encoder single-ended (HTL)
-3 - 5 V
11 - 30 V
0 mA
4,0 mA
32 Bit
38
Technical details
Incremental encoder input
Evaluation of counter pulses
Phase offset between differential signals A and B
312486
1x, 2x, 4x
Phase offset tolerance
Maximum cutoff frequency
Time constant of input filter on
LATCH signal
90 deg
30 deg
0,2 MHz
50 µs
Time constant of input filter on
GATE signal
Time constant of input filter on
STATUS signal
50 µs
Typ. processing time
Potential isolation between input/ output and periphery supply
50 µs
0,1 ms
No
Potential isolation between input/ output and voltage for the internal module bus
Semiconductor outputs
Rated voltage
Max. output current at rated voltage yes
312486
24 V DC
Voltage outputs
Max. output current at rated voltage
Environmental data
Climatic suitability
0,50 A
312486
0,10 A
312486
EN 60068-2-1, EN 60068-2-14, EN
60068-2-2, EN 60068-2-30, EN
60068-2-78
Ambient temperature
In accordance with the standard EN 60068-2-14
Temperature range 0 - 60 °C
Storage temperature
314486
1x, 2x, 4x
90 deg
30 deg
0,2 MHz
50 µs
50 µs
50 µs
0,1 ms
No yes
314486
24 V DC
0,50 A
314486
0,10 A
314486
EN 60068-2-1, EN 60068-2-14, EN
60068-2-2, EN 60068-2-30, EN
60068-2-78
EN 60068-2-14
-40 - 70 °C
In accordance with the standard EN 60068-2-1/-2
Temperature range -25 - 70 °C
Climatic suitability
EN 60068-2-1/-2
-40 - 70 °C
In accordance with the standard EN 60068-2-30, EN 60068-2-78 EN 60068-2-30, EN 60068-2-78
Humidity 93 % r. h. at 40 °C 93 % r. h. at 40 °C
Condensation during operation
EMC
Not permitted
EN 61000-4-2, EN 61000-4-3, EN
61000-4-4, EN 61000-4-5, EN
61000-4-6, EN 61000-6-2, EN
61000-6-4
Short-term
EN 61000-4-2, EN 61000-4-3, EN
61000-4-4, EN 61000-4-5, EN
61000-4-6, EN 61000-6-2, EN
61000-6-4
Vibration
In accordance with the standard EN 60068-2-6
Frequency 10,0 - 150,0 Hz
Amplitude
Acceleration
0,35 mm
1g
EN 60068-2-6
10,0 - 1000,0 Hz
0,35 mm
5g
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Technical details
Environmental data
Broadband noise
312486
In accordance with the standard –
Frequency
Acceleration
Shock stress
–
–
In accordance with the standard EN 60068-2-27
Number of shocks
Acceleration
6
15g
Duration 11 ms
In accordance with the standard EN 60068-2-27
Number of shocks
Acceleration
Duration
1000
10g
16 ms
Max. operating height above sea level 2000 m
Airgap creepage
In accordance with the standard EN 60664-1
Overvoltage category II
Pollution degree 2
Protection type
In accordance with the standard EN 60529
Mounting area (e.g. control cabinet) IP54
Housing
Terminals
Mechanical data
IP20
IP20
312486
Material
Bottom
Front
Coding
Mounting type
Dimensions
PC
PC
PA plug-in
Height
Width
Depth
Weight
Mechanical coding
Type
Colour
76,0 mm
25,2 mm
60,2 mm
47 g
M
Dark grey
314486
EN 60068-2-64
5 - 500 Hz
1,9grms
EN 60068-2-27
6
15g
11 ms
EN 60068-2-27
1000
25g
6 ms
5000 m
EN 60664-1
II
2
EN 60529
IP54
IP20
IP20
314486
PC
PC
PA plug-in
76,0 mm
25,2 mm
60,2 mm
48 g
M
Dark grey
Where standards are undated, the 2005-04 latest editions shall apply.
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Order reference
9 Order reference
9.1
Product
Product type Features
PSSu E S INC 24V se Electronic module
PSSu E S INC 24V se-T
Electronic module, T-type
Order No.
312 486
314 486
9.2
Accessories
Base modules
Product type
PSSu BP 2/16 S
PSSu BP 2/16 S-T
PSSu BP 2/16 C
Features
Base module without C-rail with screw terminals
Base module without C-rail with screw terminals, T-type
Base module without C-rail with cage clamp terminals
Order no.
312 628
314 628
312 629
PSSu BP 2/16 C-T
PSSu BP-C 2/16 S
Base module without C-rail with cage clamp terminals, T-type 314 629
Base module with C-rail and screw terminals 312 630
PSSu BP-C 2/16 S-T Base module with C-rail and screw terminals, T-type
PSSu BP-C 2/16 C Base module with C-rail and cage clamp terminals
PSSu BP-C 2/16 C-T Base module with C-rail and cage clamp terminals, T-type
314 630
312 631
314 631
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