pnozmulti modular safety system special applications · pnozmulti modular safety system special...

Configuration guide

Supplement to Technical Catalogue 3.4 – January 2009 edition

PNOZmulti Modular Safety System

Special Applications

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Contents

3

Introduction

Overview

Communication with fieldbus modules

PNOZ mc3p ... PNOZ mc9p

Introduction

2.4

1.0

1.1

2.0

2.1

2.2

2.3

3.0

3.1

3.2

3.3

3.5

Basics

Diagnostic Interface

PNOZ mc6p via SDOs

3.6

Overview

Intended use

Data exchange

Requirements

Error management

4.0

4.1

4.2

4.3

4.4

3.4

PNOZ mc8p Ethernet IP /Modbus TCP

MutingIntroduction

Safety

Configuration

Operating modes

5.0

5.1

Safety matSafety mat

Contents

4

Contents

5

Diagnostic word

Introduction

Compilation of the diagnostic words

6.0

6.1

6.2

6.3

Overview

Contents

6

Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Deutschland 2005-10Telefon: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected] 1-0-1

Contents Seite

Introduction 1.1-1

PNOZmulti - Special applications

Introduction

Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Deutschland 2005-10Telefon: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected]

2.1

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IntroductionOverview

The “Special applications” configura-tion guide supplements thePNOZmulti technical catalogue.

The configuration guide is dividedinto the following chapters:

1 IntroductionThe introduction is designed tofamiliarise you with the contents,structure and specific order of thismanual.

2 Communication with fieldbusmodulesThis chapter describes the optionsfor communicating with thefieldbus modules.

3 Diagnostic interfaceThis chapter describes thecommunication options availablewith the serial diagnostic interface(RS 232) of the base units fromthe PNOZmulti modular safetysystem.

4 MutingThis chapter describes the mutingfunction in conjunction with thePNOZmulti. It includes informationon configuring and connecting thePNOZmulti units.

5 Safety matThis chapter includes informationon configuring and connectingsafety mats to PNOZmulti units.

6 Diagnostic wordThis chapter describes the diag-nostic words in the modularPNOZmulti safety system. Byevaluating the diagnostic wordsyou can obtain important informa-tion on operating conditions andmalfunctions within your applica-tion.

Definition of symbols

Information in this manual that is ofparticular importance can be identi-fied as follows:

DANGER!This warning must be heeded!It warns of a hazardoussituation that poses animmediate threat of seriousinjury and death and indi-cates preventive measuresthat can be taken.

WARNING!This warning must be heeded!It warns of a hazardoussituation that could lead toserious injury and death andindicates preventive measuresthat can be taken.

CAUTION!This refers to a hazard thatcan lead to a less serious orminor injury plus materialdamage, and also providesinformation on preventivemeasures that can be taken.

NOTICEThis describes a situation inwhich the unit(s) could bedamaged and also providesinformation on preventivemeasures that can be taken.

INFORMATIONThis gives advice on applica-tions and provides informationon special features, as well ashighlighting areas within thetext that are of particularimportance.


IntroductionOverview

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Contents page

Communication with fieldbus modulesBasics 2.1-1PNOZ mc3p ... PNOZ mc9p 2.2-1PNOZ mc6p via SDOs 2.3-1PNOZ mc8p Ethernet IP / Modbus TCP 2.4-1


Communication with fieldbus modules

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Communication with fieldbus modulesBasics

Communication with fieldbussystems

The input and output range is eachreserved an area of 20 Bytes forcommunication via fieldbuses; this isupdated approx. every 15 ms. TheMaster can send 20 Bytes to thePNOZmulti and receive 20 Bytesfrom the PNOZmulti. The Master canprocess the information in bytes,words or in double words.

• Input data (to the PNOZmulti)

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• Output data (from the PNOZmulti)

• Note on the PNOZ mc6p(CANopen):

The output data on the PNOZmulti isstored as follows:

The input data on the PNOZmulti isstored as follows:

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Key is as follows:TPDO Transmit Process DataObjectRPDO Receive Process DataObjectCOB-ID Communication ObjectIdentifier

The current status of the outputsconfigured for the fieldbus plus thecurrent status of the LED are alwaysstored in Byte 0 ... Byte 3. All otherinformation is stored in varioustables.

Assignment of Byte 0 ... Byte 3•Input rangeThe inputs are defined in the masterand transferred to the PNOZmulti.Each input has a number, e.g. theinput Bit 4 of Byte 1 has the numberi12.

•Output rangeThe inputs are defined in the masterand transferred to the PNOZmulti.Each output that is used is given anumber there, e.g. o0, o5... Thestatus of output o0 is stored in Bit 0of Byte 0; the status of output o5 isstored in Bit 5 of Byte 0 etc.

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The status of the LEDs is stored inByte 3 (output range only):Bit 0 = 1: LED OFAULT is lit or

flashesBit 1 = 1: LED IFAULT is lit or

flashesBit 2 = 1: LED FAULT is lit or flashesBit 3 = 1: LED DIAG is litBit 4 = 1: LED RUN is litBit 5 = 1: If communication between

the PNOZmulti and thefieldbus is working

Bit 6: ReservedBit 7: Reserved

Assignment of Byte 4 ... Byte 18

Each table consists of one or moresegments. Each segment is made upof 13 Bytes. There are 8 tables,whose assignment is fixed.

The Master requests the requireddata using the table number andsegment number. The Slave (e.g.PNOZ mc3p) repeats the twonumbers and sends the requesteddata. If data is requested that is notavailable, the Slave sends the errormessage “FF” instead of thesegment number.The segments may be requested inany sequence.

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Example 1:The Master requests segment 5 fromtable 2. The fieldbus module repeatsboth these details and sendssegment 5. Then the data fromsegment 8 in table 2 is transmitted.

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Example 2:The Master requests segment 8 fromtable 2. The fieldbus module repeatsboth of these details and sendssegment 8. Then the Master requestssegment 25 from table 5. As thistable does not contain a segment 25,the Slave registers an error andsends back “FF”.

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Communication with fieldbus modulesPNOZ mc3p ... PNOZ mc9p

Table assignment

There are a total of 6 tables, with thefollowing contents:Table 1: ConfigurationTable 2: ReservedTable 3: Input statusTable 4: Output statusTable 5: LED statusTable 6: ReservedTable 7: Diagnostic wordTable 8: Element types

Table 1Table 1 consists of 8 segments, eachof which has 13 Bytes. It containsdevice data from the base unit andthe project data defined in thePNOZmulti Configurator.

Byte0123456789101112012345678910

11

12

Segment

0

1

Contents

Product number (hex)

Unit version (hex)

Serial number (hex)

FreeProject check sum (hex)

Chip card check sum (hex)

Project creation date (hex)

Operating hours counter (hex)

Type of base unit (hex)

Free

Example/Comment

Product number 773 100: 000BCBEC hexByte 0: 00, Byte 1: 0B, Byte 2: CB, Byte 3: EC

Unit version 20: 14 hexByte 4: 00, Byte 5: 00, Byte 6: 00, Byte 7: 14

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: B2Check sum 3C5A hex:Byte 2: 3C, Byte 3: 5A

Creation date : 28.11.2003Byte 4: 1C, Byte 5: 0B, Byte 6: 07, Byte 7: D3

Byte 8: x 10000 hexByte 9: x 100 hexByte 10: x 1 hexOperating hours: 106786Byte 8: 01, Byte 9: A1, Byte 10: 22PNOZ m1p: 00PNOZ mop: 02PNOZ m2p: 04Free



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2007-122.2-2

Table 1, Segment 2 and 3

Segment

2

3

Byte(s)0123456789101112

0123456789101112

ContentsConfiguration, fieldbus module/RS 232Configuration, 1st expansion module rightConfiguration, 2nd expansion module rightConfiguration, 3rd expansion module rightConfiguration, 4th expansion module rightConfiguration, 5th expansion module rightConfiguration, 6th expansion module rightConfiguration, 7th expansion module rightConfiguration, 8th expansion module rightFreeFreeFreeFree

1st character

2nd character

3rd character

4th character

5th character

6th character7th character (High Byte)

Example/CommentByte 0 contains the Hex code for a fieldbus module (installed onthe left) or for inputs and outputs via RS 232:Fieldbus modules PNOZ mc.. : 30Virtual inputs and outputs via RS 232: 40Additional input modules on the left:PNOZml1p: See Table 1, Segment 8Byte 1 ... 8 contains the Hex code for the expansion modules onthe right :PNOZ mi1p: 08PNOZ mi2p: 38PNOZ mo1p: 18PNOZ mo2p: 10PNOZ mo3p: 30PNOZ mo4p: 28PNOZ mc1p: 20PNOZ ms3p: 68PNOZ ms4p: 78PNOZ ms1p/PNOZ ms2p: 88No expansion module: 00

Byte 0 ... 12 of the project name defined in the PNOZm Configunder “Enter project data”; this is stored in UNICODE format, 2Bytes contain the Hex code of the individual UNICODE characters

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2007-122.2-3




Segment

4

5

Byte01234567891011120123456789101112

Contents7th character (Low Byte)

8th character

9th character

10th character

11th character

12th character

13th character

14th character

15th character

16th characterEnd character FFEnd character FFFreeFreeFreeFreeFree

Example/Comment

Project name Byte 13 ... 25

Project name Byte 26 ... 31

The end of the character string is signalled with“FFFF”.



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2007-122.2-4

Table 1, Segment 6 to 8

Segment

6

7

8

Byte012345678910111201

2

3...120123456...12

ContentsDayMonthYear

HourMinuteTime zoneReservedReservedReservedReservedReservedReservedFieldbus type (hex)

Software version

Reserved

Configuration, 1st expansion module leftConfiguration, 2nd expansion module leftConfiguration, 3rd expansion module leftConfiguration, 4th expansion module leftConfiguration, 5th expansion module leftConfiguration, 6th expansion module left

Free

Example/CommentDate on which the program on the chip cardwas last modifiedDate modified : 28.11.2003Byte 0: 1C, Byte 1: 0B, Byte 2: 07, Byte 3: D3Time: 14 hours 25 minutesByte 4: 0E, Byte 5: 19Time zone 1: Byte 6 : 01

Profibus: 0001Interbus: 0010Interbus 2M: 0011DeviceNet: 0025CanOpen: 0020Ethernet IP/Modbus TCP: 0083PROFINET: 0084CC Link: 00905 Bits for version, 3 Bits for sub-numberVersion: 1.2Byte 2

1 2

Byte 0 ... 5 contains the Hex code for theexpansion modules to the left of the base unit.Any fieldbus module in this segment will not beconsidered (see Table 1, Segment 2).PNOZ ml1p: A8PNOZ ma1p: B8

0 0 0 0 1 0 1 0

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2007-122.2-5



Table 3This table consists of 4 segments. Itcontains the status of the inputs.

Segment

0

1

2

Byte012345678910111201234567891011120123456789101112

ContentsI0 ... I7 Base unitI8 ... I15 Base unitI16 ... I19 Base unit00I0 ... I7 1st expansion module rightI0 ... I7 2nd expansion module rightI0 ... I7 3rd expansion module rightI0 ... I7 4th expansion module rightI0 ... I7 5th expansion module rightI0 ... I7 6th expansion module rightI0 ... I7 7th expansion module rightI0 ... I7 8th expansion module rightI0 ... I7 1st expansion module leftI8 ... I15 1st expansion module leftI16 ... I23 1st expansion module leftI24 ... I31 1st expansion module leftI0 ... I7 2nd expansion module leftI8 ... I15 2nd expansion module leftI16 ... I23 2nd expansion module leftI24 ... I31 2nd expansion module leftI0 ... I7 3rd expansion module leftI8 ... I15 3rd expansion module leftI16 ... I23 3rd expansion module leftI24 ... I31 3rd expansion module leftFreeI0 ... I7 4th expansion module leftI8 ... I15 4th expansion module leftI16 ... I23 4th expansion module leftI24 ... I31 4th expansion module leftI0 ... I7 5th expansion module leftI8 ... I15 5th expansion module leftI16 ... I23 5th expansion module leftI24 ... I31 5th expansion module leftI0 ... I7 6th expansion module leftI8 ... I15 6th expansion module leftI16 ... I23 6th expansion module leftI24 ... I31 6th expansion module leftFree

Example/CommentThe safety system consists of a base unit and onePNOZ mi1p.Byte 0: PNOZ m1pByte 1: PNOZ m1pByte 2: PNOZ m1pByte 3:Byte 4:Byte 5: PNOZ mi1p

If an input has a high signal, the corresponding Bitwill contain “1”; if the input is open (low signal), theBit will contain “0”.

Virtual inputs on the 2nd PNOZ ml1p connectionmodule:

Byte 4:Byte 5:Byte 6:Byte 7:

If an input has a high signal, the corresponding Bitwill contain “1”; if the input is open (low signal), theBit will contain “0”.

Analogue inputs on the analogue input module PNOZma1p:Byte 0: Analogue Input 0 Analogue Value High ByteByte 1: Analogue Input 0 Analogue Value Low ByteByte 2: Analogue Input 1 Analogue Value High ByteByte 3: Analogue Input 1 Analogue Value Low Byte

Bytes 0 and 1 are to be interpreted as words and willbe displayed as a scaled value.A distinction is made between voltage and currentmeasurement.The following applies when current is measured: 1 Bit= 6.25 µAe.g.: Byte 0 = 0x01; Byte 1 = 0xff-> 0x01ff * 6.25 µA = 3.19 mAThe following applies when voltage is measured: 1Bit = 2.5 mVPlease note:With voltage measurement, negative values are alsovalid. The negative value is formed via the two’scomplement.e.g.: Byte 0 = 0x01; Byte 1 = 0xff-> 0x01ff * 2.5 mV = 1.28 Ve.g.: Byte 0 = 0x0F8; Byte 1 = 0x30-> 0xF830 = -5 V

I7 I6 I5 I4 I3 I2 I1 I0I15 I14 I13 I12 I11 I10 I9 I8I23 I22 I21 I20 I19 I18 I17 I16I31 I30 I29 I28 I27 I26 I25 I24

I7 I6 I5 I4 I3 I2 I1 I0I15 I14 I13 I12 I11 I10 I9 I80 0 0 0 I19 I18 I17 I160 0 0 0 0 0 0 00 0 0 0 0 0 0 0

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Table 4This table consists of 4 segments. Itcontains the status of the outputs.

Segment

0

1

Byte01234567891011120123456789101112

Contents000O0 ... O3 of the base unitO4 and O5 of the base unitO0 ... O7 1st expansion module rightO0 ... O7 2nd expansion module rightO0 ... O7 3rd expansion module rightO0 ... O7 4th expansion module rightO0 ... O7 5th expansion module rightO0 ... O7 6th expansion module rightO0 ... O7 7th expansion module rightO0 ... O7 8th expansion module right00000O8 ... O15 1st expansion module rightO8 ... O15 2nd expansion module rightO8 ... O15 3rd expansion module rightO8 ... O15 4th expansion module rightO8 ... O15 5th expansion module rightO8 ... O15 6th expansion module rightO8 ... O15 7th expansion module rightO8 ... O15 8th expansion module right

Example/CommentAssignment of Bytes depends on the unit:PNOZ m0p, PNOZ m1p, PNOZ m2pSegment 0, Byte 3:

Segment 0, Byte 4:

PNOZ mo1pSegment 0, Byte 5 ... 12:

Segment 1, Byte 5 ... 12:

PNOZ mo2p, PNOZ mo3pSegment 0, Byte 5 ... 12:


PNOZ mo4pSegment 0, Byte 5 ... 12:


PNOZ mc1pSegment 0, Byte 5 ... 12:


If an output has a high signal, thecorresponding Bit will contain “1”; if the outputis open (low signal), the Bit will contain “0”.

0 0 1 1 O3 O2 O1 O0

0 0 0 0 0 0 O5 O4

0 0 1 1 O3 O2 O1 O0

0 0 0 0 0 0 0 0

0 0 0 0 0 0 O1 O0

0 0 0 0 0 0 0 0

0 0 0 0 O3 O2 O1 O0

0 0 0 0 0 0 0 0

A7 A6 A5 A4 A3 A2 A1 A0

A15 A14 A13 A12 A11 A10 A9 A8

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2007-122.2-7



Table 4, Segments 2 and 3

Segment

2

3

Byte01234567891011120123456789101112

ContentsO0 ... O7 1st PNOZ ml1p connection module leftO8 ... O15 1st PNOZ ml1p connection module leftO16 ... O23 1st PNOZ ml1p connection module leftO24 ... O31 1st PNOZ ml1p connection module leftO0 ... O7 2nd PNOZ ml1p connection module leftO8 ... I15 2nd PNOZ ml1p connection module leftO16 ... O23 2nd PNOZ ml1p connection module leftO24 ... O31 2nd PNOZ ml1p connection module leftO0 ... O7 3rd PNOZ ml1p connection module leftO8 ... O15 3rd PNOZ ml1p connection module leftO16 ... O23 3rd PNOZ ml1p connection module leftO24 ... O31 3rd PNOZ ml1p connection module leftFreeO0 ... O7 4th PNOZ ml1p connection module leftO8 ... O15 4th PNOZ ml1p connection module leftO16 ... O23 4th PNOZ ml1p connection module leftO24 ... O31 4th PNOZ ml1p connection module leftO0 ... O7 5th PNOZ ml1p connection module leftO8 ... I15 5th PNOZ ml1p connection module leftO16 ... O23 5th PNOZ ml1p connection module leftO24 ... O31 5th PNOZ ml1p connection module leftO0 ... O7 6th PNOZ ml1p connection module leftO8 ... O15 6th PNOZ ml1p connection module leftO16 ... O23 6th PNOZ ml1p connection module leftO24 ... O31 6th PNOZ ml1p connection module leftFree

Example/CommentVirtual outputs on the 3rd PNOZ ml1pconnection module:Segment 2Byte 8:Byte 9:Byte 10:Byte 11:

If an output has a high signal, thecorresponding Bit will contain “1”; if theoutput is open (low signal), the Bit will contain“0”.

O7 O6 O5 O4 O3 O2 O1 O0O15 O14 O13 O12 O11O10 O9 O8O23 O22 O21 O20 O19 O18 O17 O16O31 O30 O29 O28 O27 O26 O25 O24



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2007-122.2-8

Seg-ment

0

1

Byte

01234567891011120123456789101112

Contents

RUNDIAGFAULTIFAULTOFAULTFAULT 1st expansion module rightFAULT 2nd expansion module rightFAULT 3rd expansion module rightFAULT 4th expansion module rightFAULT 5th expansion module rightFAULT 6th expansion module rightFAULT 7th expansion module rightFAULT 8th expansion module rightLED I0 ... I7 base unitLED I8 ... I15 base unitLED I16 ... I19 base unit00LED 1st expansion module rightLED 2nd expansion module rightLED 3rd expansion module rightLED 4th expansion module rightLED 5th expansion module rightLED 6th expansion module rightLED 7th expansion module rightLED 8th expansion module right

Example/Comment

Depending on the LED status, the following Hexcode will be in Byte 0 ... 12:00 hex: LED offFF hex: LED on30 hex: LED flashes

PNOZ mi1pBytes 5 ... 12, BitInput:Example:The safety system consists of a base unit and onePNOZ mi1p.Byte 0 Base unitByte 1 Base unitByte 2 Base unitByte 3Byte 4Byte 5 PNOZ mi1p

If the LED on an input is flashing, thecorresponding bit contains “1”; if the LED is notflashing, the bit contains “0”.

PNOZ ms1p, PNOZ ms2p from Version 2.0,PNOZ ms3p, PNOZ ms4pLED axis 1 = “SHAFT 1”LED axis 2 = “SHAFT 2” (not on PNOZ ms4p)Byte 5 ... 12BitLED offLED onLED flashesLED flashesonceThe LED functions are described in the PNOZms1p, PNOZ ms 2p operating instructions.

I7 I6 I5 I4 I3 I2 I1 I0I15 I14 I13 I12 I11 I10 I9 I80 0 0 0 I19 I18 I17 I160 0 0 0 0 0 0 00 0 0 0 0 0 0 0

I7 I6 I5 I4 I3 I2 I1 I0

7 6 5 4 3 3 1 0

I7 I6 I5 I4 I3 I2 I1 I0

0 0 0 01 1 1 1

0 0 1 10 1 0 1

0 0 0 01 1 1 1

0 0 1 10 1 0 1

7 6 5 4Axis 2

3 2 1 0Axis 1

Table 5This table consists of 5 segments. Itcontains the LED status.

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2007-122.2-9



Seg-ment

3

Contents

Speed monitor 1 - Encoder on axis 1Speed monitor 1 - Encoder on axis 2Speed monitor 2 - Encoder on axis 1Speed monitor 2 - Encoder on axis 2Speed monitor 3 - Encoder on axis 1Speed monitor 3 - Encoder on axis 2Speed monitor 4 - Encoder on axis 1Speed monitor 4 - Encoder on axis 2FreeFreeFreeFreeFree

FAULT 1st expansion module leftFAULT 2nd expansion module leftFAULT 3rd expansion module leftFAULT 4th expansion module leftFAULT 5th expansion module leftFAULT 6th expansion module leftFreeFreeFreeFreeFreeFreeFree

Example/Comment

Status of LEDs on the speed monitorsPNOZ ms1p/PNOZ ms2p:I10, I11, I20, I21, X12, X22PNOZ ms3p: X12 and X22PNOZ ms4p: X12Bit:Axis 1:Axis 2:

LEDs for proximity switch: I10, I11, I20, I21:If the LED is lit, the corresponding Bit willcontain “1”; The proximity switch isenergised.LEDs for incremental encoder: X12 and X22:If the LED is lit, the corresponding Bit willcontain “1”; The incremental encoder isconnected correctlyThe LED functions are described in thePNOZ ms1p, PNOZ ms 2p operatinginstructions.Depending on the LED status, the followingHex code will be in Byte 0 ... 5:00 hex: LED offFF hex: LED on30 hex: LED flashes

Byte

0123456789101112

0123456789101112

0 0 I21 I21 I20 I20 0 X22

Seg-ment

2

Contents

LED1: Status of fieldbus moduleLED2: Status of fieldbus moduleLED3: Status of fieldbus moduleLED4: Status of fieldbus moduleFreeFreeFreeFreeFreeFreeFreeFreeFree

Example/Comment

Position of LED1 ... LED4:

LED offLED greenLED redThe functions of the LED are described in therelevant operating manual.

Byte

0123456789101112

0 0 0 0 0 0 0 00 0 0 0 0 0 0 10 0 0 0 0 0 1 0

��

��

��

��


4

7 6 5 4 3 2 1 0

0 0 I11 I11 I10 I10 0 X12



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2007-122.2-10

Seg-ment

0

1

Contents

Number of elements that can storea statusReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedElement ID = 1 ... 8Element ID = 9 ... 16Element ID = 17 ... 24Element ID = 25 ... 32Element ID = 33 ... 40Element ID = 41 ... 48Element ID = 49 ... 56Element ID = 57 ... 64Element ID = 65 ... 72Element ID = 73 ... 80Element ID = 81 ... 88Element ID = 89 ... 96Element ID = 97 ... 100

Example/Comment

Each element is assigned an ID in the PNOZmultiConfigurator. If the output on the element = 0 (noenable), the corresponding Bit will be set.

Element IDByte 0Byte 1Byte 2... ...Byte 10Byte 11Byte 12

Byte

0

1234567891011120123456789101112

8 7 6 4 4 3 2 116 15 14 13 12 11 10 9

24 23 22 21 20 19 18 17

88 87 86 85 84 83 82 8196 95 94 93 92 91 90 89

- - - - 100 99 98 97

Table 7 and 8

System requirementsCommunication with fieldbusmodules is only possible with unitsfrom the stated version numberonwards:• 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 7This table consists of 20 segments. Itcontains information on the elementswithin the Configurator and on thediagnostic word.

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2007-122.2-11



Seg-ment

2

3

4

Byte

01234567891011120, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,1112

Contents

ReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedReservedDiagnostic word. Element ID = 1Diagnostic word. Element ID = 2Diagnostic word. Element ID = 3Diagnostic word. Element ID = 4Diagnostic word. Element ID = 5Diagnostic word. Element ID = 6ReservedDiagnostic word. Element ID = 7Diagnostic word. Element ID = 8Diagnostic word. Element ID = 9Diagnostic word. Element ID = 10Diagnostic word. Element ID = 11Diagnostic word. Element ID = 12Reserved

Example/Comment

The diagnostic word is displayed in the PNOZmultiConfigurator and on the PVIS expanded diagnostics(see Chapter 6, diagnostic word, plus the online helpfor the PNOZmulti Configurator)Element D = 1, e.g. diagnostic word of switch type 6(element type 1C hex):Byte 0 (High Byte)Byte 1 (Low Byte)Message: wiring error, clock error

0 0 0 0 0 0 0 1

0 0 0 0 0 0 0 0




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2007-122.2-12

Seg-ment

9

10

11

12

Byte

0, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,1112

Contents

Diagnostic word. Element ID = 37Diagnostic word. Element ID = 38Diagnostic word. Element ID = 39Diagnostic word. Element ID = 40Diagnostic word. Element ID = 41Diagnostic word. Element ID = 42ReservedDiagnostic word. Element ID = 43Diagnostic word. Element ID = 44Diagnostic word. Element ID = 45Diagnostic word. Element ID = 46Diagnostic word. Element ID = 47Diagnostic word. Element ID = 48ReservedDiagnostic word. Element ID = 49Diagnostic word. Element ID = 50Diagnostic word. Element ID = 51Diagnostic word. Element ID = 52Diagnostic word. Element ID = 53Diagnostic word. Element ID = 54ReservedDiagnostic word. Element ID = 55Diagnostic word. Element ID = 56Diagnostic word. Element ID = 57Diagnostic word. Element ID = 58Diagnostic word. Element ID = 59Diagnostic word. Element ID = 60Reserved

Byte

0, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,1112

Contents


Seg-ment

5

6

7

8

Table 7, Segment 5 to 8 Table 7, Segment 9 to 12

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2007-122.2-13



Seg-ment

13

14

15

16

Byte

0, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,1112

Contents


Seg-ment

17

18

19

Byte

0, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,11120, 12, 34, 56, 78, 910,1112

Contents

Diagnostic word. Element ID = 85Diagnostic word. Element ID = 86Diagnostic word. Element ID = 87Diagnostic word. Element ID = 88Diagnostic word. Element ID = 89Diagnostic word. Element ID = 90ReservedDiagnostic word. Element ID = 91Diagnostic word. Element ID = 92Diagnostic word. Element ID = 93Diagnostic word. Element ID = 94Diagnostic word. Element ID = 95Diagnostic word. Element ID = 96ReservedDiagnostic word. Element ID = 97Diagnostic word. Element ID = 98Diagnostic word. Element ID = 99Diagnostic word. Element ID = 100ReservedReservedReserved

Table 7, Segment 13 to 16 Table 7, Segment 17 to 19



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2007-122.2-14

Seg-ment

0

1

Byte

01234567891011120123456789101112

Contents

Element type. Element ID = 1Element type. Element ID = 2Element type. Element ID = 3Element type. Element ID = 4Element type. Element ID = 5Element type. Element ID = 6Element type. Element ID = 7Element type. Element ID = 8Element type. Element ID = 9Element type. Element ID = 10Element type. Element ID = 11Element type. Element ID = 12Element type. Element ID = 13Element type. Element ID = 14Element type. Element ID = 15Element type. Element ID = 16Element type. Element ID = 17Element type. Element ID = 18Element type. Element ID = 19Element type. Element ID = 20Element type. Element ID = 21Element type. Element ID = 22Element type. Element ID = 23Element type. Element ID = 24Element type. Element ID = 25Element type. Element ID = 26

Example/Comment

Element with ID = 1: Single-pole semiconductoroutput with feedback loopByte 0: 51 hex

Table 8This table consists of 8 segments. Itcontains the element type with thecorresponding Element ID. Theavailable element types are listedafter this table.

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2007-122.2-15



Seg-ment

4

5

Byte

01234567891011120123456789101112

Contents


Seg-ment

2

3

Byte

01234567891011120123456789101112

Contents


Table 8, Segment 2 and 3 Table 8, Segment 4 and 5



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2007-122.2-16

Seg-ment

6

7

Byte

01234567891011120123456789101112

Contents

Element type. Element ID = 79Element type. Element ID = 80Element type. Element ID = 81Element type. Element ID = 82Element type. Element ID = 83Element type. Element ID = 84Element type. Element ID = 85Element type. Element ID = 86Element type. Element ID = 87Element type. Element ID = 88Element type. Element ID = 89Element type. Element ID = 90Element type. Element ID = 91Element type. Element ID = 92Element type. Element ID = 93Element type. Element ID = 94Element type. Element ID = 95Element type. Element ID = 96Element type. Element ID = 97Element type. Element ID = 98Element type. Element ID = 99Element type. Element ID = 100ReservedReservedReservedReserved


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2007-122.2-17



Elementtype (Byte)1314

15

16

17

18

191A

1B

1C1D1E

1F

20

21

22

23242526

Element

Switch type 4: N/C, N/C, N/OSwitch type 4: N/C, N/C, N/O,monitored resetSwitch type 4: N/C, N/C, N/O,manual resetSwitch type 4: N/C, N/C, N/O, start-up testSwitch type 4: N/C, N/C, N/O, start-up test, monitored resetSwitch type 4: N/C, N/C, N/O, start-up test, manual resetSwitch type 5: N/C, N/C, N/CSwitch type 5: N/C, N/C, N/C,monitored resetSwitch type 5: N/C, N/C, N/C,manual resetSwitch type 6: Two-hand, N/C N/OSwitch type 7: Two-hand, N/OOperating mode selector switch 1from 2Operating mode selector switch 1from 3Operating mode selector switch 1from 4Operating mode selector switch 1from 5Safety mat, with automatic reset

Safety mat, with start-up testSafety mat, with reset buttonCascading inputSwitch type 5: N/C, N/C, N/C, start-up test

Elementtype (Byte)

0102030405

06

0708

090A0B

0C

0D0E

0F1011

12

Element

Function ElementsSwitch type 1: N/CSwitch type 1: N/C, monitored resetSwitch type 1: N/C, manual resetSwitch type 1: N/C, start-up testSwitch type 1: N/C, start-up test,monitored resetSwitch type 1: N/C, start-up test,manualSwitch type 2: N/C, N/OSwitch type 2: N/C, N/O, monitoredresetSwitch type 2: N/C, N/O, manual resetSwitch type 2: N/C, N/O, start-up testSwitch type 2: N/C, N/O, start-uptest, monitored resetSwitch type 2: N/C, N/O, start-uptest, manual resetSwitch type 3: N/C, N/CSwitch type 3: N/C, N/C, monitoredresetSwitch type 3: N/C, N/C, manual resetSwitch type 3: N/C, N/C, start-up testSwitch type 3: N/C, N/C, start-uptest, monitored resetSwitch type 3: N/C, N/C, start-uptest, manual reset

Element typesThe available element types arelisted below. Details of the elementtype’s byte are given in Table 8.N/C. Normally closed contactN/O: Normally open contact



2009-012.2-18

Elementtype (Byte)27

28

2D

2E

2F

51

53

55

57

595A5B5C5E

60

80818290919293

94

B1B2B3A9

Element

Switch type 5: N/C, N/C, N/C, start-up test, monitored resetSwitch type 5: N/C, N/C, N/C, start-up test, manual resetOperating mode selector switch 1from 6Operating mode selector switch 1from 7Operating mode selector switch 1from 8Output elementsSingle-pole semiconductor outputwith feedback loopSingle-pole, redundant semi-conductor output with feedback loopSingle-pole relay output withfeedback loopSingle-pole, redundant relay outputwith feedback loopCascading outputSingle ValveDouble ValveDirectional ValveDual-pole semiconductor outputwith feedback loopDual-pole, redundant semi-conductor output with feedback loopLogic ElementsMuting sensor: Cross mutingMuting sensor: Parallel mutingMuting sensor: Sequential mutingReset element, manual resetReset element, monitored resetRS flip-flopsReset element, non-safety-relatedreset button, manual resetReset element, non-safety-relatedreset button, monitored resetPress-related element; set-up modePress-related element; single-strokePress-related element; automatic modeBurner element

Elementtype (Byte)B4B5

B6

B7

C1

C2

C3

C4

C5

C6

C7

C8

C9

CA

CB

CC

Element

Press-related element; camshaftPress-related element; runmonitoringPress-related element; light curtainin standard modePress-related element; light curtainin Sweden modeSpeed monitor PNOZ ms3p,automatic resetSpeed monitor PNOZ ms3p, manualresetSpeed monitor PNOZ ms3p,monitored resetSpeed monitor PNOZ ms1p, PNOZms2p, incremental encoder (withproximity switch), automatic resetSpeed monitor PNOZ ms1p, PNOZms2p, incremental encoder (withproximity switch), manual resetSpeed monitor PNOZ ms1p, PNOZms2p, incremental encoder (withproximity switch), monitored resetSpeed monitor PNOZ ms1p, PNOZms2p, proximity switch, automaticresetSpeed monitor PNOZ ms1p, PNOZms2p, proximity switch, manualresetSpeed monitor PNOZ ms1p, PNOZms2p, proximity switch, monitoredresetSpeed monitor PNOZ ms4p,automatic resetSpeed monitor PNOZ ms4p, manualresetSpeed monitor PNOZ ms4p,monitored reset

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2007-032.3-1


Communication with fieldbus modulesPNOZ mc6p via SDOs

Service Data Object (SDO)

Overview

All the CANopen objects (variablesand parameters) that are relevant forthese units are entered in theCANopen object directory. ServiceData Objects (SDOs) are used forread and write access.The object directory is available asan EDS file (Electronic Data Sheet),enabling the PNOZ mc6p fieldbusmodule to be incorporated easily intoa CANopen network.

The manufacturer-specific part of theobject directory is structured asfollows:

INFORMATION

Data with indices 2001 to2003 is updated by thePNOZmulti piece by piece ineach cycle. This may meanthat interdependent data isinconsistent. Updating all ofthe data can take up to500 ms.

System requirements

Communication via SDOs is onlypossible with units from the statedversion 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

INFORMATIONIndices 2006 ... 200A are nolonger supported by baseunits from the followingversion number upwards:• PNOZ m0p from Version 2.3• PNOZ m1p from Version 5.3• PNOZ m2p from Version 2.3

Index2000200120022003

200420052006...200A2100

ContentsOutput dataDiagnostic word (Low Byte)Diagnostic word (High Byte)Input statusStatus of input LEDOutput statusLED statusConfigurationElement typesInput assignments of elementswith Element ID

Input data



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2007-032.3-2

Object Directory (ManufacturerSpecific Profile Area)

Index 2000This index contains the output data

Index(hex)2000

Sub-Index(dec)1234567891011121314151617181920 ... 798081828384858687888990919293949596979899100101102103

Contents

Outputs Bit 0 … 7 fieldbus moduleOutputs Bit 8 … 15 fieldbus moduleOutputs Bit 16 … 23 fieldbus moduleLED statusTable numberSegment numberByte 0Byte 1Byte 2Byte 3Byte 4Byte 5Byte 6Byte 7Byte 8Byte 9Byte 10Byte 11Byte 12ReservedI0 ... I7 1st PNOZ ml1p connection module leftI8 ... I15 1st PNOZ ml1p connection module leftI16 ... I23 1st PNOZ ml1p connection module leftI24 ... I31 1st PNOZ ml1p connection module leftI0 ... I7 2nd PNOZ ml1p connection module leftI8 ... I15 2nd PNOZ ml1p connection module leftI16 ... I23 2nd PNOZ ml1p connection module leftI24 ... I31 2nd PNOZ ml1p connection module leftI0 ... I7 3rd PNOZ ml1p connection module leftI8 ... I15 3rd PNOZ ml1p connection module leftI16 ... I23 3rd PNOZ ml1p connection module leftI24 ... I31 3rd PNOZ ml1p connection module leftI0 ... I7 4th PNOZ ml1p connection module leftI8 ... I15 4th PNOZ ml1p connection module leftI16 ... I23 4th PNOZ ml1p connection module leftI24 ... I31 4th PNOZ ml1p connection module leftI0 ... I7 5th PNOZ ml1p connection module leftI8 ... I15 5th PNOZ ml1p connection module leftI16 ... I23 5th PNOZ ml1p connection module leftI24 ... I31 5th PNOZ ml1p connection module leftI0 ... I7 5th PNOZ ml1p connection module leftI8 ... I15 6th PNOZ ml1p connection module leftI16 ... I23 6th PNOZ ml1p connection module leftI24 ... I31 6th PNOZ ml1p connection module left

Example/Comment

For information on the sub-indicesplease see section entitled“Communication with fieldbussystems” on page 2.10-44

Virtual inputs on the 2nd PNOZ ml1pconnection module:Sub-Index 84:

Sub-Index 85:

Sub-Index 86:

Sub-Index 87:

If an input has a high signal, thecorresponding Bit will contain “1”; ifthe input is open (low signal), the Bitwill contain “0”.

I7 I6 I5 I4 I3 I2 I1 I0

I15 I14 I13 I12 I11 I10 I9 I8

I23 I22 I21 I20 I19 I18 I17 I16

I31 I30 I29 I28 I27 I26 I25 I24

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2007-032.3-3



Sub-Index(dec)104105106107108109110111112113114115116117118119120121122123124125126127128

Contents

O0 ... O7 1st PNOZ ml1p connection module leftO8 ... O15 1st PNOZ ml1p connection module leftO16 ... O23 1st PNOZ ml1p connection module leftO24 ... O31 1st PNOZ ml1p connection module leftO0 ... O7 2nd PNOZ ml1p connection module leftO8 ... I15 2nd PNOZ ml1p connection module leftO16 ... O23 2nd PNOZ ml1p connection module leftO24 ... O31 2nd PNOZ ml1p connection module leftO0 ... O7 3rd PNOZ ml1p connection module leftO8 ... O15 3rd PNOZ ml1p connection module leftO16 ... O23 3rd PNOZ ml1p connection module leftO24 ... O31 3rd PNOZ ml1p connection module leftO0 ... O7 4th PNOZ ml1p connection module leftO8 ... O15 4th PNOZ ml1p connection module leftO16 ... O23 4th PNOZ ml1p connection module leftO24 ... O31 4th PNOZ ml1p connection module leftO0 ... O7 5th PNOZ ml1p connection module leftO8 ... I15 5th PNOZ ml1p connection module leftO16 ... O23 5th PNOZ ml1p connection module leftO24 ... O31 5th PNOZ ml1p connection module leftO0 ... O7 6th PNOZ ml1p connection module leftO8 ... O15 6th PNOZ ml1p connection module leftO16 ... O23 6th PNOZ ml1p connection module leftO24 ... O31 6th PNOZ ml1p connection module leftReserved

Example/Comment

Virtual outputs on the 3rd PNOZ ml1pconnection module:Segment 1Sub-Index 112:

Sub-Index 113:

Sub-Index 114:

Sub-Index 115:

If an output has a high signal, thecorresponding Bit will contain “1”; ifthe input is open (low signal), the Bitwill contain “0”.

Index(hex)2000

O7 O6 O5 O4 O3 O2 O1 O0

O15 O14 O13 O12 O11O10 O9 O8

O23 O22 O21 O20 O19 O18 O17 O16

O31 O30 O29 O28 O27 O26 O25 O24



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2007-032.3-4

Index 2001 and 2002This index contains the diagnosticwords and the output bits for theElement IDs.

Index(hex)2001

Sub-Index(dec)1...100

101 ... 113

114 ... 128

Contents

Low Byte diagnostic word. Element ID = 1

Low Byte diagnostic word. Element ID =100

Output bit of Element ID = 1 ... 100

Reserved

Example/Comment

The diagnostic word is displayed in thePNOZmulti Configurator (see section2.8.1, Operation and Fault Diagnostics,plus the online help on the PNOZmultiConfigurator)Element ID = 1, e.g. E-STOP’sdiagnostic word:Low Byte:

Message: Pushbutton operatedEach element is assigned an ID in thePNOZmulti Configurator. If theelement’s output = 0 (no enable), thecorresponding bit is set.

Sub-Index Element ID101102103... ...111112113

8 7 6 4 4 3 2 116 15 14 13 12 11 10 9

24 23 22 21 20 19 18 17

0 0 0 0 0 0 1 0

- - - - 100 99 98 97

88 87 86 85 84 83 82 8196 95 94 93 92 91 90 89

0 0 0 0 0 0 0 1

Index(hex)2002

Contents

High Byte diagnostic word. Ele-ment ID = 1...High Byte diagnostic word. Ele-ment ID = 100

Reserved

Sub-Index(dec)1

...100

101 ... 128

Example/Comment

See Index 2001 for commentElement ID = 1, e.g. E-STOP’s diagnosticword:High Byte:

Message: wiring error, clock error

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2007-032.3-5



Index 2003This index contains the status of theinputs, outputs and LEDs

Index(hex)2003

Sub-Index(dec)12345678910111213

14 ... 16

Contents

I0 ... I7 base unitI8 ... I15 base unitI16 ... I19 base unit00I0 ... I7 1st expansion module rightI0 ... I7 2nd expansion module rightI0 ... I7 3rd expansion module rightI0 ... I7 4th expansion module rightI0 ... I7 5th expansion module rightI0 ... I7 6th expansion module rightI0 ... I7 7th expansion module rightI0 ... I7 8th expansion module right

Reserved

Example/Comment

The safety system consists of a base unit andone PNOZ mi1p.Sub-Index 1: PNOZ m1p

Sub-Index 2: PNOZ m1p


Sub-Index 4:Sub-Index 5:Sub-Index 6: PNOZ mi1p

If an input has a high signal, the correspondingBit will contain “1”; if the input is open (lowsignal), the Bit will contain “0”.

0 0 0 0 0 0 0 00 0 0 0 0 0 0 0

I7 I6 I5 I4 I3 I2 I1 I0

I15 I14 I13 I12 I11 I10 I9 I8

I7 I6 I5 I4 I3 I2 I1 I0

0 0 0 0 I19 I18 I17 I16

Index(hex)2003

Sub-Index(dec)17181920, 212223242526272829

30 ... 32

Contents

LED I0 ... I7 base unitLED I8 ... I15 base unitLED I16 ... I19 base unit0LED I0 ... I7 1st expansion module rightLED I0 ... I7 2nd expansion module rightLED I0 ... I7 3rd expansion module rightLED I0 ... I7 4th expansion module rightLED I0 ... I7 5th expansion module rightLED I0 ... I7 6th expansion module rightLED I0 ... I7 7th expansion module rightLED I0 ... I7 8th expansion module right

Reserved

Example/Comment

The safety system consists of a base unit andone PNOZ mi1p.Sub-Index 17: PNOZ m1p



Sub-Index 20:Sub-Index 21:Sub-Index 22: PNOZ mi1p

If the LED on an input is flashing, thecorresponding bit contains “1”; if the LED isnot flashing, the bit contains “0”.

I15 I14 I13 I12 I11 I10 I9 I8

0 0 0 0 I19 I18 I17 I16

0 0 0 0 0 0 0 00 0 0 0 0 0 0 0

I7 I6 I5 I4 I3 I2 I1 I0

I7 I6 I5 I4 I3 I2 I1 I0



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2007-032.3-6

Index(hex)2003

Sub-Index(dec)33 ... 353637383940414243444546 ... 4849 ... 535455565758596061

62 ... 64

Contents

0O0 ... O3 of the base unitO4 and O5 of the base unitO0 ... O7 1st expansion module rightO0 ... O7 2nd expansion module rightO0 ... O7 3rd expansion module rightO0 ... O7 4th expansion module rightO0 ... O7 5th expansion module rightO0 ... O7 6th expansion module rightO0 ... O7 7th expansion module rightO0 ... O7 8th expansion module rightReserved0O8 ... O15 1st expansion module rightO8 ... O15 2nd expansion module rightO8 ... O15 3rd expansion module rightO8 ... O15 4th expansion module rightO8 ... O15 5th expansion module rightO8 ... O15 6th expansion module rightO8 ... O15 7th expansion module rightO8 ... O15 8th expansion module right

Reserved

Example/Comment

Assignment of Bytes depends on theunit:PNOZ m0p, PNOZ m1p, PNOZ m2pSub-Index 36:

Sub-Index 37:

PNOZ mo1pSub-Index 38 ... 45:

Sub-Index 54 ... 61:





PNOZ mc1pSub-Index 38 ... 45:


If an output has a high signal, thecorresponding Bit will contain “1”; if theoutput is open (low signal), the Bit willcontain “0”.

0 0 0 0 0 0 O5 O4

0 0 1 1 O3 O2 O1 O0

0 0 0 0 0 0 O1 O0

0 0 0 0 0 0 0 0

0 0 0 0 0 0 0 0

A7 A6 A5 A4 A3 A2 A1 A0

A15 A14 A13 A12 A11 A10 A9 A8

0 0 0 0 O3 O2 O1 O0

0 0 0 0 0 0 0 0

0 0 0 0 O3 O2 O1 O0

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2007-032.3-7



Index(hex)2003

Sub-Index(dec)6566676869707172737475767778798081828384 - 128

Contents

RUNDIAGFAULTIFAULTOFAULTFAULT 1st expansion module rightFAULT 2nd expansion module rightFAULT 3rd expansion module rightFAULT 4th expansion module rightFAULT 5th expansion module rightFAULT 6th expansion module rightFAULT 7th expansion module rightFAULT 8th expansion module rightFAULT 1st expansion module leftFAULT 2nd expansion module leftFAULT 3rd expansion module leftFAULT 4th expansion module leftFAULT 5th expansion module leftFAULT 6th expansion module leftReserved

Example/Comment

Depending on the LED status, thefollowing Hex code will be in Sub-Index65 ... 77:00 hex: LED offFF hex: LED on30 hex: LED flashes

Depending on the LED status, thefollowing Hex code will be in Sub-Index78 ... 83:00 hex: LED offFF hex: LED on30 hex: LED flashes



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2007-032.3-8

Index 2004This index contains the PNOZmulti’sconfiguration data

Index(hex)2004

Sub-Index(dec)1

23

4 ... 1617 ... 20

21 ... 24

25 ... 28

29 ... 30

31 ... 32

33 ... 3637 ... 40

41 ... 43444546474849505152

53 ... 56

Contents

Data transfer

ReservedNumber of elements

ReservedProduct number (hex)

Unit version (hex)

Serial number (hex)

Project check sum (hex)

Chip card check sum (hex)

ReservedProject creation date (hex)

ReservedConfiguration, fieldbus module/RS 232Configuration, 1st expansion module rightConfiguration, 2nd expansion module rightConfiguration, 3rd expansion module rightConfiguration, 4th expansion module rightConfiguration, 5th expansion module rightConfiguration, 6th expansion module rightConfiguration, 7th expansion module rightConfiguration, 8th expansion module right

Reserved

Example/Comment

Sub-index 1: Bit 1 = 1: All configurationdata has been downloaded to thefieldbus module

Number of configured elements withElement ID

Product number 773 100: 000BCBEChexSub-Index 17: 00, Sub-Index 18: 0B,Sub-Index 19: CB, Sub-Index 20: ECUnit version 20: 14 hexSub-Index 21: 00, Sub-Index 22: 00,Sub-Index 23: 00, Sub-Index 24: 14Serial number 123 456: 0001E240 hexSub-Index 25: 00, Sub-Index 26: 01,Sub-Index 27: E2, Sub-Index 28: 40Check sum A1B2 hex:Sub-Index 29: A1, Sub-Index 30: B2Check sum 3C5A hex:Sub-Index 31: 3C, Byte 32: 5A

Creation date: 28.11.2003Sub-Index 37: 1C, Sub-Index 38: 0B,Sub-Index 39: 07, Sub-Index 40: D3

Sub-Index 44 contains the Hex code fora fieldbus module (installed on the left)or for inputs and outputs via RS 232:Fieldbus modules PNOZ mc.. : 30Virtual inputs and outputs viaRS 232: 40Additional input modules on the left:PNOZml1p: See Sub-Index 90 ... 95Sub-Index 45 ... 52 contains the Hexcode for the expansion modules on theright :PNOZ mi1p: 08PNOZ mi2p: 38PNOZ mo1p: 18PNOZ mo2p: 10PNOZ mo3p: 30PNOZ mo4p: 28PNOZ mc1p: 20PNOZ ms3p: 68PNOZ ms4p: 78PNOZ ms1p/PNOZ ms2p: 88No expansion module: 00

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2007-032.3-9



Index(hex)2004

Sub-Index(dec)575859606162636465666768697071727374757677787980818283848586878889909192939495

96979899100101

102 ... 128

Contents

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)DayMonthYear (High Byte)Year (Low Byte)HourMinuteTime zone

Configuration, 1st expansion module leftConfiguration, 2nd expansion module leftConfiguration, 3rd expansion module leftConfiguration, 4th expansion module leftConfiguration, 5th expansion module leftConfiguration, 6th expansion module left

Reserved

Example/Comment

Sub-Index 57 ... 88 contains the projectname defined in the PNOZmultilConfigurator under “Enter project data”;this is stored in UNICODE format, 2Bytes contain the Hex code of theindividual UNICODE characters

Date on which the program on the chipcard was last modifiedDate modified : 28.11.2003Sub-Index 89: 1C, Sub-Index 90: 0B,Sub-Index 91: 07, Sub-Index 92: D3Time: 14 hours 25 minutesSub-Index 93: 0E, Sub-Index 94: 19Time zone 1: Sub-Index 95: 01Sub-Index 96 ... 101 contains the Hexcode for the expansion modules to theleft of the base unit. Any fieldbusmodule in these Sub-Indices will not beconsidered (see Index 2004, Sub-Index44).PNOZ ml1p: A8



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2007-032.3-10

Index 2005This index contains the elementtypes.

Index(hex)2005

Sub-Index(dec)1...100

101 ... 128

Contents

Element type. Element ID = 1

Element type. Element ID = 100

Reserved

Example/Comment

Element with ID = 1: Single-pole semi-conductor output with feedback loopSub-Index 1: 51 hexSee list containing the element types onpage 3-2-15

Index 2006 ... 200AThis index contains the inputassignments of elements withElement ID

Index(hex)2006

2007

2008

2009

2009

200A

Sub-Index(hex)1

...

100101 ... 1281

...

100101 ... 1281

...

100101 ... 1281

...

100101 ... 1281

...

100101 ... 128

Contents

1st input of element with Element ID =1...1st input of element with Element ID =100Reserved2nd input of element with Element ID =1...2nd input of element with Element ID =100Reserved3rd input of element with Element ID =1...3rd input of element with Element ID =100Reserved4th input of element with Element ID =1...4th input of element with Element ID =100Reserved5th input of element with Element ID =1...5th input of element with Element ID =100Reserved

Example/Comment

The configured position and bit numbercan be assigned for a maximum of 5inputs from elements with Element ID.

Bit:

Example:for Element ID= 1:1st input in Index 2006, Sub-Index 12nd input in Index 2007, Sub-Index 13rd input in Index 2008, Sub-Index 14th input in Index 2009, Sub-Index 15th input in Index 200A, Sub-Index 1

Configuration position = 6= 2nd expansion moduleBit number = 5 (input I5)For the status of the inputs, refer also toIndex 2003, Sub-Index 1 ... 13For addressing the inputs, see tableopposite.

7 6 5 4 3 2 1 0

Configured position Bit number

0 1 1 0 0 1 0 1

INFORMATIONIndices 2006 ... 200A are nolonger supported by baseunits from the followingversion number upwards:• PNOZ m0p from Version 2.3• PNOZ m1p from Version 5.3• PNOZ m2p from Version 2.3

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2007-032.3-11



Addressing the inputs

Index 2100This index contains the input data

Input

I0 ... I7I8 ... I15I16 ... I19No inputsNo inputsI0 ... I71st expansion module rightI0 ... I72nd expansion module rightI0 ... I73rd expansion module rightI0 ... I74th expansion module rightI0 ... I75th expansion module rightI0 ... I76th expansion module rightI0 ... I77th expansion module rightI0 ... I78th expansion module right

Configuration

012345

6

7

8

9

10

11

12

Bitnumber0 ... 70 ... 70 ... 3--0 ... 7

0 ... 7

0 ... 7

0 ... 7

0 ... 7

0 ... 7

0 ... 7

0 ... 7

Index(hex)2100

Sub-Index(dec)1234567 ... 128

Contents

Inputs Bit 0 … 7Inputs Bit 8 … 15Inputs Bit 16 … 23ReservedTable numberSegment numberReserved

Example/Comment

For information on the sub-indicesplease see section entitled“Communication with fieldbussystems” on page 3.1-1



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2007-032.3-12

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2.4-1


Communication with fieldbus modulesPNOZ mc8p Ethernet IP / Modbus TCP

2006-04

Introduction

This chapter describes the specialfeatures of communication with thePNOZ mc8p expansion module onEthernet IP and Modbus TCP.Access to PNOZmulti data via tablesand segments is described inChapters 2.1 and 2.2.

Overview

The PNOZ mc8p expansion moduleuses Ethernet to connect thePNOZmulti modular safety system tocontrol systems that support theEthernet IP and Modbus TCPprotocols.

Ethernet IP and Modbus TCP aredesigned for fast data exchange atfield level. The PNOZ mc8p expan-sion module is a passive Ethernet IP(adapter) or Modbus TCP (slave)subscriber. The basic functions ofcommunication with Ethernet IP orModbus TCP conform to IEEE 802.3.

The central controller (master) readsinput information from the slaves andwrites output information to theslaves as part of each cycle. As wellas the cyclical transfer of usabledata, the PNOZ mc8p can also beused for diagnostics and commis-sioning 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 switcheson the front panel

Assigning the IP address to your PC

• Details of the procedure can befound in the manual for youroperating system.

• Set the IP address, e.g.192.168.0.1 with subnet mask255.255.255.0.

Setting the IP address of theexpansion module

• The IP address of the PNOZ mc8pis set using DIP switches on thefront panel.

• Please note: Only set the IPaddress when the supply voltageis switched off.

• The first three bytes of the IPaddress are:IP address: 192.168.0Subnet mask: 255.255.255.0

• The last byte is configured usingthe DIP switches. Value range:1 ... 255Please note: The IP address of thePNOZ mc8p should not be thesame as the IP address for thePC.

• Example:DIP switch: 00010100 (20 decimal)

Changing the IP settings

You can change the IP settings of thePNOZ after configuring the IPaddresses of the computer and thePNOZ 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:172.16.216.139Subnet mask: 255.255.0.0Gateway address: —DNS1 address: —DNS1 address: —Host name: —-Domain name: —SMTP server: —DHCP enabled: No

• Click the Store Configurationbutton. The settings aretransferred to the expansionmodule.

• Switch off the supply voltage.• Set all DIP switches to zero.• Switch on the supply voltage. The

new IP address for the unit is nowset.

1 ! # / 6 $ 7"&893�:; 9<�:;

IP address: 192.168.0.20• Once the IP address has been set

via the DIP switches you canconnect the supply voltage to thebase unit.



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2.4-2 2006-04

Data exchange

20 bytes must always be sent andreceived for communication with thePNOZmulti.Ethernet IPThe input/output data from thePNOZmulti can be polled using theassembly object (Class 04h).• Data from the PNOZmulti is

requested using Instance 64h.• Instance 96h writes the data from

the Ethernet IP scanner to thePNOZmulti.

Modbus TCP• There is no need to configure a

connection on the PNOZ mc8p.Port 502 is used in accordancewith the Modbus TCP specifi-cation.

• Modbus TCP supports thefollowing function codes:

Code

01

02

03

Name

Invalid function

Invalid data address

Invalid data

Description

The PNOZ mc8p does not support thefunction code in the enquiry.

The data address received in the enquiryis outside the memory range.

Invalid data requested.

• Error codes on Modbus TCP

• The address input range beginswith Register 0. The addressoutput range begins with Register1024.The byte sequence of a word ishigh byte/low byte

Left byte

Low byte

(Bit 07 ... 00)

Right byte

High byte

(Bit 15 ... 08)

Word

Web interface for commissioningand testing

A Pilz web interface can be usedwhen commissioning or as a testingaid. It can be used to poll data fromthe PNOZmulti.• Commission a base unit and

PNOZ mc8p as described in theoperating instructions.

• Connect the PNOZ mc8p to thecomputer.

• Enter the IP address (URL) in yourbrowser’s address bar, e.g.:http://172.16.216.139

• The input mask provides accessto the inputs and outputs on thePNOZmulti system and to thetable segments.

Restricting access

In principle, each Ethernet subscribercan set up a connection to thePNOZ mc8p. This access can berestricted.• To establish a connection to the

FTP site, enter the IP address(URL) of the PNOZ mc8p in yourbrowser’s address bar.A login window appears.

• The default access data is:User name: UserPassword: PasswordLog in. You will now have accessto the PNOZ mc8p user area.

• Save the file ip_access.cfg on toyour computer and open it usingan editor.Once opened the file contains thefollowing information:

[MODBUS/TCP]*.*.*.*[Ethernet/IP]*.*.*.*

• If *.*.*.* is entered, all subscriberswill have unrestricted access.

• Instead of the characters *.*.*.*,enter the IP addresses of thesubscribers to which you wish togrant restricted access, e.g.:

[MODBUS/TCP]172.16.205.24172.16.205.40[Ethernet/IP]172.16.205.96

• Save the file ip_access.cfg onyour computer.

• Download the file to the PNOZmc8p.

• Restart the PNOZmulti.

Functioncode

1

2

3

4

5

6

7

15

16

22

23

Name of function

Read coils

Read input discretes

Read multiple registers

Read input registers

Write coil

Write single register

Read exception status

Force multiple coils

Force multiple registers

Mask write register

Read/Write registers

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2.4-3



2006-04

Input and output data

The data is structured as follows:• Input range

The inputs are defined in themaster and transferred to thePNOZmulti. Each input has anumber, e.g. the input bit 4 of byte1 has the number i12.

• Output rangeThe outputs are defined in thePNOZmulti Configurator. Eachoutput that is used is given anumber there, e.g. o0, o5... Thestatus of output o0 is stored in bit0 of byte 0; the status of output o5is 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.

INFORMATIONPlease also refer to the sectionentitled “Basics” on page2.1-1.

I0 ... I7

Byte 0 : Bit 0 … 7

O0 ... O7

Byte 0 : Bit 0 … 7

I8 ... I15

Byte 1 :Bit 0 … 7

O8 ... O15

Byte 1 : Bit 0 … 7

I16 ... I23

Byte 2 :Bit 0 … 7

O16 ... O23

Byte 2 : Bit 0 … 7

Inputs on PNOZmulti Configurator

Input data, Ethernet IP or Modbus TCP

Outputs on PNOZmulti Configurator

Output data, Ethernet IP or Modbus TCP

LED status

green

green

green

green

red

red

green-red

green

green

red

red

green-red

green

Key

Bus connection available

Bus connection not available

PNOZ mc8p is receiving/sending data

No supply voltage at the PNOZ mc8p.

The PNOZ mc8p is operating correctly.

The PNOZ mc8p is not configured.

Recoverable fault

Major internal error (not recoverable)

Self test after switching on the supply voltage

No supply voltage present or no IP address assigned

The PNOZ mc8p has established at least one connection.

The PNOZ mc8p has not established a connection.

Timeout for at least one connection. Re-establish connectionor reset PNOZ mc8p.

IP address is already in use.

Self test after switching on the supply voltage

Data sent/received

LED

LINK

STAT

NET

ACT

LEDs LED off LED on LED flashes

Assigning the inputs/outputs in thePNOZmulti Configurator to theEthernet IP/Modbus TCP input/output data



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2.4-4 2006-04


Contents page

Diagnostic InterfaceIntroduction 3.1-1Overview 3.2-1Intended Use 3.3-1Data Exchange 3.4-1Requirements 3.5-1Error Management 3.6-1


Diagnostic Interface


2.1

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2005-103.1-1


Diagnostic InterfaceIntroduction

This chapter describes thecommunication options availablewith the serial diagnostic interface(RS 232) of the base units from thePNOZmulti modular safety system.

For details of how to operate themodular PNOZmulti safety system,please refer to the operating manualfor the respective device.

Overview of the chapters

This manual is divided into thefollowing chapters:

3.1 IntroductionThe introduction you arereading familiarises you withthe content of the manual.

3.2 OverviewThis chapter gives you a briefoverview of the function of thePNOZmulti serial interface andalso the data exchangestructure.

3.3 IntendedUseThis chapter containsinformation about the intendeduse of the PNOZmulti serialinterface.

3.4 Date exchangeThis chapter contains importantinformation about the sequenceof communication between thePNOZmulti and the userprogram.

3.5 RequestsThis chapter contains theindividual requests anddescribes the structure of thedata blocks.

3.6 Error ManagementThis chapter describespotential errors and how to dealwith them.


Diagnostic InterfaceIntroduction

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2005-103.1-2

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2005-103.2-1


Diagnostic InterfaceDiagnostic Data

The diagnostic interface on thePNOZmulti provides access to avariety of data from the safetysystem. This data can be read usinga communications partner (e.g. a PCor PLC).

Communication occurs via the serialRS 232 interface of thecommunications partner. Thecommunications partner representsthe Master; the PNOZmulti acts asSlave.A null modem cable is used to makethe connection between the RS 232interface on the communicationspartner and the diagnostic interfaceon the base unit.

TTTTTransmission rate:ransmission rate:ransmission rate:ransmission rate:ransmission rate:19.2 KBit with••••• 8 bits of data••••• 1 start bit••••• 2 stop bits••••• 1 parity bit• Even parity

Base module Expansion modules

Userprogram

Null modem cable

PNOZmultiRS 232 interface

Diagnostic interface

Diagnostic data

Diagnostic data on the PNOZmultimodular safety system comprises:

• V• V• V• V• Version:ersion:ersion:ersion:ersion:Product number, device version,serial number

••••• Status of inputs/outputs:Status of inputs/outputs:Status of inputs/outputs:Status of inputs/outputs:Status of inputs/outputs:Indicates whether inputs andoutputs are active or inactive(open/closed)

••••• LED status:LED status:LED status:LED status:LED status:Indicates the status of the LEDson the base unit and expansionmodules (on/off/flashes), plus theoperating mode (start up, RUN,STOP)

• Simplified status scan:Simplified status scan:Simplified status scan:Simplified status scan:Simplified status scan:Shows group messages relating tothe safety sytem: signal changes,LEDs, operating statuses

• virtual inputs and outputs:virtual inputs and outputs:virtual inputs and outputs:virtual inputs and outputs:virtual inputs and outputs:Virtual inputs can be set. Thestatus of the virtual inputs andoutputs can be scanned.

• Diagnostic worDiagnostic worDiagnostic worDiagnostic worDiagnostic word:d:d:d:d:The diagnostic word contains thestatus of elements from the userprogram within the PNOZmulti

••••• TTTTTest data:est data:est data:est data:est data:To check commmunication.

• Data in table formData in table formData in table formData in table formData in table formThis is structured data (arrangedin tables and segments) from thePNOZmulti, as it could also beread via a fieldbus module:- Configuration- Status of the inputs and

outputs- LED status- Diagnostic word- Element types


Diagnostic InterfaceDiagnostic Data

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2005-103.2-2

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2005-103.3-1


Diagnostic InterfaceIntended Use

Diagnostic interface

The serial interface on thePNOZmulti modular safety system isused to transfer diagnostic data to auser program. The diagnostic datamay only be used for non-safetypurposes, e.g. visualization.

NOTICEFor details of the intended useand application of the modu-lar PNOZmulti safety system,please refer to the operatinginstructions for the respectiveunit.


Diagnostic InterfaceIntended Use

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2005-103.3-2

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2005-103.4-1


Diagnostic InterfaceData Exchange

This chapter explains the principle ofcommunication between a userprogram and the PNOZmulti. Therequests and data blocks are shownin detail in Chapter 3.5.

Communication procedure

Each communication is started bysending a request to the PNOZmulti.Requests are used to receive datafrom or send data to the PNOZmulti:1. Request:

The user sends a request to thePNOZmulti via the user program.

2. Acknowledgement:The PNOZmulti sends anacknowledgement to the userprogram, confirming that therequest has been received withouterror. With various requests theuser program must send anotherdata block after theacknowledgement, specifying therequest more precisely. ThePNOZmulti again sends anacknowledgement upon receipt(see Fig. 4-2).

3. Data block:A data block is sent from thePNOZmulti or from the userprogram, depending on therequest. The size of the data blockdepends on the request (Fig. 4-1).

4. Information message:The user sends anacknowledgement via the userprogram, confirming that the datablock has been received withouterror.

Each communications partner uses acommunications timer.• At each stage of communication,

the PNOZmulti waits 500 ms for aresponse. If it does not receive aresponse, it resets thecommunication. Communicationmust be restarted with a requestfrom the user program.

• At each stage of communication,the user program waits 550 ms fora response. If it does not receive aresponse, it resets thecommunications timer.Communication must be restartedwith a request from the userprogram.



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2005-103.4-2

Acknowledgement

User program

Data block

Requirement

PNOZmulti

Information message data block OK (0x60)

n Bytes

Acknowledgement

User program

Data block

Requirement

PNOZmulti

Information message (data block OK)

n Bytes

PNOZmulti sends data block

User program sends data block

Fig. 4-1: Communication procedure

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2005-103.4-3



Acknowledgement

User program

Details of request

Requirement

PNOZmulti


Data block

n Bytes

n Bytes


Fig. 4-2: Communication procedure with extended request

Extended communication

After the acknowledgement, the userprogram sends a data block to thePNOZmulti, specifying the requestmore precisely.

Requirements

Only one request can be processedat a time. At least 15 ms must elapsebetween the previouscommunication (e.g. an informationmessage) and any new request.

INFORMATIONThe individual requests aredescribed in detail inChapter 5.

Acknowledgements

When the PNOZmulti receives arequest from the user program itsends back an acknowledgement,which will either confirm that therequest was received successfully orcontain an error / informationmessage.

Confirmation of receipt

If the PNOZmulti has received arequest without error, it will send thefollowing confirmation of receipt:

Meaning

Request received, everything OK

ID code

Request ID + 0x80

Reaction(User program)

Continue communication



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2005-103.4-4

Data block

KeyData block received,everything OKData block not received correctly

Requestnot understood

Communication reset because thetime was exceeded

ReactionContinue communication

User program or PNOZmulti: Senddata block againRepeat request in user program

Repeat request

ID-Code0x60

0x62

0x64

0x65

Sent byUserPNOZmultiUserPNOZmulti

PNOZmulti

PNOZmulti

Data byte 0

Data byte 1

Data byte 2

....

....

....

Data byte n

0x00BCC

Error messages and informationmessages

The user program or the PNOZmultisends one Byte as an error messageor for information.

INFORMATIONFurther information on errormanagement can be found onpage 3.6-1

Data Blocks

The data is sent within data blocks. Adata block consists of a varyingnumber of data bytes. The length ofa data block depends on the request.Each data block has the samestructure.

••••• Application dataApplication dataApplication dataApplication dataApplication dataThe first n data bytes contain thedata requested via the command.

••••• Information dataInformation dataInformation dataInformation dataInformation data----- The penultimate data byte is

always 0x00.----- The last byte of each data block

is the check sum (Block ControlCheck = BCC).A data block with 34 bytes, forexample, has the followingcheck sum:BCC = 0x00 - (Data byte 0 + ....+ Data byte 31 + 0x00)

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2005-103.4-5



PNOZmulti

Example

••••• The user program requests inputand output data from thePNOZmulti.

••••• The PNOZmulti sends anacknowledgement, which consistsof the relevant request 0x41 andthe confirmation of receipt 0x80(0x41 + 0x80 = 0xC1).

••••• When the data is received, a faultis detected; an informationmessage is sent to the PNOZmultivia the user program.

••••• The PNOZmulti sends the dataagain.

••••• Receipt of the data block isconfirmed via the user program,using an information message.

Acknowledgement: Request received, everything OK (0xC1)

User program

Request: Send input data (0x41)

Information message: Data block not received correctly (0x62)

Data block

Information message: Data block OK (0x60)

Fig. 4-3: Example for request 0x41

Data block

34 Bytes

34 Bytes



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2005-103.4-6

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2007-043.5-1


Diagnostic InterfaceRequirements

Overview

This chapter describes the requeststhat the user program sends to thePNOZmulti and the data blocksdefined with the request.

The following requests are available:

Meaning

Send virtual inputs to PNOZmultiSend status of virtual inputs and outputs from thePNOZmultiSend diagnostic word from the PNOZmultiSend data from the PNOZmulti in table formSend version data from the PNOZmultiSend all input and output dataSend all LED dataSend simplified status scan (group messages) from thePNOZmultiSend test

Request

0x140x2C

0x2D0x500x400x410x430x44

0x5F

Page

3-5-23-5-3

3-5-43-5-173-5-63-5-83-5-123-5-16

3-5-20

Data blocklength

1010

4153434344

34

Requiredbase unit

PNOZ m0p V1.0PNOZ m1p V4.0PNOZ m2p V1.0

PNOZ m0p V1.0PNOZ m1p V3.0PNOZ m2p V1.0



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2007-043.5-2

Request 0x14 - Send virtual inputsto the PNOZmulti

Requirement

The user program employs request0x14 to send 24 virtual inputs to thePNOZmulti.

Data block

The data block consists of 10 Bytes.Bytes 3 to 5 form the one’scomplement of Byte 1 to 3.

The PNOZmulti sends the errormessage 0x62:• If Bytes 3 to 5 are not the one’s

complement of Bytes 0 to 2.• If the BCC is incorrect.

DataVirtual inputs i7 to i0Virtual inputs i15 to i8Virtual inputs i23 to i16One’s complement ofvirtual inputs i7 to i0One’s complement ofvirtual inputs i15 to i8One’s complement ofvirtual inputs i23 to i160x000x000x00BCC = 3

NoteExample: 0100 0010Sets virtual inputsI6 and I1 = 1

Byte No.0123

4

5

67810

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2007-043.5-3



Request 0x2C - Send status ofvirtual inputs and outputs from thePNOZmulti

Request

The user program employs request0x2C to request the status of the 24virtual inputs and outputs from thePNOZmulti.

Data block

The data block consists of 10 Bytes.

DataDataDataDataDataVirtual inputs i7 to i0Virtual inputs i15 to i8Virtual inputs i23 to i16Virtual outputs o7 to o0Virtual outputs o15 to o8Virtual outputs o23 to o16ReservedReserved0x00BCC

NoteExample: 0100 0010Status of virtual inputsI6 and I1 = 1Example: 0011 0100Status of virtual outputsO5, O4 and O2 = 1

Byte No.Byte No.Byte No.Byte No.Byte No.01234567810



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2007-043.5-4

Request 0x2D - Send diagnosticword from the PNOZmulti

Request

The user program employs request0x2D to request the diagnostic wordfor a specific Element ID from thePNOZmulti.

Acknowledgement

User program

Request diagnostic word for Element ID

Send request for diagnostic word

PNOZmulti

Information message data block OK

Diagnostic word

4 Bytes



Data block

The data block that the user programemploys to specify a diagnostic wordfor a specific Element ID consists of4 Bytes.

DataDataDataDataDataElement ID = 1 ... 100

0x000x00BCC

NoteNoteNoteNoteNotee.g. 21 hex forElement ID = 33


123

4 Bytes

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2007-043.5-5



The data block containing thediagnostic data consists of 4 Bytes.

DataDataDataDataDataDiagnostic word High Byte for requested Element IDDiagnostic word Low Byte for requested Element ID0x00BCC

NoteNoteNoteNoteNoteByte No.Byte No.Byte No.Byte No.Byte No.0123



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2007-043.5-6

Request 0x40 - Version data fromthe PNOZmulti

Request

The user program employs request0x40 to request the version datafrom the PNOZmulti.

Data block


DataDataDataDataDataProduct numberDevice numberSerial numberCheck sum of user program in the PNOZmultiConfiguratorCheck sum of user data on the chip cardCreation date of user programHardware registry: Expansion module left

Hardware registry: Expansion moduleright

Reserved0x00BCC

NoteNoteNoteNoteNote

Day, month, yearNo expansion module: 00Virtual inputs and outputs: 40No expansion module: 00Expansion modules:PNOZ mi1p: 08PNOZ mo1p: 18PNOZ mo2p: 10PNOZ mo4p: 28PNOZ mc1p: 20PNOZ ms3p: 68PNOZ ms4p: 78PNOZ ms1p/PNOZ ms2p: 88

Byte No.Byte No.Byte No.Byte No.Byte No.0 .. 34 ... 78 ... 1112 and 13

14 and 1516 ... 1920

21 ... 28

29 ... 313233

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2007-043.5-7



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

DataDataDataDataDataHH Byte product numberHL Byte product numberLH Byte product numberLL Byte product numberHH Byte device numberHL Byte device numberLH Byte device numberLL Byte device numberHH Byte serial numberHL Byte serial numberLH Byte serial numberLL Byte serial numberHigh Byte check sum user programLow Byte check sum user programHigh Byte check sum chip cardLow Byte check sum chip cardCreation date (day)Creation date (month)High Byte creation date (year)Low Byte creation date (year)Fieldbus moduleExpansion module 1Expansion module 2Expansion module 3 - 8Reserved0x00BCC

Byte No.Byte No.Byte No.Byte No.Byte No.01234567891011121314151617181920212223 ... 2829 ... 313233

VVVVValuealuealuealuealue0x000x0B0xCB0xE0x000x000x000x1F0x000x010xA80x7C0xD80x980xAB0x130x0B0x050x070xD20x000x080x080x000x000x000x00



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2007-043.5-8

Request 0x41 - Send all input andoutput data

Request

The user program employs request0x41 to request the input and outputdata from the PNOZmulti.

Data block


DataDataDataDataDataInputs of base unit I0 to I7Inputs of base unit I8 to I15Inputs of base unit I16 to I19Outputs of base unit O0 to O3Outputs of base unit Outputs O4 to O5Byte1 for expansion module 1Byte2 for expansion module 1Byte1 for expansion module 2Byte2 for expansion module 2Byte1 for expansion module 3Byte2 for expansion module 3Byte1 for expansion module 4Byte2 for expansion module 4Byte1 for expansion module 5Byte2 for expansion module 5Byte1 for expansion module 6Byte2 for expansion module 6Byte1 for expansion module 7Byte2 for expansion module 7Byte1 for expansion module 8Byte2 for expansion module 8Reserved0x00BCC

NoteNoteNoteNoteNote

Bits 4 to 7 reservedBits 4 to 7 reservedBits 2 to 7 reserved

Byte No.Byte No.Byte No.Byte No.Byte No.0123456789101112131415161718192021 -313233

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2007-043.5-9



Byte 1 and Byte 2 for the expansionmodules

As the expansion modules may beinput, output or signal modules, theBytes contain different data.

I0I1I2I3I4I5I6I7

O0O1xxxxxx

O0O1O2O3xxxx

A0A1A2A3A4A5A6A7

A8A9A10A11A12A13A14A15

• Input module:Byte 1Byte 2 Reserved

• Relay output module:Byte 1Byte2 Reserved

• Semiconductor output module:Byte 1Byte 2 Reserved

• Signal module:Byte 1Byte 2



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2007-043.5-10

Example

• Base unit with 7 expansionmodules, as shown in thefollowing diagram

• Assumption: all the inputs andoutputs are closed (Bit = 1)

��

��

��

��

Fig. 5-2: Example PNOZmulti modular safety system

Expansion modulesBase module

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2007-043.5-11



Status of data block

AssignmentAssignmentAssignmentAssignmentAssignment1111 11111111 1111xxxx 1111xxxx 1111xxxx xx111111 1111xxxx xxxx1111 1111xxxx xxxxxxxx xx11xxxx xxxx1111 11111111 1111xxxx 1111xxxx xxxx1111 11111111 11111111 1111xxxx xxxxxxxx xxxxxxxx xxxx


x = Contents are irrelevant1 = Relevant bit

DeviceDeviceDeviceDeviceDeviceBase 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)

DataDataDataDataDataInputs I0 to I7Inputs I8 to I15Inputs I16 to I19Outputs O0 to O3Outputs O4 to O5Inputs I0 to I7

Inputs I0 to I7

Outputs O0 to O1

0 to 78 to 15Outputs O0 to O3

0 to 78 to 15Inputs I0 to I7



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2007-043.5-12

Request 0x43 - Send LED data

Request

The user program employs request0x43 to request data about thestatus of the LEDs and the safetysystem’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 inputLEDs (flashing, not flashing)

• Bytes 27 to 29: Status of CI, COand OA0 LEDs

• Bytes 30 to 31: Reserved

Detailed structure of data block

• Byte 0 to 13:Byte 0 to 13:Byte 0 to 13:Byte 0 to 13:Byte 0 to 13:

Contents0x120x530xA20x000xFF0x300x000xFF0x300x000xFF0x300x000xFF0x30

Op. mode/status/LEDSTARTRUNSTOPRUN offRUN onRUN flashingDIAG offDIAG onDIAG flashingFAULT offFAULT onFAULT flashingI FAULT offI FAULT onI FAULT flashing

Byte No.0

1

2

3

4

Device

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2007-043.5-13



Contents0x000xFF0x300x000xFF0x300x000xFF0x300x000xFF0x300x000xFF0x300x000xFF0x300x000xFF0x300x000xFF0x300x000xFF0x30

Op. mode/status/LEDO FAULT offO FAULT onO FAULT flashingFAULT offFAULT onFAULT flashingFAULT offFAULT onFAULT flashingFAULT offFAULT onFAULT flashingFAULT offFAULT onFAULT flashingFAULT offFAULT onFAULT flashingFAULT offFAULT onFAULT flashingFAULT offFAULT onFAULT flashingFAULT offFAULT onFAULT flashing

Byte No.5

6

7

8

9

10

11

12

13

DeviceBase 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



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2007-043.5-14

••••• Byte 14 to 26:Byte 14 to 26:Byte 14 to 26:Byte 14 to 26:Byte 14 to 26:Bits 0 to 7 correspond respectively toinput LEDs I0 to I7, I8 to I15 or I16 toI19 of the base unit, or I0 to I7 of theexpansion module.

INFORMATIONBytes 14 to 26 simply showwhether or not the input LED isflashing.• Bit = 0 → LED not flashing• Bit = 1 → LED flashing

The key to the respective LED statuscan be found in the technicalcatalogue or in the operatinginstructions supplied with the units.

*only if input module

Input LEDI0 to I7I8 to I15I16 to I19ReservedReservedI0 to I7I0 to I7I0 to I7I0 to I7I0 to I7I0 to I7I0 to I7I0 to I7

Op. mode/status/LEDFlashing/not flashingFlashing/not flashingFlashing/not flashing

Flashing/not flashingFlashing/not flashingFlashing/not flashingFlashing/not flashingFlashing/not flashingFlashing/not flashingFlashing/not flashingFlashing/not flashing

Byte No.14151617181920212223242526

DeviceBase 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*

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2007-043.5-15



• Bytes 27 to 31:Bytes 27 to 31:Bytes 27 to 31:Bytes 27 to 31:Bytes 27 to 31:

Op. mode/status/LEDOp. mode/status/LEDOp. mode/status/LEDOp. mode/status/LEDOp. mode/status/LEDCI offCI onCO offCO onOA0 offOA0 onReserved


28

29

30 to 31

ContentsContentsContentsContentsContents0x000xFF0x000xFF0x000xFF

DeviceDeviceDeviceDeviceDeviceBase unit



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2007-043.5-16

Request 0x44 - Send simplifiedstatus scan (group messages)from the PNOZmulti

Request

The user program employs Code ID0x44 to request group messagesfrom the PNOZmulti.

Data block


Bit012345... 70

1

2 ... 7

DataO FAULTI FAULTFAULTDIAGRUNReservedSignal change at an input

Signal change at an output

Reserved0x00BCC

Byte No.0

1

23

NoteError at an outputError at an inputLED FAULT is lit/flashesLED DIAG is lit/flashesLED RUN is lit

At least one input signal haschanged since the last 0x44requestAt least one output signal haschanged since the last 0x44request

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2007-043.5-17



Code ID: 0x50 - Send data from thePNOZmulti in table form

Request

The user program employs Code ID0x50 to request data in table formfrom the PNOZmulti.

Acknowledgement

User program

Specify table and segment

Request to send data in table form

PNOZmulti


Data in table form

15 Bytes

4 Bytes



INFORMATIONThe contents of the tables andsegments are described indetail in Chapter 2,„Communication with fieldbusmodules“.



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2007-043.5-18

Data block

The data block that the user programemploys to specify the requesteddata consists of 4 Bytes.

The data block containing the data intable form consists of 15 Bytes. Itcontains the data from Segment y ofTable x.

DataByte 0 of Table x, Segment yByte 1 of Table x, Segment yByte 2 of Table x, Segment yByte 3 of Table x, Segment yByte 4 of Table x, Segment yByte 5 of Table x, Segment yByte 6 of Table x, Segment yByte 7 of Table x, Segment yByte 8 of Table x, Segment yByte 9 of Table x, Segment yByte 10 of Table x, Segment yByte 11 of Table x, Segment yByte 12 of Table x, Segment y0x00BCC

NoteByte No.01234567891011121314

DataTable number

Segment number

0x00BCC

NoteExample:0x04 for Table 4: Output statusExample:0x01 for Segment 1: Status of outputs O8 ... O15of expansion modules

0 – (Data byte 0 + Data byte 1)

Byte No.0

1

23

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2007-043.5-19



Example

The user program requests thestatus of the inputs from the PNOZmulti. The safety system consists ofone PNOZ m1p and one PNOZ mi1pexpansion module• Code -ID 0x50 - Send data

in table form• The PNOZmulti gives an

acknowledgement• The user specifies its

requestTable 3: Byte 0 -> 0x03Segment 0: Byte 1 -> 0x00Byte 2 -> 0x00BCC: Byte 3 -> 0x00

• PNOZmulti sends thedata block.

Data0000 10101100 11010000 10100000 00000000 00001011 00100000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000110 1101

NoteI7 ... I0: Base unit PNOZ m1pI15 ... I8: Base unit PNOZ m1pI19 ... I16: Base unit PNOZ m1p

I7 ... I0: PNOZ mi1p expansion module

BCC

Byte No.01234567891011121314



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2007-043.5-20

Request 0x5F - Send test

Request

The user program employs Code ID0x50 to request test data from thePNOZmulti.This request provides a simplemethod for testing communication.For example, if users send acommand to the PNOZmulti but getno reaction, they can send the “Sendtest” request to check whether theconnection is still intact.

Data block

The data block that the PNOZmultisends consists of 34 Bytes. Thecontents of the data block includesthe byte number.

Contents*01234...282930310016

Byte No.01234...282930313233

The figures in this table are shown indecimal to aid understanding.

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2005-103.6-1


Diagnostic InterfaceError Management

Errors may occur duringcommunication, whether on thePNOZmulti or in the user program.The following tables describe thereactions and procedures for bothdevices in the case of an error.

User program

For details of * and ** please refer tothe “Notes” section at the end of thischapter

PNOZmulti

Reaction/remedy in user programWait until the communications timer * has elapsed. If invaliddata has been received, or no data at all, repeat the request**.Repeat request**.

Reject byte and wait until the communications timer* haselapsed. If invalid data has been received, or no data at all,repeat the request**.Repeat request**.

Wait until the communications timer * has elapsed. Ifincomplete data has been received, repeat the request**.Wait until the communications timer * has elapsed. If invaliddata 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

Error/messageReceives no acknowledgement of receiptin response to a request.Receives the message 0x64: Request notunderstoodReceives an irrelevant byte instead of anacknowledgement of receipt in responseto a request.Receives the message 0x65:Communication reset because the timewas exceeded.Receives a data block which containsfewer bytes than expected.Does not receive an acknowledgement0x60: Data block OK:Receives a data block whose check sum(BCC) is incorrect.Receives the message 0x62: Data blocknot received correctly.Does not receive a data block in responseto the “Send test” request.

Reaction/remedy PNOZmultiResets communication***. Sends error message 0x65.

Wait until the communications timer * has elapsed. Resetscommunication*** if data has still not been received in itsentirety.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.

Error/messageHaving sent a data block, after 500 mshas not received acknowledgement 0x60:Data block OK.Receives a data block which containsfewer bytes than expected.

Receives error message 0x62: Data blocknot received correctly.Receives a data block whose check sum(BCC) is incorrect.

For details of * and *** please refer tothe “Notes” section at the end of thischapter.


Diagnostic InterfaceError Management

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2005-103.6-2

Notes

* A communications timer monitorsthe length of communication at eachstage (e.g. between a request and anacknowledgement). Communicationis reset if the time is exceeded. Thetime is 550 ms for the user programand 500 ms for the PNOZmulti.** If the user receives invalid data orno data at all, even after repeatingthe request, the request 0x5F shouldbe used to test communication (seeChapter 5, Request 0x5F - Sendtest).*** Resetting communication meansresetting the step counter to zero.Communication restarts with arequest from the user.

Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 2006-03Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, e-mail: [email protected] 4.0-1

Contents Page

MutingIntroduction 4.1-1Safety 4.2-1Configuration 4.3-1Operating modes 4.4-1


Muting

Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 2006-03Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, e-mail: [email protected]

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2006-034.1-1


MutingIntroduction

This chapter describes the mutingfunction in conjunction with thePNOZmulti modular safety systemunits.The safe inputs and outputs of basemodules and expansion modules aresuitable.

NOTICEPlease note the operatingmanuals included with theunits for application of themuting function. Please alsorefer to the PNOZmultitechnical catalogue.

This chapter is subdivided asfollows:

4.1 IntroductionThe introduction is designed tofamiliarise you with the con-tents, structure and specificorder of this chapter.

4.2 SafetyThis section covers intendeduse, standards and safetyguidelines.

4.3 ConfigurationThis section provides informa-tion on configuring the mutingfunction in the PNOZmultiConfigurator.

4.4 Operating modesThis section provides informa-tion on operating modes,sequential and parallel mutingand cross muting


MutingIntroduction

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2006-034.1-2

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2006-094.2-1


MutingSafety

Intended use

The muting logic element is used tooverride safety functions (ESPE/AOPD) for a limited period of timewithout interrupting the process(muting) in accordance withEN 61496-1.For a limited period of time, and for aspecific operational phase (e.g. whenfeeding materials), it will suspend theeffect of safety devices during theworking process. Once completed, itwill reset the safety function.

Use of this operating mode and thearrangement of the sensors aremachine or plant-specific anddepend on the risk assessment ofthe machine or plant.

Be sure that you observe the warningnotes given in the other parts of thisconfiguration guide and in thePNOZmulti technical catalogue.These are highlighted visuallythrough the use of symbols.

CAUTION!Failure to observe the safetyregulations in this configura-tion guide and in thePNOZmulti technical cataloguewill render the warranty invalid.

Standards

To use the muting element correctly,you will need to have a good knowl-edge of the relevant standards anddirectives. The following gives anoverview of the most importantstandards:• EN 61496-1: Safety of machinery

– Electrosensitive protectiveequipment

• EN 60947-5-3: Low voltagecontrol gear - Control circuitdevices and switching elements

• EN 999: Safety of machinery –Positioning of protective equip-ment

Please note this is not an exhaustivelist of safety standards and direc-tives.

Safety guidelines

WARNING!The following information mustbe heeded!Failure to comply with theseguidelines could result inserious injury or deathserious injury or deathserious injury or deathserious injury or deathserious injury or death.

• Refer to EN 61 496-1 andEN 60947-5-3 when configuring,setting up and operating themuting device.

• Refer to EN 999 with regard to thelayout of the AOPD.

• Measures must be taken toexclude common cause failures,e.g. by the use of non-equivalentsignals or diverse sensors.

• Muting switches should bepositioned so that it is impossiblefor a person to trigger the mutingfunction.

• The vehicle should be designed tomake it impossible for people toride on it.

• Limit the size of the entry area byapplying appropriate safetymeasures. People must not beable to enter the danger areaduring the muting phase.

• If various transport speeds arebeing used, consider the totalduration of the muting phase.

• Remember that a new mutingphase can only be introducedonce the previous phase has beencompleted.

• Maintenance gates should beprovided if you secure equipmentthrough muting.

• Please note that if themaintenance gates are opened,the plant absolutely mustabsolutely mustabsolutely mustabsolutely mustabsolutely must bebrought to a standstill inaccordance with the riskclassification.

• Use of muting sensors withcontacts:Supply the contacts of the mutingsensors 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 sureto use an N/O contact as sensor 1and an N/C contact as sensor 2.

• Laying the connection cable to thesensors in a way that is protectedagainst shorts (i.e. separate) mayprovide an alternative to non-equivalent sensors.


MutingSafety

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2006-034.2-2

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2006-094.3-1


MutingConfiguration

Function

• Muting via light barriers or limitswitches

• Option of overriding in case offault

• 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

Input parameters

• Muting sensor 1N/O contact of muting sensor 1Muting sensor 1 = 0: Not operatedMuting sensor 1 = 1: Operated


• Light curtainLight curtain = 0: InterruptedLight curtain = 1: Not interruptedAssign the light curtain inputparameter with the output of thelight curtain function element. Thelight curtain function element mustbe configured with the automaticreset.



• Muting overrideMuting override = 1: Suspend themuting function if a fault occurs(override) to override the mutingchannel.

• ResetReset = 0/1 pulse edge: Reset themuting element upon fault or startthe muting time.

Output parameters

• EnableEnable = 0: Fault detected (e.g.simultaneity exceeded)Enable = 1: The enable is grantedif no error was detected.

• Muting activeDisplay muting status (e.g. foractuating a lamp)Muting active = 0: No muting (lightcurtain not overridden)Muting active = 1: Muting active(light curtain overridden)

Monitoring times

• Maximum muting timeThis setting is used to adjust themaximum permitted muting time.Permitted value range: 1 to 900 s(= 15 minutes)

• SimultaneityThis setting is used to define themaximum time (synchronisationtime) which is permitted to elapsebetween the actuation (0/1-pulseedge) of MS1 and MS2 or of MS3and MS4.Permitted value range for parallelmuting and cross muting: 1 to 3 sPermitted value range for sequen-tial muting: 1 to 30 s

• Bounce timeWith this setting, the time up tothe final contacting of the mutingsensors can be set.Permitted value range: 50 to800 ms

Muting override (override)

If there are faults, the muting stationcan be overridden via the Mutingoverride input parameter.

• Start-up conditionMuting override can be switchedon if at least one of the mutingsensors is active.The enable output and Mutingactive output parameter are setduring the override. Overriding ismonitored and has a maximumduration that corresponds to theset muting time.

• Switch-off conditionMuting override is switched off if- the muting time has elapsedor- no muting sensor is assigned

and the light curtain is freeor- muting override is reset to 0

(release override button).

CAUTION!The following additional safetyrequirements apply for the mutingoverride:• The override switch must have a

hold-to-run control device (touch-operated switch).

• The override switch must beinstalled in a fixed position outsidethe danger zone.

• The danger zone and the mutingstation must be visible from theoverride switch position.

• The danger zone must beidentified as clear before theoverride switch is operated andwhile it is operated.

Reset

Reset resets the muting elementafter a fault or during start-up if• no muting sensor is actuatedand• the light curtain is clear.


MutingConfiguration

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2006-034.3-2

CAUTION!

The following additional safetyrequirements apply for the resetbutton:• The danger zone and the muting

station must be visible from thereset button position.

• The reset button may not beoperated until the danger zonehas been viewed and has beenidentified as clear.

Restarting the muting time

Reset resumes muting and restartsthe muting time if• muting was ended as a result of

the muting time elapsing (e.g. bythe conveyor feed stopping)and

• the muting sensors and the lightcurtain remain plausible.

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2006-034.4-1


The following operating modes canbe realised:• Sequential muting• Parallel muting• Cross muting

WARNING!“During muting safe conditionsshall be provided by othermeans” (EN 954-1). Forexample, this may be achievedby the conveyed item blockingaccess to the hazardous area.Even openings in or betweenthe individual parts of theconveyor flow must neverenable access.

Terminology

• Muting OnMuting OnMuting OnMuting OnMuting On“Muting On” is the switch condi-tion for switching on the mutingfunction. When muting is acti-vated, the Muting active outputparameter has a 1 signal and timemonitoring runs.

• Muting OfMuting OfMuting OfMuting OfMuting Offffff“Muting Off” is the switch condi-tion for ending the muting func-tion.When the muting function isended, output parameter Mutingactive has a 0 signal.

INFORMATIONYou will find important addi-tional information on the use ofsensors or contacts in thesection titled “Safety”.

MutingOperating modes


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2006-034.4-2

6.4

MutingOperating modes - sequential muting

Muting sensor arrangement

• The distance between MS1 andMS2 or MS3 and MS4 mutingsensors should be as long aspossible.

• Vehicle length W must be greaterthan the distance between MS1and MS3 or MS2 and MS4 (W > Aand W > B).

• MS2 and MS3 must be positionedas close as possible in front of/behind the AOPD.

Switch conditions in sequentialmode

• Muting On- Entering the danger zone:

1. Muting sensors MS1 andMS2 must be operatedconsecutively (first MS1,then MS2) within theconfigured simultaneity.Muting is activated byactuating MS2.

2. Muting sensors MS3 andMS4 must be operatedconsecutively (first MS3,then MS4) within theconfigured simultaneity.

3. MS1 and MS2 must bereleased consecutively (firstMS1, then MS2).


- Leaving the danger zone:1. Muting sensors MS4 and

MS3 must be operatedconsecutively (first MS4,then MS3) within theconfigured simultaneity.Muting is activated byactuating MS3.

2. MS2 and MS1 must beoperated consecutively (firstMS2, then MS1).



• Muting OffOverriding of the safety function iscancelled as soon as the penulti-mate muting sensor (MS2 or MS3)no longer is actuated, i.e. onlyone muting sensor remainsactuated.

Sequence errors

The muting sensors must be actu-ated in a specific sequence insequential mode. Once a particulardirectional movement has started(entry or exit), it must be fully com-pleted. Any deviation from the

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sequence shown will cause theenable output (ENBL = 0) and theMuting active output parameter toreset.• Vehicle length W greater than

distance C between MS1 andMS4All sensors are temporarilyactuated when passing through.The first muting sensor (MS1 uponentering, MS4 upon exiting)becomes free only if all mutingsensors were actuated.

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2006-034.4-3



MS10111

1/00000

MS2001111000

MS3000111100

MS40000

1/01110

Travel direction

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• Vehicle length W less thandistance C between MS1 andMS4When passing through, the firstmuting sensor becomes free (MS1upon entering, MS4 upon exiting)before the last muting sensor isactuated.

Diagnostic word

Messages can be queried in thePNOZmulti Configurator in bit modeand additionally linked in the pro-gram.

• 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 2Simultaneity exceeded, only onesensor operated

• Bit 10: Feasibility error, mutingsensors 3 and 4


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6.4

10

1

Reset10

10

10

10

10

32 4

MS1

MS2

Muting

Enable

AOPD

tsync tsync

tMUT

MS4

MS3

10

10

tsync = simultaneity

tMUT = muting time

➀: Set enable with reset➁: Start muting via MS1/MS2➂: End muting by clearing MS3➃: Restart muting via MS1/MS2

Timing diagram (example)Vehicle length W less than distanceC between MS1 and MS4


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2006-034.4-5


MutingOperating modes - parallel muting


• Muting signals MS1 and MS2/MS3 and MS4 must be positionedat the same height to the left andright of the vehicle.

• The vehicle length must be greaterthan the distance between MS1and MS3/MS2 and MS4.

• The distance between the lightcurtain and the muting signal mustbe as short as possible.

• Muting On- Entering the danger area:

1. Muting sensors MS1 andMS2 must be operatedwithin the configuredsimultaneity. Muting isactivated.

2. Muting sensors MS3 andMS4 must be operatedwithin the configuredsimultaneity before MS1 andMS2 are released.

- Leaving the danger area:1. Muting sensors MS3 and

MS4 must be operatedwithin the configuredsimultaneity. Muting isactivated.

2. Muting sensors MS1 andMS2 must be operatedbefore MS3 and MS4 arereleased.

• Muting OffOverriding of the safety function iscancelled as soon as the penulti-mate muting sensor no longer isactuated upon entering (MS3 orMS4) or exiting (MS1 or MS2), i.e.only one muting sensor remainsactuated.

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Diagnostic word



• Bit 2: Waiting for reset (reset)• Bit 3: Unfeasible status of

sensors, override required• Bit 8: Muting time exceeded• Bit 9: Feasibility error, muting


• Bit 10: Feasibility error, mutingsensors 3 and 4Simultaneity exceeded, only onesensor operated


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2006-034.4-6

6.4

Timing diagram (example)

MutingOperating modes - parallel muting

10

1

Reset10

10

10

10

10

32 4

MS1

MS2

Muting

Enable

AOPD

tsync tsync

tMUT

MS4

MS3

10

10


tMUT = muting time

➀: Set enable with reset➁: Start muting via MS1/MS2➂: End muting by clearing MS3 or MS4➃: Restart muting via MS1/MS2

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2006-034.4-7


MutingOperating modes - cross muting


• Muting signals may come fromreflective or send and receive lightbarriers, for example. The beamsmust always intersect within thedanger area.

• The muting sensors must bearranged such that the lightcurtain is interrupted before thebeams can intersect outside thedanger zone.

• Muting sensors MS3 and MS4 arenot used.

WARNING!Ensure that you maintain theinstallation dimensions shownin the adjacent diagram. Ifthese requirements are notmet, the safety of the guardwill be lost, which may lead toserious injury and death!

• Muting OnMuting sensors MS1 and MS2 mustbe operated within the configuredsimultaneity.

• Muting OffThe suspension of the safety functionis lifted when one muting sensor atmost is still operated.

Diagnostic word



• 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


Light curtainAccess security

Max

. 20

to 3

0 cm

Min. 20 cm Intersection ofmuting sensor beams

Muting sensor

Muting sensor

Muting sensor

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Arrangement of muting sensors (side view and view from top)


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6.4


tMUT = muting time

➀: Set enable with reset➁: Start muting via MS1/MS2➂: End muting by clearing MS1 or MS2➃: Restart muting via MS1/MS2

10

1

Reset10

10

10

10

10

32 4

MS1

MS2

Muting

Enable

AOPD

tsync tsync

tMUT

MutingOperating modes - cross muting

Timing diagram (example)

Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 2006-03Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, e-mail: [email protected] 5.0—1

Contents Page

Safety mat 5.1-1


Safety mat

Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 2006-03Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, e-mail: [email protected]

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2006-035.1-1


Safety mat

This chapter describes the use ofsafety mats in conjunction with thePNOZmulti.Please note the following:• The operating manuals accom-

panying the PNOZmulti modules• The PNOZmulti technical cata-

logue• The installation manual and user

information provided by therespective safety mat manufac-turer (see “Intended use”).

Safety mat

• A safety device which detects aperson standing on it or steppingon it. The safety mat comprises aninput device that responds toapplied pressure, signalprocessing and a shutdowndevice.

• In a safety mat, the effectiveactuation area is locally distortedwhen the input device is actuated.

Function description

The safety mat is supplied withPNOZmulti test pulse outputs. Thetest pulses are evaluated byPNOZmulti inputs (see sectionentitled “Commissioning the safetysystem”). Short across contacts andopen circuits are detected.

Intended use

Safety mats can be connected to thebase units• PNOZ m0p• PNOZ m1p• PNOZ m1p coated version• PNOZ m2pas well as expansion module• PNOZ mi1p• The units may only be used as a

safety system in conjunction withsafety mats in accordance withthe 4-wire technology operatingprinciple (without monitoringresistor)- Series ESM-50 safety mats

from Bircher Reglomat- Series SM/BK safety mats from

Mayser

• The safety mats must be con-nected to the inputs on thePNOZmulti units via the PSEN im1interface or type 1N4007 diodes(see “Commissioning the safetysystem”)

• Only safety mats without installedterminating resistors are suitable.

• The safety mats trigger only whenthey are stood on by personsweighing more than 35 kg.

• The following are not permitted:Walking aids such as canes andwheeled vehicles

• The PNOZmulti modular safetysystem is used for signal process-ing and as a shutdown device inaccordance with EN 1760-1,09/97.

CAUTION!When safety mats are con-nected to the PNOZmultiunits, the units (including thecoated version) may only beoperated at an ambienttemperature of 0 to +60 °C.

Safety

• Do not install and commission thesafety system until you have readand understood these operatinginstructions, the technical cata-logue and the installation manualfrom the safety mat manufacturer.You must also be familiar with theapplicable regulations for healthand safety at work and accidentprevention.

• Refer in particular to EN 1760-1.• In the case of an error, the safety

system complies with Category 3of EN 954-1. Note 3 in clause 4.15of EN 1760-1 must be consideredfor the safety mat.

• The EN 954-1-compliant catego-ries for safety mats at machinesare specified in type C standards.

Configuration in the PNOZmultiConfigurator

• Operating modes- Automatic reset (start):

The output immediately be-comes “1” again after thesafety mat is activated and isthen cleared.

- Manual reset (start):The output only becomes “1” ifthe reset button was pressed.This eliminates the possibility ofthe reset button being auto-matically activated and overrid-den. Resetting is only possibleif the safety mat is not acti-vated.

• Start-up testThe start-up test prevents auto-matic restarting after a powerfailure and subsequent-return ofvoltage. The unit checks that theunactivated safety mat has beenactivated and then cleared aftersupply voltage was applied.

• The output of the safety matfunction element is “1” if thesafety mat is not activated. Thissafety function must be retainedfor additional connection of thissignal in the PNOZmultiConfigurator:- Semiconductor outputs: High

signal- Relay outputs: Safety contacts

closed

Allocation of the test pulses to theinputs

The test pulses can only be con-nected to the inputs as follows:• Input 1: Test T0

Input 2: Test pulse T1or

• Input 1: Test pulse T2Input 2: Test pulse T3

INFORMATIONTest pulses which you areusing for the safety mat cannotbe reused for test pulses inconjunction with other safetydevices


Safety mat

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2006-035.1-2

• Please note:Always connect the safety mats tothe 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 tothe terminal block!

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Commissioning the safety system

When using safety mats, please notethe following:• The safety mats trigger only when

they are stood on by personsweighing more than 35 kg.

• The following are not permitted:Walking aids such as canes andwheeled vehicles

Preparing for commissioning:Please note the following whenpreparing for commissioning:• Cables that have to be laid

outside the control cabinet mustbe protected from mechanicaldamage, e.g. by installing them ina conduit.

Input circuit

Connecting oneoneoneoneone safety mat,max. 8 m2 safety mat area

Connection of multiple multiple multiple multiple multiple safetymats, permitted per dual-poleinput: Max. 5 safety mats in series,max. 8 m2 safety mat area

• Safety mats may notnotnotnotnot beconnected with a resistor.

• Use the configured test pulseoutputs exclusively for pulsing thesafety mats.

• Be sure to note the informationprovided in “Technical details”.

Preparing the unit for operation:• Connect the safety mat to the test

pulse outputs and the inputs (inexamples I0 to I3).

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2006-035.1-3


Safety mat

TTTTTechnical detailsechnical detailsechnical detailsechnical detailsechnical detailsReaction time (actuation of the safety mat until an instantaneous safety output drops out)

Semiconductor outputRelay output

Max. area of safety mats per dual-pole inputMax. number of safety mats connected in series per dual-pole inputMin. cross section of external conductorMax. cable runs, PNOZmulti - safety matMax. safety mat resistance

max. 50 msmax. 70 ms8 m2

50.5 mm2

100 m150 ohms

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Manual reset

• Set the reset features throughwiring of the reset circuit (inexample I5). Only effective ifmanual reset is configured in thePNOZmulti Configurator.

Run

The safety system can only bestarted when the safety mat is notactivated. The unit detects theoperating mode set on start-up.

Diagnostic word

Messages can be queried in thePNOZmulti Configurator in bit modeand additionally linked in the pro-gram.• 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


Safety mat

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2006-035.1-4

Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 2006-11Telepone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected] 6.0-1

Contents Page

Diagnostic wordIntroduction 6.1-1Overview 6.2-1Compilation of the diagnostic words 6.3-1


Diagnostic word

Pilz GmbH & Co. KG, Sichere Automation, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany 2006-11Telepone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected]

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2006-116.1-1

Special applications

Diagnostic wordIntroduction

This chapter describes thediagnostic words in the modularPNOZmulti safety system. Byevaluating the diagnostic words youcan obtain important information onoperating conditions andmalfunctions within your application.

Please refer also to the followingchapters in this configuration guide:• Chapter 2: Communication with

fieldbus modules• Chapter 3: Diagnostic interface

This chapter is subdivided asfollows:

6.1 IntroductionThe introduction is designed tofamiliarise you with thecontents, structure and specificorder of this chapter.

6.2 OverviewThis section contains importantinformation about thediagnostic words.

6.3 Compilation of the diagnosticwordsThis section lists all thediagnostic words withexplanatory notes.

Special applications

Diagnostic wordIntroduction

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2006-116.1-2

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2006-116.2-1


Diagnostic wordOverview

Diagnostic word

A diagnostic word can be read outfor those elements in the PNOZmultiConfigurator that can store a status.The diagnostic word containsinformation 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 toolate)

Elements with diagnostic wordThe diagnostic word is accessed byactivating an Element ID. Thepermitted value range for the Ele-ment ID is 1 ... 100. Elements with anelement 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

Structure of the diagnostic word

The diagnostic word has 16 bits:

Bit 15 14 ... 2 1 0

• If the diagnostic word = 0, theoutput of the respective element= 1. The element was enabled.Exceptions: On various functionelements the status of the inputsis evaluated (see Chapter 6.3)

• Otherwise, at least one of the bitsfrom 0 ... 15 of the diagnosticword is set and can be evaluated,e.g. Bit 1 =1:00000000 00000010Key: Safety gate was opened

Evaluate diagnostic word

• Evaluation in the user programOne bit from the diagnostic wordcan be linked further within theuser program. The user selects abit within a diagnostic word andpolls it. An LED can be driven inthis way, for example.

• Evaluation using PVIS expandeddiagnosticsThe bits of a diagnostic word canbe configured for PVIS expandeddiagnostics in the PNOZmultiConfigurator.A “Safety Device” diagnostic typeis assigned to an element. Itcontains the diagnostic word asan event message. An eventmessage including remedies(actions) is defined in thediagnostic type for each event, i.e.for every potential element status.The event messages and actionscan also be supplmented throughadditional information, which ishelpful during diagnostics(equipment identifier, locationdescription)The event messages can bedisplayed on the PMImicro diag,for example.

INFORMATIONDetailed information on PVISexpanded diagnostics can befound in the PNOZmultiConfigurator’s online help.

• Evaluation via the serialinterfaceThe diagnostic word is requestedvia the RS 232 interface on thebase unit, using the element’s ID.

INFORMATIONDetailed information can befound in Chapter 3 of thisconfiguration guide:“Diagnostic interface”

• Evaluation via a fieldbusThe diagnostic word is requestedvia a connected fieldbus module,via the element’s ID.

INFORMATIONDetailed information can befound in Chapter 2 of thisconfiguration guide:“Communication with fieldbusmodules”


Diagnostic wordOverview

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2006-116.2-2

Example

Safety gate with Element ID = 5:• Dual-channel• Manual reset• Start-up testEvaluation of the following bits:• Bit 2 = 1: Safety gate is ready for

reset. The reset button for manualreset must be operated

• Bit 8 = 1: Error in the test pulsewiring

Element withID = 1...100

Diagnosticwordfor

element withID = 1...100

e.g. selectBit 2

PNOZmulti ConfiguratorPNOZmulti ConfiguratorPNOZmulti ConfiguratorPNOZmulti ConfiguratorPNOZmulti Configurator

PNOZmulti base unitPNOZmulti base unitPNOZmulti base unitPNOZmulti base unitPNOZmulti base unit

RS 232

Read diagnostic word or display theevent messages and actions usingthe PMImicro for example

Downloadproject

Link bit withinthe userprogram, e.g. toan output

PNOZmulti fieldbus modulePNOZmulti fieldbus modulePNOZmulti fieldbus modulePNOZmulti fieldbus modulePNOZmulti fieldbus module

Read diagnostic word

Fieldbus

Element withID = 1...100

PVIS:e.g.Activate Bit2 and 3

Output

Bit 8

0000 0000 0000 00000000 0000 0000 00010000 0000 0000 00100000 0000 0000 01000000 0000 0000 10000000 0000 0001 00000000 0000 0010 00000000 0000 0100 00000000 0000 1000 00000000 0001 0000 00000000 0010 0000 00000000 0100 0000 00000000 1000 0000 00000001 0000 0000 00000010 0000 0000 00000100 0000 0000 00001000 0000 0000 0000

Enable issued

Safety gate was openedSafety gate is ready for resetFunction test must be performed

N/C contact failed to switch or switched too late

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.

Bit 2

Evaluate bit 2 of the diagnosticword logic element for ID =5 wi-thin the user program

Poll diagnostic word for ID = 5 viaRS 232

Poll diagnostic word for ID = 5 viafieldbus module

Display Bit 2 and 8 of the safetygate function element for ID = 5(e.g. PMImicro diag)

Safety gate function element with ID = 5Safety gate function element with ID = 5Safety gate function element with ID = 5Safety gate function element with ID = 5Safety gate function element with ID = 5

Element with status Diagnostic word element PVIS

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2006-116.3-1


Diagnostic wordCompilation of the diagnostic words

Status of the bits

In the following tables, the respectivebit =1 when the correspondingmessage applies. If no bit = 1, i.e.data word DW = 0, then no error ispresent.Exception: On some functionelements the status of the inputsignals is polled. The correspondingbit =1 without an error being present.

Function elements

• E-STOP• Safety gate• Safety gate with guard locking• Light curtain• Enable switch• Foot switch

How the inputs are counted:

Input 1Input 2Input 3Input 4

BitBit 1

Bit 2

Bit 3

Bit 5

Bit 8Bit 12Bit 13Bit 14Bit 15

MessageE-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 depres-sed.Foot switch:Foot switch must be operated.- E-STOP pushbutton- Safety gate- Light curtain- Enable switch- Foot switchis ready for reset.Function test must be performed.

N/C contact 1 or 2 failed to switch or switched too late.

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.

CommentThe safety device was triggered (E-STOP operated,safety gate opened,...)

Manual or monitored reset was configured. The resetbutton has not yet been operated.

A start-up test was configured, but has not yet beenrun.Simultaneity is monitored on many switch types.

Purely for information.Purely for information.Purely for information.Purely for information.

INFORMATIONIf you are using PVISexpanded diagnostics, you willreceive additional information(actions) on your display unitalongside the diagnostic word.Please also refer to theexplanations regardingelement configuration in thePNOZmulti Configurator’sonline help.



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2006-116.3-2

1.1

BitBit 2Bit 8

MessageInput S is ready to set.There is a 1 signal at input R.

CommentInput S is “0” after resetInput R =1

BitBit 2

Bit 3

MessageReset button is ready for reset.

Reset button is waiting for the input signal.

CommentInput signal is present, reset button can be operated.No input signal is present.

• Cascading input

Logic elements

• RS flip-flop

• Reset element

BitBit 8

MessageThe signal at the CI input is faulty.

CommentCI input is not connected to a CO output.

BitBit 1Bit 2

Bit 3

Bit 5

MessageSafety mat was activated.Safety mat is ready for reset.

Start-up test must be performed.Error caused by safety mat.

Comment

Manual reset has been configured. A reset is only possi-ble if the safety mat has not been activated.

A start-up test was configured, but has not yet beenrun.Open circuit, signal error, wiring error detected

DW/BitBit 1Bit 4Bit 5

Bit 8

MessageTwo-hand button must be operated.Pushbutton 1 or 2 was operated too late.Pushbutton 1 or 2 was not operated.

Error in the test pulse wiring.

CommentSwitches are in their start position.Simultaneity was exceeded.One of the pushbuttons was operated too late or wasnot operated at all. Or one of the pushbuttons was ope-rated and then released.

DW/BitBit 5

Bit 8

MessageThe input signals at the operating mode selector switchare faultyError in the test pulse wiring.

CommentNo input is “1”.

DW/BitBit 8

MessageThe signal at the CO output is faulty.

CommentFor example: Fault, short circuit at CO cascading output

• Safety mat

• Two-hand button

• Operating mode selector switch

Cascading

• Cascading output

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2006-116.3-3



• Speed monitors PNOZ ms1p, PNOZ ms2p

BitBit 2

Bit 3

Bit 8

MessageSpeed monitor is ready for reset.

Cannot monitor the speed because no speed has beenselected.

Selected speed was exceeded.

CommentManual or monitored reset was configured. The resetbutton has not yet been operated.With inputs n1 to n8, standstill or speed monitoring isinitialised by a “1” signal. Only one input may occupythe “1” signal status.The speed at one of the active inputs n1 to n8 has beenexceeded

• Speed monitors PNOZ ms1p, PNOZ ms2p with incremental encoderBit 2, 3 and 8 see speed monitors above

BitBit 9Bit 10

Bit 11

MessageNo signal from the incremental encoder.Different speeds have been measured for track A andtrack B.Cannot determine the direction of rotation.

Comment

The bit is set, if the speed differential exceeds theconfigured standstill frequency.The speed monitor has detected a different direction ofrotation 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

BitBit 12

Bit 13

MessageThe incremental encoder is signalling standstill and theproximity switch is signalling movement.The incremental encoder is signalling movement andthe proximity switch is signalling standstill.

CommentThe mechanical connection between incremental enco-der and shaft has been broken.

• Speed monitors PNOZ ms1p, PNOZ ms2p with proximity switchBit 2, 3 and 8 see speed monitors above

BitBit 9Bit 10

MessageNo signal from the proximity switches.The proximity switches are measuring different speeds.

Comment

The bit is set, if the speed differential exceeds theconfigured standstill frequency.

BitBit 10

Bit 14

MessageUnfeasible or single-channel signal from the incrementalencoder.Speed monitoring is deactivated.

Comment

• 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



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2006-116.3-4

1.1

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”) hasnot been triggered.Cannot switch on because the static enable (“EN1”) hasnot been triggered.Press was stopped because the static enable (“EN1”) ismissing.

Comment

Enable has not been triggered, input parameter MODE = 01/0 pulse edge at reset input parameterNo enable because start enable EN2 = 0

No enable because static enable EN1 = 0

No enable because static enable EN1 = 0 during opera-tion

• Press element: Set-up mode

BitBit 2Bit 8Bit 9

MessageRun monitoring is ready for reset.Start-up time was exceededShaft is broken

CommentApply 1/0 pulse edge at Reset input parameter.The set start-up time has elapsed.- The camshaft is no longer mechanically connected tothe shaft- Open circuit in the encoder circuit

• Press element: Run monitoring

• Press element: Rotary cam arrangement monitoring

BitBit 2Bit 8Bit 9

Bit 10

Bit 11

Bit 12

MessageMonitoring of the rotary cam arrangement is ready for reset.Overrun was exceeded.The run-up cam failed to switch off when the overruncam was switched off.The run-up cam failed to switch on when the overruncam was switched on.The overrun cam failed to switch off when the run-upcam was switched on.The overrun cam failed to switch on when the run-upcam was switched off.

Comment1/0 pulse edge at Reset input parameter

NL: Overrun cam, HL: Run-up camPlausibility error 1: NL = 1/0 pulse edge and HL = 1Plausibility 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

BitBit 3Bit 4

Bit 10

Bit 14

MessageNew speed must be accepted.Cannot monitor the speed because the selected speedhas not been configured.Unfeasible or single-channel signal from the incrementalencoderSpeed monitoring is deactivated

Comment

• 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

DW/BitDW = 0Bit 0Bit 2Bit 8

Bit 9

Bit 11

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2006-116.3-5




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 = 0Break mode is active, waiting for break1/0 pulse edge at Reset input parameter, wait for reset

DW/BitDW = 0Bit 1

Bit 2Bit 3

Bit 8

Bit 9

Bit 10

MessageEnable triggeredOptical safety device was triggered, although muting isinactive.Safety device is ready for reset.There is an object in the muting zone or the opticalsafety device is faulty.An object passed through the muting zone too slowly.

Error caused by muting sensor 1 and/or muting sensor2.Error caused by muting sensor 3 and/or muting sensor4.

Comment

Lght curtain interrupted (without active muting), resetsmuting after error or starts mutingWaiting for reset (reset)Sensor status unfeasable, override required

Muting time exceeded, only one sensor operated

Feasibility error, muting sensors 1 and 2

Feasibility error, muting sensors 3 and 4,not in the case of cross muting

• Press element: Automatic mode

• Press element: Light curtain

• Sequential muting, parallel muting, cross muting


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”) hasnot been triggered.Cannot switch on because the static enable (“EN1”) hasnot been triggered.Press was stopped because the static enable (“EN1”) ismissing.Cannot switch on because the stop button has beenoperated.

Comment



No enable because static enable EN1 = 0 during opera-tionNo enable because input parameter STOP = 0


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”) hasnot been triggered.Cannot switch on because the static enable (“EN1”) hasnot been triggered.Cannot switch on because the safety enable (“EN3”)has not been triggered.Press was stopped because the static enable (“EN1”) ismissing.Safety enable (“EN3“) is missing.

Comment



No enable because there is no safety enable EN3 = 0

No enable because static enable EN1 = 0 during opera-tionNo enable because safety enable EN3 = 0 during opera-tion

• Press element: Single stroke



2009-016.3-6

1.1

• Burner part 1

BitBit 2Bit 4Bit 5Bit 6Bit 7Bit 8Bit 9Bit 10Bit 11Bit 12Bit 13Bit 14

MessageBurner is ready for reset.Stop (Signal=1 during start-up test)Reset (Signal=1 during start-up test)Safety chain 1 broken (CHA1)Safety chain 2 broken (CHA2)Ignition and operation safety chain broken (CHI)Air pressure error (AIRP)Flame error, main flame (FLAM)Flame error, ignition flame (FLAI)Error during compound controller to pre-purge position (PUR)Error during compound controller to ignition position (IGNI)Tightness conroll error

Comment

• Burner part 2

BitBit 0Bit 1Bit 2Bit 3Bit 4Bit 5Bit 6Bit 7Bit 8Bit 9Bit 10Bit 11Bit 12Bit 13Bit 14Bit 15

MessageStep 0 enabledStep 1 enabledStep 2 enabledStep 3 enabledStep 4 enabledStep 5 enabledStep 6 enabledStep 7 enabledStep 8 enabledStep 9 enabledStep 10 enabledStep 11 enabledStep 12 enabledStep 13 enabledStep 14 enabledStep 15 enabled

Comment

• Burner part 3

BitBit 0Bit 1Bit 2Bit 3Bit 4Bit 5Bit 6Bit 7Bit 8Bit 9Bit 10Bit 11Bit 12Bit 13Bit 14Bit 15

MessageStep 16 enabledStep 17 enabledStep 18 enabledStep 19 enabledStep 20 enabledStep 21 enabledStep 22 enabledStep 23 enabledStep 24 enabledStep 25 enabledStep 26 enabledStep 27 enabledStep 28 enabledStep 29 enabledSafety lockout has been implementedFault lockout has been implemented

Comment

2006-116.3-7



BitBit 0Bit 2Bit 8

Bit 11

Bit 12

Bit 13

MessageValve is not being driven.Valve is ready for reset.Cannot switch on because, according to the feedbackloop, the valve is already switched on.When the valve was switched on, the feedback loopfailed to open or opened too late.When the valve was switched off, the feedback loopfailed to close or closed too late.Error caused by valve or feedback loop

Comment

Reset error messages on the reset inputStart attempt with feedback loop open

Power-up monitoring time TOn exceeded, feedbackloop did not open during TOnSwitch off monitoring time T0ff exceeded, feedbackloop did not close during TOffFeedback loop closes when the valve is driven

• Safety valve

DW/BitDW = 0Bit 8

MessageEnable triggeredFeedback loop monitoring is registering an error.

Comment

- When the output was switched on, the feedback loopwas not closed (= 1).- After the output was switched on the feedback loopwas not opened within 3 s (= 0).

Output elements

• Output elements with a feedback loop

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Pilz Ireland Industrial AutomationCork Business and Technology ParkModel Farm RoadCorkIrelandTelephone: +353 21 4346535Telefax: +353 21 4804994E-Mail: [email protected]

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