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PMCprimo C

Operating instructions 1002242-EN-03

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Control systems

Summary of Contents for PMCprimo C

Page 1: ...PMCprimo C Operating instructions 1002242 EN 03 Control systems...

Page 2: ...umentation 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 Interne...

Page 3: ...Standards 13 Section 4 Function description 14 4 1 Device properties 14 4 1 1 Controller 14 4 1 2 Supply voltage 15 4 1 3 Digital inputs 16 4 1 4 Digital outputs 16 4 1 5 Interfaces 16 4 1 5 1 Overvie...

Page 4: ...2 3 Adapt basic configuration of PMCprimo 43 7 2 4 Configure servo amplifier 44 7 2 5 Operate PMCprimo C 44 7 3 Install CoDeSys 46 Section 8 Operation 47 8 1 Operating states and changes in operating...

Page 5: ...ctions PMCprimo C 1002242 EN 03 5 Section 9 Technical details PMCprimo C X A X X 0 6 GHz CPU 58 Section 10 Technical details PMCprimo C X C X X 1 3 GHz CPU 62 Section 11 Order reference 66 11 1 Produc...

Page 6: ...figuration and programming software for motion control devices e g CoDeSys PASmotion can be found on the Internet at www pilz com The manuals for Pilz products from the PMC product area are available...

Page 7: ...es information on preventive measures that can be taken NOTICE This describes a situation in which the product or devices could be dam aged and also provides information on preventive measures that ca...

Page 8: ...es interpolation Technology functions Digital inputs and outputs 6 digital inputs each one can be used as a quick reference input 6 single pole digital outputs Encoder Incremental encoder with TTL sig...

Page 9: ...r 2 Reset button 3 LED to display operating states 4 SafetyNET p interface RTFL IN 5 SafetyNET p interface RTFL OUT 6 Ethernet TCP IP interface 7 CANopen PROFIBUS DP interface 8 Connection for encoder...

Page 10: ...stalled CPU Clock frequency of processor Hardware A Two CANopen interfaces B One CANopen and one PROFIBUS DP Slave interface Software 2 Software options not enabled 3 5 7 Dynamic curve calculation ena...

Page 11: ...pe of supply Order reference Description Order number PMCprimo C Expansion card for motion con troller for function range see Type code See Type code CD ROM Documentation Mo tion Control Operating man...

Page 12: ...elines The following is deemed improper use in particular Any component technical or electrical modification to the product Use of the product outside the areas described in this manual Use of the pro...

Page 13: ...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 3 2 3 Disposal When decommissioning plea...

Page 14: ...ital outputs The inputs and outputs are read cyclically The cycle times are 1ms It can also access inputs and outputs on networked servo amplifiers from the PMC product area The motion controller has...

Page 15: ...D The motion controller PMCprimo C 1 is installed in a servo amplifier PMCprotego D 2 Networking can be via SafetyNET p RTFL X44 Ethernet X43 2 SafetyNET p RTFL X7A X7B Fig Installation of the motion...

Page 16: ...e 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 The maximum current strength per output is 0 5 A All digita...

Page 17: ...capable networking between the motion controller PMCprimo C and the servo amplifier PMCprotego D The PMCprimo C acts as Master The RTFL transport layer enables the system to be used in extremely time...

Page 18: ...tego D CAN PFOFIBUS Adapter 4 1 5 3 PROFIBUS DP PROFIBUS is an open fieldbus standard Communication is defined in IEC 61158 and IEC 61784 Further provisions have been defined in specifications publish...

Page 19: ...port a corresponding device profile can be operated in the motion controller s SafetyNET p RTFL network This is currently limited to the servo amplifier PMCprotego D SafetyNET p RTFL devices detected...

Page 20: ...ORMATION Refer to the chapter entitled Wiring for details of how to connect the sup ply voltage 4 1 7 Reset button The RESET button is mounted in a recess on the front of the unit It can only be acces...

Page 21: ...cope is a PC based oscilloscope with up to 4 channels It can be used to record and visualise signals from controllers and servo amplifiers Elliptical curve tool PMotion is a tool for constructing elli...

Page 22: ...nents Ensure against discharge before touching the product e g by touching an earthed conductive sur face or by wearing an earthed armband NOTICE The motion controller is installed in the servo amplif...

Page 23: ...protego D 03 PMCprotego D 06 PMCprotego D 12 PMCprotego D 24 PMCprotego D 48 PMCprotego D 72 Slot 1 2 Slot 1 2 Slot 1 2 Fig Slots 1 and 2 for installing the PMCprimo C 5 4 Installing the fieldbus junc...

Page 24: ...follow the instructions below Switch off the mains voltages and 24 V supply Connect the 9 pin female D Sub connector X6D to the male connector X6 on the servo amplifier Turn the screws into the thread...

Page 25: ...or to a supply line Cables must be shielded if the signals are used as reference inputs Other signal lines do not need to be shielded Outputs If short circuits occur between the cable from the output...

Page 26: ...output 4 13 O1 5 Digital output 5 14 O1 6 Digital output 6 15 0 V Supply Supply voltage for unit and digital outputs reference earth for digital inputs and outputs 0 V 16 0 V Encoder Supply voltage f...

Page 27: ...24 V 24 V connection isolated from external power supply e g with isolating trans former Noise suppression filter in tegrated within the unit Connection 6 4 Digital inputs Connector X40 Pin Designati...

Page 28: ...are used as ref erence inputs Example Reference inputs I1 1 and I1 2 Pin 1 2 Connection 6 5 Digital outputs Connector X40 Pin Designation Description 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 4 O1 1 Digi...

Page 29: ...6 1 Overview Four RJ45 sockets with interfaces are available on the front Socket X42 X45 Connector Description X45 X44 X43 X42 8 1 8 1 8 1 8 1 X45 SafetyNET p interface RTFL IN X44 SafetyNET p interf...

Page 30: ...iber A characteristic impedance of 120 Ohm is acceptable for bus lengths up to 40 m Node 1 Node 2 Node n 1 Node n RT W l a Node 3 A A RT W Fig Overall length and length of the stub lines on a CAN netw...

Page 31: ...2 Two CANopen interfaces There are two CANopen interfaces on the same socket The two CANopen interfaces use the same operating earth GND Socket X42 Pin Designation Description 8 1 1 n c 2 n c 3 GND G...

Page 32: ...N_H CAN high signal 8 CAN_L CAN low signal n c not connected Depending on the unit type 2 CANopen interfaces 1 CANopen 1 PROFIBUS DP interface Connection via fieldbus junction box on the servo amplifi...

Page 33: ...oder 6 7 1 Supply voltage WARNING Electric shock Safe electrical isolation must be ensured for the external power supply that generates the supply voltage Failure to do so could result in electric sho...

Page 34: ...Wiring Operating instructions PMCprimo C 1002242 EN 03 34 Supply voltage V V X40 8 is linked internally to X41 4 and X40 16 to X41 9 Connection...

Page 35: ...6 9 1 A Channel A 2 B Channel B 3 Z Reference pulse Z 4 V Supply voltage 5 n c 6 A Channel A inverted 7 B Channel B inverted 8 Z Reference pulse Z inverted 9 0 V Supply voltage 0 V n c not connected S...

Page 36: ...iption 1 5 6 9 1 CLOCK Pulse signal 2 DATA Data 3 n c 4 V Supply voltage 5 n c 6 CLOCK Pulse signal inverted 7 DATA Data inverted 8 n c 9 0 V Supply voltage 0 V n c Not connected Socket assignment Inp...

Page 37: ...ard analysis for the machine and take appropriate measures to ensure that unexpected movements do not cause injury to people or damage to equipment Only specialist staff with extensive knowledge of dr...

Page 38: ...L2 15 PE X4A 1 2 4 5 6 3 24 V 0 V 1 2 PMCprimo C PMCprotego D Ethernet CANopen 2 PROFIBUS DP PMCprotego D CAN CANbus Adapter L3 L1 L2 PE CANopen 1 Fig Connect PMCprimo C and PMCprotego D example 1 via...

Page 39: ...nnect the Ethernet interface X43 on the motion controller to the PC Connect the supply voltages Servo amplifier PMCprotego D 01 D 24 X4A 1 24 V X4A 2 0 V PMCprotego D 48 or PMCprotego D 72 X4 1 24 V X...

Page 40: ...tion Settings window opens You can now connect to a known network subscriber If you do not know the IP address you can browse the network for subscribers Alternative 1 The IP settings are known Prereq...

Page 41: ...mask 255 255 255 0 Gateway 192 168 0 1 CHANNELS Number 1 32 HARDWARE Type PMCprimo C 600MHz CAN CAN Item No 680055 Ser No 111 Pr Ver 1 0 Encoder 1 Inputs 6 Outputs 6 Virtual inputs 56 Virtual outputs...

Page 42: ...y for operation It reports with the command prompt 0 1 Key Charac ter Meaning Details 0 Address of the controller always 0 on PMCprimo C Decimal point 1 Number of current axis Status indicator of curr...

Page 43: ...2 27 Channel for en coder 1 25 SafetyNET p RTFL Cycle time 1000 s 9 CAN node address 50 3 CAN1 baudrate 1000 KBit 8 CAN1 cycle time 2 ms 21 CAN2 baudrate 1000 KBit 23 CAN2 cycle time 2ms 22 CAN mode C...

Page 44: ...mis sioning software PASmotion Please note the following prerequisites The servo amplifier must not be enabled ENABLE 0 The mains voltage for the servo amplifier s power element must be switched off T...

Page 45: ...DEVICES in CAN Network PNOZmulti DS401 at CAN1 ADDR 14 found Inputs 24 Outputs 24 CAN I O DS401 at CAN1 ADDR 23 found PSSuniversal Inputs 32 Outputs 32 Analogue In puts 2 inputs linked to channel from...

Page 46: ...accordance with IEC 61131 3 CoDeSys can be found in the software package PMC Programming Tool The software package is available on the Internet at www pilz de Select the CoDeSys menu Installation will...

Page 47: ...w The operating states and changes in operating status are described in de tail below 1 1 3 4 5 2 Startup 0 1 Power Off X40 7 0 V RUN X40 7 0 24 V Press reset button Boot Menu Exit Boot Menu Command F...

Page 48: ...us of LED LED flashes rapidly The LED lights for 4 s continuously after Startup has been run During this time it s possible to change to Boot Menu operating status Change to Boot Menu Press the reset...

Page 49: ...e system changes to Power Off operating status when the 24 VDC supply voltage has been switched off 0 1 Change from Power Off to Startup The system changes to Startup operating status when the 24 VDC...

Page 50: ...the IEC 61131 development environment Holding down the reset button for a short period 4 s alternative to RS3 command change to STOP 3 5 Change from RUN to Fatal Error The system changes to Fatal Err...

Page 51: ...cific com mand that is used Options Action Command lan guage IEC 61131 program ming Cold start motion controller Cold start HW reset RS1 alternative Hold down reset but ton for long period 4 s Stop us...

Page 52: ...te RETAIN Resets all variables that have not been explicitly initialised to a default initialisation value Commands Command language RS4 IEC 61131 programming Menu Online Reset 8 2 3 2 Cold reset This...

Page 53: ...et button for short period 4 s 8 3 Functions of the reset button The RESET button is mounted in a recess on the front of the unit It can only be accessed using an appropriate tool e g a pin The follow...

Page 54: ...med via The LED on the front of the device The error stack PVIS expanded diagnostics Display commands Recording of process data LEDs LEDs on the front of the device provide information on the operatin...

Page 55: ...ion Operating instructions PMCprimo C 1002242 EN 03 55 Process data Process data can be recorded in the operating status RUN and STOP via the Motion controller Terminal program Oscilloscope function P...

Page 56: ...STOP or Boot Menu status LED Meaning PROFIBUS CAN X42 PROFIBUS red No network connection Network connection is error free CAN red No network connection Network connection is error free LED Meaning CAN...

Page 57: ...Operation Operating instructions PMCprimo C 1002242 EN 03 57 Legend LED on LED off LED flashes...

Page 58: ...ion type 9 pin D Sub female connector 9 pin D Sub female connector Supply voltage for absolute en coder 10 30 VDC 10 30 VDC Output signal clock Differential signal RS 422 Differential signal RS 422 Ma...

Page 59: ...0 Number 1 1 Connection RJ45 RJ45 Transmission rates 100 MBit s 100 MBit s Potential isolation yes yes PROFIBUS DP interface 680050 680060 Number 1 Station address 0 126d Station address selectable vi...

Page 60: ...ncy 5 8 4 Hz 5 8 4 Hz Amplitude 3 5 mm 3 5 mm Acceleration 10 m s 10 m s Shock stress In accordance with the standard EN 60068 2 27 EN 60068 2 27 Acceleration 150 m s 150 m s Duration 11 ms 11 ms Cool...

Page 61: ...e of potential isolation Basic insulation Basic insulation Rated surge voltage 500 V 500 V Potential isolation between CANopen and system voltage CANopen and system voltage Type of potential isolation...

Page 62: ...tion type 9 pin D Sub female connector 9 pin D Sub female connector Supply voltage for absolute en coder 10 30 VDC 10 30 VDC Output signal clock Differential signal RS 422 Differential signal RS 422 M...

Page 63: ...0 Number 1 1 Connection RJ45 RJ45 Transmission rates 100 MBit s 100 MBit s Potential isolation yes yes PROFIBUS DP interface 680160 680170 Number 1 Station address 0 126d Station address selectable vi...

Page 64: ...ncy 5 8 4 Hz 5 8 4 Hz Amplitude 3 5 mm 3 5 mm Acceleration 10 m s 10 m s Shock stress In accordance with the standard EN 60068 2 27 EN 60068 2 27 Acceleration 150 m s 150 m s Duration 11 ms 11 ms Cool...

Page 65: ...e of potential isolation Basic insulation Basic insulation Rated surge voltage 500 V 500 V Potential isolation between CANopen and system voltage CANopen and system voltage Type of potential isolation...

Page 66: ...FIBUS DP interface 1 3 GHz 680 170 11 2 Accessories Product type Features Order no PMCprotego D CAN CANbus Adapter 01 24A incl RJ45 connection cable Fieldbus junction box with two CANopen interfaces f...

Page 67: ...p ThE SPIrIT Of SAfETY are registered and protected trademarks of Pilz Gmbh Co KG in some countries We would point out that product features may vary from the details stated in this document dependin...

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