Motion Control PMC
Contents
1.2. 35 relay Outputs 38 TMU 47 P Pin assignments front VIO W ooccoocccoccconcncocnconnnoncnconnconnnnorocornnonnnonnnononos 25 A ee eee ete ar EE 24 Power supply ocooocccocccoccoccnoconccncnnnononanocnnnonnnonanonanonos 26 Prescribed use oocoocccoccccncoccconoconconocononnnnnnocanonnncnnnnannns 9 Protnbus DRESS cias 42 PERM je e 51 R RS232 IM OI ACO c oocccoccccncncoccconcnoncncnonconcnononcnnnnoncnnnrncnnnonnnnnos 30 Moden DE een 30 Dalene SN TE 31 S Safety InstructiONS oooncccccocococccnonocanonoconnnconanonnnnos 6 Scope of delivVery ooccccccoconocooconoconnnnonanonoconronononons 10 ORP m P 11 Installation manual PMCprimo 16 Index El S se 52 Status MESSAGES Lee en 52 SE 55 T Technical WA iia tedio 14 HEN PO 55 TYPE KO ride 5 Installation manual PMCprimo 16 U UlL contor manco ui celta cede be eds related ct 7 W WTI an 19 Page 57 PLE gt www In many countries we are www pilz com represented by our subsidiaries and sales partners gt Technical support Please refer to our Homepage 49 711 3409 444 for further details or contact our headquarters Pilz GmbH 4 Co KG Sichere Automation Felix Wankel StraBe 2 73760 Ostfildern Germany WP Telephone 49 711 3409 0 more than automation Am Telefax 449 711 3409 133 e E Mail pilz gmbhOpilz de safe automation 21 484 05 2007 02 Printed in Germany
3. O CAN CAN GND Relais contacts opened when failure 6 CAN GND connected internal with pin 3 CAN H 09 CAN V 12 V supply voltage X7 Encoder 1 Encoder 2 Encoder 3 CAN 1B Page 44 Installation manual PMCprimo 16 9 Interfaces 9 8 3 CAN bus cable The interface cable is a 1 1 connection 9 pole SUB D socket to 9 pole SUB D plug Characteristic impedance 120 Q e Cable capacitance max 60 nF km Lead resistance loop 159 8 Q km e Max cable length 70 m 1 to last node For EMC reasons the SUB D connector housing must fulfill the following conditions metal or metallized housingprovision for cable shielding connection in housing large area connection You have to terminate the first and the last node 120 9 8 4 Speciality 1 node The 1 node is supplied at CAN 1A X11 Pin 9 with 12V at Pin 3 CAN GND OV e Minimum power dissipation of the power supply unit 1 VA each node e An additional resistor 10 KQ 250 mW metall 1 between Pin 1 and Pin 4 is necessary 9 8 5 Speciality last node The last node needs a jumper bridge 0 2 at CAN In between Pin 4 and Pin 9 9 8 6 CAN cable and accessories CAN connection cable 1 1 700 mm 1803117 CAN feedlead 12 V 0802951 Termination 0802950 Power supply 12 V 4803002 9 8 7 Fault detection The following faults will be detected e Missing or defect 12V CAN power supply Malfunction of a bus node e Break of the
4. 9 4 2 Analog inputs Al1 and Al2 Both analog inputs of the PMCprimo 16 are auxiliary inputs They can be used e g for tension control The input voltage range is 10 V The current value of the analog input can be read with the command DA see PMCprimo programming manual Connector X3 Pin 142 and Pin 748 e All signals are referred to Al1 resp Al2 connector X3 Pin 2 resp Pin 8 e No galvanic isolation Input voltage range 10 V ref to Al1 AI2 Resolution 12 Bit 4096 voltage levels PMCprimo 16 PLC control 10V CNC GND CNC GND Al1 10 V 2 Al1 Reference Ground for Al1 1 7 Al2 10 V Al2 Reference Ground for Al2 o o o OJO O 00 OO 0000 00001000 00000 00 00100 OOo OO o o o o o o o o o o o o o o o o Installation manual PMCprimo We Page 37 Page 38 9 Interfaces Relay outputs The relay contacts NO and COM X3 Pin 5 6 and Pin 11 12 are used to derive an enable signal to the servo amplifier for channel 1 2 The contacts are closed when position control on channel 1 or 2 are active e g command PC A motor error opens the relay contact and sets the demand output signal to OV Maximum load Each contact 30V DC 1A PMCprimo 16 drive 1 PMCtendo DD4 relay output drive 2 PMCtendo DD4 relay output The red LEDs below the RJ45 plug X2 show the actual relay status LED on Contact closed pos
5. pe shield Pin Description 3 shielding 4 Sheldng 1 6 1 4 1 8 1 8 Page 29 Installation manual PMCprimo 16 9 Interfaces 9 2 Programming interfaces 9 2 1 RS 232 interface 9 2 1 1 General The programming of the PMCprimo 16 is done with the terminal PTerm on a Personal Computer PC or Laptop PTerm is part of the Motion Control Tools and can be found on the enclosed CD ROM Connect the RS232 interface X1 of the PMCprimo 16 via a normal core to a free serial interface COM1 or COM2 on the PC 9 2 1 2 Pin assignment cable View looking at the face of the built in SUB D connectors this corresponds to the solder side of the SUB D sockets on the cable PC PC X1 X1 SUB D 9 Pin ee eae ee Mr Buchse Item no 1802949 Buchse Buchse Buchse Standard With hardware handshake for baudrates gt 38400 Reference ground of the RS232 interface is GND no galvanic isolation Pin Description TxD Send data 6 RTS Hardware handshake for gt 38400 baud CTS Hardware handshake for gt 38400 baud PMCprimo 16 Page 30 Installation manual PMCprimo 16 o 9 Interfaces pilz 9 2 1 3 Connection via RS232 The following parameters are used standard 9600 Baud 8 data bits 1 stop bit No parity e XOn XOff software handshake With the command BD the communication rate can be changed see PMCprimo programming manual The hardware handshake
6. 5 European directives and standards rxranxrnnnnnnnnvnnnnvnnnnnnnnennnnnnnnnnnnnnnnnnennnnennnnnnnnunen 7 6 Abbreviations and SyMboOlS cooncconncionnciccncocacoocanennnnennnnonaronnnronnnrennnnrnarrnnnrnnnrrnnarenaanes 8 Le FEN 9 Tels ABOUTS NNN 9 Tes REGU RR m 9 7 3 Prescribed use Use as directed of the Control ccccooccncoccncncconcnnonononcnnnrononnncnnnnnnnnnos 9 7 4 Instrument description cooocccocnconncccnicocncnnnonncnnonnnonnnnnrnnnnnnnnnonnnnnnnnnnnrnnnrnnnnnnnnrnnnrnnnaninaninos 10 SETENE 10 PENN canso pales 10 7 4 3 The digital control PMCprimo 16 rrrnnnennnnnrenrnnrrrvnnnrennnnnrennnnrrnnrnnrernnnsrenrnnerennnsrsnnnnn 11 7 4 3 1 Performance data occcoccccconcccoccnccccnnconnnononnnonononnnnnnnnnnonnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnns 11 1 4 3 2 Fieldbus modules esee nennen nennen nnne nnn nna nnne nnns 11 pf wo XM gi Tm 11 7 4 8 4 Soft PLC CoDeSys option eene 11 AA culo RTT 11 7 4 3 6 Operation and programming ccccoocnncccncnncnnnnnnnnnnnnnnnnnnononcnnonnncnnnnnnnnnnnnrnnnnnnnnnnnnoos 11 rc MEE See o Tm 12 6 Be REIP ao 13 rer MENE Nr 14 7 7 1 Permissible ambient conditions ventilation mounting position 15 7 7 2 Conductor cross sections ccccccccesceceececensecceeeceececeucecsaeessueeeseueeseusessueessueeeseeesags 15 LA VEND 15 rre Groundi
7. 9 11 3 Example Profibus DP slave module After setting the slave address turn switches on Profibus module and termination DIP switch PMCprimo 16 can be powered on Following message appears when the module is recognized START Ser Nr 90 Version 1 006 May 9 2001 10 03 03 Operate Mode HOST NODE MOTION INSTALLED ETHERNET INSTALLED Proribus DP Module found Channel 0 1 found Channel 0 2 found Channel 0 3 found Channel 0 4 found In this example the bus variables B1 up to B4 are read and written 4 Words 8 Bytes at all The configuration of the PMCprimo 16 is done with the command CD DU dr cd Gult Actual configuration Operate Mode STANDALONE Actual IP address 10 10 180 101 Actual Netmask 255 0 0 0 Fieldbus In Out length 50 words Change Operating Mode Y N N Delete application data Y N N Change Ethernet Y N N Change Fieldbus configuration Y N Y New In Out length in words 50 4 Change Fieldbus configuration Y N N Dele Subsequent the Profibus DP Master hat to be configured to IN OUT 8 Byte 4 word The GSD file is named HMS 1003 gsd Page 48 Installation manual PMCprimo 16 9 Interfaces Example Profibus DP Master simulator Konfigurationseditor IN OUT 1 Byte E INVOUT 2 Byte 7 word INVOUT 4 Byte 2 ward IN OUT 8 Byte 4 word IN OUT 16 Byte 8 warc Eisen 3 INOUT 32 Byte 16 wor INVOUT 64 Byte 32 won INOUT 128 Byte 64 wo INPUT 1 Byte INPUT 2
8. CAN bus cable Installation manual PMCprimo 16 Page 45 Page 46 9 8 8 9 Interfaces Connecting external CANopen bus devices CAN 1 or CAN 2 It is possible to connect external CANopen devices with PMCprimo motion control systems With e g a CAN I O module you can increase the number of inputs and outputs in the system A CANopen encoder or CANopen panel can also be used Example for networking Up to 16 axes a Usage of standard servodrives with CAN open interface possible Hint The terminators 120 Q for CAN 1 and CAN 2 can be activated via DIP switches For this example the DIP switches 1 and 2 must be set to ON CN w Z Z q O O Mer The 12 V DC feed is not applicable by this kind of networking For the wiring of the CAN bus cables from our standard program see page 45 can be used Installation manual PMCprimo 16 9 Interfaces Compact Flash interface With the Compact Flash interface an easy data exchange with other systems is possible Standard CompactFlash cards type Il can be used You can receive further technical informations in the file Tl CF CARD GB 001 pdf on the CD ROM X1 X8 X14 RS232 MODBUS R 422 C Flash X2 Ethernet 9 10 Virtual inputs and outputs In addition to the real digital inputs and outputs there are 8 virtual inputs and 8 virtual outputs on each PMCprimo 16 system The virtual inputs and outputs don t have any terminals But all inp
9. Modbus or Profibus DP small C I ompact 5 Flash pa I Module e I 3x SSI or Incr Encoder Fast Ethernet Soft SPS IEC 61131 PMI operators panel PMCprimo 16 16 Inputs 16 Outputs electronic Cam switching device 2 x 10VDC 2 sockets for bus systems to Servodrive Profibus DPMaster DP V2 DPSlave DeviceNet AM open Firewire 2 x CANopen CAN 1 0 Expansion CAN Encoder PMCprimo 16 networked up to 16 axes up to 16 axes Installation manual PMCprimo ae 7 General T T Technical data PMCprimo 16 Rated data o Power supply CAN mea Oo N Resolution oltage range ref to GND Input resistance N N i o Digital inputs X5 Reference inputs X5 Pin 1 4 EM low 0 11 high 11 24 nputs X5 Pin 5 16 Ka low 0 11 high 11 24 Encoder inputs X7 X9 X10 input resistance ransfer rate max ulse width Z track incremental encoder ns lt lt requency SSl Clock 100 300 Signal level V 5 TTL Supply current 4V CPU 4 V I O each inputs no load upply current encoder 3 3 3 gt gt gt 2V supply CAN each node Connections I ower supply X4 nalog I O X3 igital 1 O X5 X6 thernet X2 RS232 X1 CAN Out X11 MODBUS X8 encoders X7 X9 X10 AN In X12 j Combicon 5 08 6 pole 2 5mm Combicon 5 08 8 pole 2 5mm Combicon 5 08 4 pole
10. Slot 1 With activated Profibus DP IC the Modbus is without function Installation manual PMCprimo 16 Page 5 Page 6 4 Safety instructions Safety instructions Electronic devices are not totally fail safe Only properly qualified personnel are permitted to perform activities such as transport installation commissioning and maintenance Properly qualified persons are those who are familiar with the transport assembly installation commissioning and operation of the product and who have the appropriate qualifications for their job The qualified personnel must know and observe IEC 364 and CENELEC HD 384 or DIN VDE 0100 IEC Report 664 or DIN VDE 0110 National Accident Prevention Regulations or BGV A2 Read this documentation before carrying out installation and commissioning Incorrect handling of the control system can lead to personal injury or material damage It is vital that you keep to the technical data and information on connection requirements on the nameplate and in the documentation The control contains electrostatically sensitive components which may be damaged by incorrect handling Discharge your body before touching the control Avoid contact with highly insulating materials artifical fabrics plastic film etc Place the control on a conductive surface Keep all covers and switchgear cabinet doors closed during operation Otherwise there are deadly hazards with the possibility of severe danger to health or
11. VMO check values for FS and NB connect encoder on the right channel connect 24 V power supply watch power dissipation redefine output with UO command remove short circuit min voltage HIGH 18 V remove circuit enable input with El command connect ground change control word CW check wiring set parameters to default motor is moving counting direction and sign of demand change control word CW in wrong direction signal reversed Installation manual PMCprimo 16 11 Appendix 11 3 Transport storage maintenance disposal Transport only by qualified personnel only in the manufacturer s original recyclable packaging avoid shocks Temperature 25 70 C max 20K hour rate of change Humidity max 95 relative humidity no condensation The PMCprimo 16 contain electrostatically sensitive components which can be damaged by incorrect handling Discharge yourself before touching the control Avoid contact with highly insulating materials artificial fabrics plastic films etc Place the PMCprimo 16 on a conductive surface if the packaging is damaged check the unit for visible damage In this case inform the shipper and the manufacturer Maintenance the instruments do not require any maintenance opening the enclosure invalidates the warranty Cleaning ifthe casing is dirty clean with Isopropanol or simil
12. on CD ROM X14 CompactFlash Card page 47 X15 CAN open page 46 Note The description of the 7 segment display can be found starting from page 51 The description of the LED s can be found on page 33 and 38 Installation manual PMCprimo 16400000 Page23 8 Installation Pin assignments top view 8 3 4 X11 X15 CAN 2 N X LL D D O O ca LLI C Z lt L O G ON Sep y AND NYI TNYO c J10113 NYO I S y OINO NVO TNVO c L M19 V 4 Hawaa vu zZ XI 09A r UUIYIS S 6 A NYD 8 A HNVO 9 H NVO om oa 9 915 Y Z CvV1VO g 8 9 u Z 6 PY AND X12 CAN 1B X10 Encoder 3 O X CN LL D D O o C LLI JOHA NVO TNVO c QNO NVO WOO SI p G 4419 Y 4 VLVd 8 z 2u 7 XJ DOA F uus G 919 Y 4 v1vO 8 Z vu zZ XJ ODA r UUIYDS S 555 O EJ 9 HNVO 8 6 A NVI 9 4110 V EVLVO Y g ou Z 6 1X3 AND 9 170 V CvV1VO g g 9 u Z 6 1X3 AND Installation manual PMCprimo 16 Page 24 8 Installation 8 3 5 Pin assignments front view X1 X8 X14 RS232 MODBUS RS422 Profibus DP S small C Flash GND 5 GND DP GND 5 4 4 9 TxD 3 RxD DP 3 8 RxD DP RxD 2 TxD 2 7 TxD 1 1 6 SV X2 Ethernet 8 7 RxD 6 E RxD 3 TxD 2 TxD 1 Ali 1 1 o 7 Al2 AM 2 8 A2 AO1 3 jo X3 of 9 AC2 GN
13. 00 YA 0000 ecco KI X10 X12 Encoder 2 Encoder 3 CAN 1B Installation manual PMCprimo We Pagey Page 42 9 7 2 9 Interfaces Bus interface MODBUS Profibus DP S small General As a comfortable way to set parameters the PMCprimo 16 offers a MODBUS interface X8 You can directly connect our MODBUS panels e g PMI 315 In networked systems CAN the panel has to be connected to the host system Only the host s MODBUS interface is active in this mode The PMCprimo 16 is equipped alternativ with MODBUS or Profibus DP S small The connection is done always by the connector X8 When using the option Profibus DP S the MODBUS is out of service Interface The communication uses a 5 core cable RS422 full duplex The communication parameters are 9600 Baud 8N1 no handshake With the command BM the baud rate can be changed see PMCprimo programming manual PMCprimo 16 MODBUS panel e g PMI 315 RS422 GND Pi Description OSS Rd receive data inverted X1 X8 X14 RS232 MODBUS R 8422 C Flash Q X2 Ethernet m Installation manual PMCprimo 16 9 Interfaces 9 7 3 Bus interface Profibus DP S small The setting for the Profibus parameters can be done with the CD command see PMCprimo programming manual With the DIP switches 3 and 4 the Profibus termination can be set To activate the termination both DIP switches must set to ON CN Z l
14. 2 9 7 2 Interface NENNT 42 9 7 3 Bus interface Profibus DP S small ooocccconncnccccncncconcnnononnnnonoronononcnnnnncncnnnncnnnnns 43 9 7 4 Using the MODBUS Profibus interface with PMCpriMO cooccccoccccccccncoccnccncninoncnos 43 9 8 A a 44 9 8 1 CA 44 9 8 2 Linking PMCprimo motion control systems CAN 1 oooooccccccoccnconocononcncnnononcnnonanonnnnos 44 963 FANN 45 9 8 4 FT Mia 45 96 5 Specialty last NOUS Wa 45 9 8 6 CAN cable and accessories occccconccncccoccncconcnnononononnnnononnncnnononnnnnnnrnnnnnnrnnnnnnrnrnnaninnnnos 45 GT Fault GTS cid eli 45 9 8 8 Connecting external CANopen bus devices CAN 1 or CAN 2 00occccccoccccccoccononononnnnos 46 9 9 Compact Flash interface cccccccccssscccssceceseeceseeeceeeceuceceueeecaeeecsuceseueeseueeeseneessueeseueeess 47 9 10 Virtual inputs and outputs cccoccccccccocncoccccncncocnconcnnncnnonnnonnonncnnnnnnnnnnnnrnnnnnnnnnnnnrnnnnnnnnnenaninos 47 gaia SIMS re ee ne ae ee ee ee 47 9 10 2 Application example ooccooccoccncconccocnoccnoconocncnnnononononnnnnnnnononnnnnnnnnnonanonannnnnnenaninaninos 47 9 11 Fieldbus interface une ries 48 ML EN 48 9 11 2 Using the fieldbus with PMCprimo rrrrnnnnnnrenrnnnrnnnnnnennnnnrennnnnrennnnnernnnsrenrnnrennnseennnnn 48 9 11 3 Example Profibus DP slave module ooccccoccccoccnccccnccoccnconcncnncncnncnnnnnnnnnncncnannnnns 48 10 COMMISSIONING ivonne ic knes 50 101 ME E DRE
15. 2 5mm RJ45 plug 10 Base T U SUB D 9pole plug SUB D 9pole socket SUB D 9pole socket Weight eigth without connectors Width epth without connectors SIS S gt 3 23 3 Page 14 Installation manual PMCprimo 16 7 General 7 7 1 7 7 2 1 7 3 7 7 4 Permissible ambient conditions ventilation mounting position AA PMCprimo 16 Storage temperature humidity 25 55 C max 20K hour rate of change duration rel humidity max 95 no condensation page 55 Supply voltage tolerances Supply voltage CPU 24 V DC 10 15 Supply voltage I O 24 V DC 10 15 Supply voltage encoder see datasheet with 5 V supply 0 Supply voltage CAN 12 V DC 0 15 for long cables check voltage drop Ambient temperature in operation Humidity in operation Pollution level Enclosure protection Overvoltage category i Max positioning level Mounting position Make sure that there is sufficient forced ventilation within the switchgear cabinet Conductor cross sections We recommend for PMCprimo 16 10x0 14 mm twisted pairs shielded capacitance lt 120pF m Analog in and outputs 0 25 mm twisted pairs shielded Digital VO Serial I O RS232 MODBUS CAN 6x0 14 mm shielded Power supply ground max 2 5 mm check voltage drop LED Display A four character LED display shows the current status of each channel gt page 51 after system power on Each error will be indic
16. 50 VET MESSI xi evobist s ridi tb Nux ie i rir EN nEn Eri EE EI EEE EIEEE EATE E ESE EIEEE EDE Ga rau 51 URN Emor COUS sr E Ea aa aE 51 10 1 3 Error numbers on LED disSplay ooccccoccccoccnconcnnoncncnnncnnoncncnncnnoncnnnncnnonannnnnnononcnnnns 51 10 2 Status messages ssssssssssssssssssseee nennen nennen nennen nnn enhn enar nns na nnns nnne nnne rn nnne nnns 52 V SA T T TEN 52 10 2 2 Status codes on LED diSplaY oooccccooccccononcnccnoconononcnnononononnnnononnaronononcnnonarinnnnnens 52 PPP EE EK EEEE 53 11 1 Replacement of the buffer battery oocccccoccococonnncccoconoconcnnonononconanonononcnnononnnconananonnns 53 112 EON 54 11 3 Transport storage Maintenance dISPOSAI cooocccccncocnconnococncocncnnnnoncnoncnonanonaronnnnnonnnnnss 55 O AAA Po O o E E A A 56 Installation manual PMCprimo 16 3 Type key 3 pilz Type key The nameplate depict below describes the various configurations of the PMCprimo 16 Moped Type Supply voltage Order number PMCprimo 16 00 24 VDC oT Profibus DP S Small 1 r EI ICAN2 jo E E DeviceNet BH ese DeviceNer fm Simmes 11 M S2mebu s BH ObModbuPus ML OSWoduPus BHL Pr bu DPiS Sprouse I HILL Profbusoem I I Profbusoem I I Bus System Standard Ethernet 2x CANopen Modbus Hardware Standard Compactflash
17. 51 Ethernet connecting PTerm rnnnvnnnnnnvnnnvnnunennnnennnnnenvnnnennene 33 WC ACE Le 32 IP address oncaran esa PUISSE DULL U 33 LED oes cda iaa 33 Example of use c ooccccocccoccccocncocnconcnoncnconnnoncnononcnnnnnnnnnns 13 F A 54 G Grounding system rrrrnrnnnrrnrnnrrnrnnnrennnnrrnnnnsrennnnsnen 15 Inputs analog RNV 37 Aa 34 Page 56 12 Index VI COGS ii Ne icu E US 39 MU 47 OST arta 16 important instructions ccoocccccncccncncncnncnconnconnnnnos 16 Instrument description oocccocccoccccccncncncocncnaninncononoss 10 Interfaces 24V supply digital I O 28 absolute encoder essere 41 analog AAA A pud cde R TU ad std 37 analog OUIDUS aia uni xS Ea ME dax cud ed dm dud 36 CAN DOS e S 44 digital Bajos b aiii 34 digital Boll io b i r 35 Ethernet interface cooocccocncoccnconnnconncocnconnnoncncnonos 32 fieldbus interface 48 incremental encodeT ww wwmamanwwnwwanwanwana 40 MODE Un 42 mers 48 relay outputs ccooocccoccncononccnononcnnononancnnannnnanononaness 38 RS232 Intel Td Buone dere dive bebe Ea Us en dunt UP Er Ead 30 Shieldi eet 29 Pals 33 L LED display necia 15 51 52 M MODBUS VDS 48 Ace RE EE EEE EN 42 O Outputs NA 36 e PT
18. Byte 1 ward Ru roc After starting the Profibus communication the red LED goes out and the green LED indicates a successful initialisation Now bus variables can be set or read Example Setting the bus variable B1 to value 100 0x0064 a Kommunikator oo000000 01100100 00000000 0000000 0000000 oo000000 oo000000 oo000000 1 OG 00000000 i 2 64 01100100 d 3 00000000 4 00000000 5 00000000 6 00000000 7 00000000 8 00000000 po cu mo em m ns n 0 1 B1 100 0x00000064 If bus variables are defined as trigger variables see PMCprimo programming manual a program can be executed when the variable is updated Installation manual PMCprimo 160 2 Page4g 10 Commissioning 10 Commissioning 10 1 Important notes Only professional personnel with extensive knowledge in the fields of electrical AN drive technology are allowed to commission the control The procedure for commissioning is described as an example Depending on the application a different procedure may be sensible or necessary The following instructions should help you to carry out the commissioning in a sensible order without any hazards to people or machinery Check installation l Disconnect the control from power supply Power on the PC Connect PC and control with serial cable page 30 or Ethernet starte PTERM cable page 32 and connect to the control Switch on the 24 V Switch on 24V CPU 24V I O e
19. D 4 Analog I O o 10 GND NO1 5 o o 11 NC2 COM1 6 Jo o 12 cov2 24V CPU 1 o o 5 VCC Enc GND 2 lo XA o 6 DGND shield 3 o Power Supply of 7 24V I 0 shield 4 0 o 8 DGND 1 1 1 o of 9 121 1 2 2 o o 10 12 2 1 3 3 o o 11 12 3 1 4 4 o X5 o 1212 1 5 5 Digital In o 13 12 5 1 66 o 14 12 6 1 7 7 e o 15 12 7 1 3 8 o 16 12 8 01 1 1 1 e o 021 01 2 2 i 10 O22 01 3 3 11 02 3 01 44 X6 12 02 4 015 5 Digital Out 13 025 ote 6 14 02 6 01 7 7 15 02 7 01 8 8 16 02 8 Installation manualPMCprimo16 C a Page25 9 Interfaces 9 Interfaces All important interfaces of the PMCprimo 16 are shown in this chapter The precise location of the connectors and terminals can be seen on page 24 and page 25 9 1 Power supply 9 1 1 CPU power supply 24V Connector X4 Pin 1 2 Power supply for CPU and intergrated peripherals e Supply from an external 24V DC power supply e Required current rating ca 0 7 A see page 14 e Reference ground is GND analog GND e External fuse protection by the user Integrated EMC filters See important notes to commissioning see page 50 PMCprimo 16 power supply 24 V DC Pi Description 24 V 0 7 A DC O V analog ground Page 26 Installation manual PMCprimo 16 9 Interfaces 9 1 2 Encoder power supply e Connector X4 Pin 5 6 e Common power supply for all connected encoders e V
20. and below the control gt page 18 Assemble the control and power supply close together on the conductive earthed mounting plate in the cabinet Assembly Cable selection Select cables according to EN 60204 gt page 15 EMC compliant shielding and grounding gt page 21 Earth the mounting plate motor housing and CNC GND of the controls Grounding shielding Route power leads and control cables separately Wiring Wire the relay contacts in series into the safety loop of the installation Connect the digital control inputs to the control Connect DGND Connect analog signals Connect encoders Connect 24 V I O and encoder supply for max permissible voltage values gt page 14 Connect 24 V CPU supply for max permissible voltage values gt page 14 Connect PC RS232 Ethernet gt page 30 Final check Final check of the implementation of the wiring according to the wiring diagamms which have been used Page 20 Installation manual PMCprimo 16 8 Installation 8 3 1 Connection diagram motors and encoders PMCprimo 16 control PMCtendo DD4 10V ref to CNC GND CNC GND connector 6 pole connector 6 pole X4 X4 shielding shielding conn 4 pole conn 4 pole MOTOR PMCtendo AC Encoder SSI Incr SUB D 9 pole ground wire connection Screw conn 2 pole supply encoder PE connection
21. and servo amplifiers which is intended to eliminate the risk of fire being caused by such equipment UL 840 UL 840 describes the fulfillment by design of air and insulation creepage spacings for electrical equipment and printed circuit boards Note Based on the guideline 94 9 EC ATEX guideline this product is not suitable for the application in potential explosive areas without evaluation of the conformity Installation manual PMCprimo 16 Page 7 Page 8 6 Abbreviations and symbols Abbreviations and symbols The abbreviations used in this manual are explained in the table below CAN Controller area network network system CAN GND Ground CAN bus CE Communit Europeenne COM CNC GND DGND Deutsches Institut fur Normung EMC EN Electrostatic discharge D MODBUS RS232 G m N RS422 RJ 45 SPS SSI L s U VAC VDC VDE Verein deutscher Elektrotechniker danger to personnel from electricity and its effects gerneral warning mechanical hazard ida AV general instructions see page cross reference special emphasis i jo Mm e D Installation manual PMCprimo 16 7 General 7 1 7 2 1 3 General About this manual This manual describes the digital contol system PMCprimo 16 Here you can find information about e Technical data from page 14 e Assembly and installation from page 16 e Interfaces from page 26 e Commissioning from page 48 e Error dia
22. ar cleaning agent do not immerse or spray dirt inside the unit must be cleaned by the manufacturer Disposal the PMCprimo 16 can be reduced to its principal components by removing the screws steel housing electronic boards disposal should be carried out by a certified disposal company Installation manual PMCprimo ae 12 Index A Abbreviations ccccececcccececececcacececececeneaeecenentaeaeenenes 8 ACCESO NOS socorro concede 10 Appendix Ge 53 Assembly inside switch cabinet 18 B Block diagram aa 12 C CAN DUS cable w ww wamwwanwwanwwnwwanwwanwwa 45 ATT ener nnns 44 capacita RR RR RE 45 a A 46 fault deteccion dead 45 I O MOUIEC 0 ccccececececececececucecececacecucecececenecenes 46 IMPOCANCE ccccccceeeccececeeeceeeceueeceeeceuseeaeeseeesanss 45 max cable length oooccccoccnccconnccncnccncncnnanonnas 45 CAN cable and accessories w w 45 ce conformance ccccccececececececececececececececenenenenenene 7 OL 0 DIER VE 11 Ge ga G EE 50 Conductor CroSS SEeCtioONS w w w wamamwamana 15 A Oy e 2 D DIMENSIONS RCM 17 B eaa c REND 55 E Encoder absolute NC ur een 41 incremental encoder eee 40 signal level oooocoooccocccccncccnnncncnncnnnncnnnnncnconcnonnnnnonoss 39 ode AA 51 Error MESSAGES ia
23. ated with an error number gt page 50 Grounding system GND Ground for analog in outputs RS232 MODBUS internal voltages CPU LES Ground for digital in outputs 24 V 1 0 encoder signals CAN optically and inductively isolated The potential isolation is shown in the block diagram page 12 Installation manual PMCprimo ae 8 1 Page 16 8 Installation Installation Important instructions Read this instructions manual carefully Check the components supplied do they match those ordered Protect the control from impermissible stresses In particular do not let any components become bent or any insulation distances altered during transport and handling Avoid contact with electronic components and contacts The external fusing of the 24 V supply and the encoder supply is installed by the user Take care that the control is earthed properly Do not use painted non conductive mounting plates Route power and control cables separately We recommend a separation of at least 20 cm This improves the interference immunity required by EMC regulations Install all shielding with large areas low impedance with metallized connector housings or shield connection clamps where possible Ensure that there is an adequate flow of cool filtered air into the bottom of the switchgear cabinet See page 14 The programming has to be done by qualified personnel only Caution Never disconnect the electrical connect
24. cabinet is safely disconnected with a lock out warning signs etc The individual voltages will be switched on for the first time during commissioning Note The ground symbol 1 which you will find in all the wiring diagrams indicates that you must take care to provide an electrically conductive connection with the largest possible area between the unit indicated and the mounting plate in the switchgear cabinet This connection is for the effective grounding of HF interference and must not be confused with the PE symbol D a protective measure to EN 60204 Use the following connection diagrams Power supply page 26 Shielding page 44 Digital signals page 28 Analog signal page 36 Relay page 44 Encoders page 39 MODBUS Profibus small interface page 41 CAN bus interface page 44 RS232 interface page 44 Ethernet interface page 44 Fieldbus interface page 48 Installation manual PMCprimo 16 Page 19 8 Installation The following notes should assist you to carry out the installation in a sensible sequence without overlooking anything important In a closed switchgear cabinet Observe technical data Site on page 14 The site must be free from conductive or corrosive materials For the mounting position in the cabinet gt page 18 _ Check that the ventilation of the control is unimpeded and Ventilation keep within the permitted ambient temperature Ventilation gt page 14 Keep the required space clear above
25. can additionally activated with the CD command With this transmittals up to 115200 baud are possible Set these parameters with PTerm see PTerm programming manual New Connection Serial Port 20 Connect to After clicking on Connect the connection will be made and programming can be started Installation manual PMCprimo 164 WW Page31 9 Interfaces 9 2 2 Ethernet interface 9 2 2 1 General As a fast alternative to slow RS232 transmission PMCprimo 16 provides an Ethernet interface RJ 45 plug X2 With the terminal PTerm the control can be programmed with a data rate of 100 MBit s The PMCprimo 16 can easily be integrated in an existing Ethernet network 9 2 2 2 Interface PMCprimo 16 EE M 1 1 Twisted pair cabel 2 lt Note 33 To connect a PC via Ethernet a cross linked cable crossover is needed The depicted cable is only for use with a HUB Page 32 Installation manual PMCprimo 16 9 9 Interfaces D Iz The two LEDs above the RJ45 plug indicate the actual status of the Ethernet transmission X2 RJ45 00090 L LINKLED LANLED Yellow LED LANLED Transmit receive data Green LED LINKLED Connection to HUB PC OK 9 2 2 3 Setting the IP address To communicate with the PMCprimo 16 via Ethernet the IP address of the control has to be set This will be done with the command CD see PMCprimo programming manual Jude Go Os Ls Actual co
26. e PC Motor off mode MO 1 Nelocity control mode VO Executing a position mapping XM 5 Stopping under normal deceleration ST OT O 9 OA 0 4 7 Torque control mode AM XM Waiting WA WB Wi ete A Alignment move XM Software clutch XM ST Status codes on LED display Example of a status code Channel 1 Position control mode Channel 2 Executing a position mapping Channel 3 Executing a position mapping ap Channel 4 Executing a position mapping Channel 5 Motor off mode Channel 6 Motor off mode Channel 7 Executing a position mapping ESR Channel 8 Executing a position mapping Installation manual PMCprimo 16 11 Appendix 11 Appendix 11 1 Replacement of the buffer battery The buffer battery must be replaced when the display shows the message BATT With present 24 V supply voltage the buffer content remains Type of battery CR2032 Procedure 1 Connect the 24 V CPU supply voltage connector X4 pin 1 2 2 Open the case 4 screws M3 3 Change the battery regard polarity 4 Close the case 5 Checkup the display message BATT expires and shows the actual status of the controller ESD ESD electrostatic discharge ESDS electrostatic sensitive devices Motion control units contain electrostatic sensitive devices which will be damaged by electrostatic discharge Therefore servicing shall only be performed in ESD safe a
27. e supply of controls within the European Community The controls of the PMCprimo motion control series have been tested by an authorized testing laboratory in a defined configuration with the system components which are described in this documentation Any divergence from the configuration and installation described in this documentation means that you will be responsible for the performance of new measurements to ensure that the regulatory requirements are met e UL and cUL conformance I quarter 2004 UL cUL certified controls Underwriters Laboratories Inc fulfil the relevant U S and Canadian standard in this case UL 840 and UL 508C This standard describes the fulfillment by design of minimum requirements for electrically operated power conversion equipment such as frequency converters and servo amplifiers which is intended to eliminate the risk of fire electric shock or injury to persons being caused by such equipment The technical conformance with the U S and Canadian standard is determined by an independent UL cUL fire inspector through the type testing and regular check ups Apart from the notes on installation and safety in the documentation the customer does not have to observe any other points in direct connection with the UL cUL certification of the equipment UL 508C UL 508C describes the fulfillment by design of minimum requirements for electrically operated power conversion equipment such as frequency converters
28. ectrically isolated EN 61131 2 e 16 digital outputs 24 V short circuit protected and electrically isolated EN 61131 2 2 analog outputs with 10 V range demand signals 2 analog inputs with 10 V input range 7 4 3 4 Soft PLC CoDeSys option e Soft PLC CoDeSys 3S company Fully PLC functionality specified in IEC 61131 3 e PLC and PMCprimo combined in one system Programming system according to IEC 61131 3 7 4 3 5 Power supply 24 V power supply for CPU and peripheral 24 V power supply I O e Common power supply for all encoders 7 4 3 6 Operation and programming Comfortable programming with the software package Motion Control Tools Fully programmable with any ASCII Terminal Installation manual PMCprimo we Paget 2 9 Page 12 X4 Block diagram Overview All I O signals X12 CAN X11 et 5 GND Profi X8 MODBUS RS232 X1 PC GND x2 cae fast inputs 11 1 11 4 PK E GND 12 8 HK X5 Digital Out X6 O2 8 DGND X4 inavyo EMV GND CPU ND GND GND GND e HH 7 General Analog Out 1 2 EN X3 Relais Encoder Encoder X7 X9 Encoder Master Encoder X10 VCC Encoder DEND X4 T Analog In 142 X3 Compact Flash X14 Fieldbus 1 m Fieldbus 1 GND _ 13 Option Fieldbus 2 a Fieldbus 2 GND Installation manual PMCprimo 16 7 General O pilz 7 6 Example of use PMCprimo 16 Basic configuration
29. esages 30 92 FE NE 30 AA E EL 30 9 2 1 2 Pin assignment Cable carioca 30 9 2 1 3 Connection via RS232 oooonccconcicoccnccccnncoonnconnnononnnnonnnnnnnnonnnnnnnnnnonnnnnnnnnnnnnnnnoncns 31 92 2 o E QE NEN 32 gel MUT er ee eee eee errr ae 32 Installation manual PMCprimo 16 Page 3 Page 4 2 Table of contents 9 2 2 2 MM EN NS NN ne ee ee 32 9 2 2 3 Setting the IP AUUressS ooccccoooncccccocococononconononononcnconononcnnnconononcnnononnnonnnrnnononens 33 9 3 o AAA mo OI US Oo OO 34 9 3 1 Digital inputs 11 1 128 ui id 34 9 3 2 Digital outputs 01 1 O2 8 rrorrrvrrnnrrvvnnnrrevrnnrrenrnnrrrvrnsrennnnsrennnnerenrnsrernnnerenrnnsrenrnsennnnn 35 EMEN eee eI e ia 36 9 4 1 Analog outputs AO1 and AO2 rrrrnnnnnnnnnnennnnerennnnrrnnnnnrennnnsrennnnerennnnnennnnsnennnnsrennnssennnn 36 9 4 2 Analog inputs All and AI2 esreronrrnnnrrrrnnrnrnnrernnrennnnrnrnnrnrnsrennnrrnnnrennnrnnnerennnrennneennnssenne 37 S Roto imm 38 PN eT T P 39 9 6 1 Incremental 6NCOod r RN T 40 9 6 2 Absolute encoder SSI oocooonnccccocnncccocococonnncononononnnconoconcnnononnnnnnaronononrnnorannncnnnnnnnnnns 41 9 7 Bus interface MODBUS Profibus DP S small oooccccconccncccccnncnoccncnnonononnncnnnnononnos 42 9 7 1 General m rrrnrarrerarnrnnnrennarrnransrnnnnnnnnnennansnnansennnnennnnennanennnnsennnnennanennnnennnnennunennansennn 4
30. gnostics from page 50 The programming of the PMCprimo motion control systems is described explicitely in the PMCprimo programming manuals e for standard programming PMCprimo programming manual e for IEC 61131 3 programming by CoDeSys user manual for PMCprimo SoftPLC Useful hints about linking controls and CANopen devices via CAN bus can be found in the manual PMCprimo CAN network Both manuals are part on the CD ROM Motion Control Tools Requirements This manual makes the following demands on qualified personnel Transport only by personnel with knowledge in handling electrostatically sensitive components Installation only by electrically qualified personnel Commissioning only by personnel with extensive knowledge of electrical engineering technology Prescribed use Use as directed of the control The controls are components which are built into electrical equipment or machines and can only be commissioned as integral components of such equipment The controls may only be operated in a closed switchgear cabinet taking into account the ambient conditions defined on page 15 Installation manual PMCprimo 16 Page 9 7 4 Page 10 7 4 1 7 4 2 7 General Instrument description Scope of delivery When you order a PMCprimo 16 from us you will receive PMCprimo 16 Mating connectors X3 X4 X5 X6 Installation manual Software package CD ROM Motion Control Tools PMCprimo programmi
31. ically isolated and short circuit protected Connector X6 Pin 1 16 Reference ground is DGND Digital GND connector X4 Pin 6 8 High Side outputs 24V 0 1 A each output Actual output status is indicated through red LEDs PMCprimo 16 control PLC Digital 1 24V O O ref to DGND 24V O Q Digital 2 Digital 3 Digital 4 Digital 5 Digital 6 Digital 7 Digital 8 l O GND Digital 9 Digital 10 Digital 11 Digital 12 Digital 13 Digital 14 Digital 15 Digital 16 Installation manual PMCprimo ae Page 36 Analog signals Analog outputs AO1 and AO2 9 Interfaces Both analog outputs of the PMCprimo 16 are normally used as demand outputs for the connected servo amplifiers e g Pilz PMCtendo DD4 The demand output signals have a voltage range of 10 V The analog outputs can be configured as auxiliary outputs With the commands SF and AO see PMCprimo programming manual you can monitor several signals e g demand position error e Connector X3 Pin 349 e Reference ground is GND analog GND connector X3 Pin 4 10 No galvanic isolation e Voltage range 10 V e Resolution 12 Bit 4096 voltage levels PMCprimo 16 AO1 10 V AO2 10 V Pm 9 aoa drive 1 PMCtendo DD4 setpoint setpoint PMCtendo DD4 setpoint setpoint Installation manual PMCprimo 16 9 Interfaces
32. ions to the control while it is live In un favourable circumstances this could result in destruction of the electronics Installation manual PMCprimo 16 8 Installation 8 2 Assembly 8 2 1 Dimensions e Dimension of the PMCprimo 16 housing HxWxD 317 x 64 x 185 mm e Distance of mounting holes 300 mm Diameter mounting holes 8 mm coUa CO ui E 317 All dimensions in mm Installation manual PMCprimo 16 Page 17 Page 18 8 2 2 Assembly inside switch cabinet Material 2 hexagon socket screws DIN 912 M5 Tool required 4 mm Allen key PMCprimo 16 PMCprimo 16 PMCprimo PMCprimo PMCprimo Drive Drive Drive Sz 1 sz 1 SZ 1 cable duct gt 230 cabinet door mounting panel 185 with connector 225 screw for hex key DIN 91 PMCprimo 16 conductive zinc coated 8 Installation min 2 5 ya SS amp Installation manual PMCprimo 16 8 Installation 8 3 A Wiring Only professional staff who are qualified in electrical engineering are allowed to install the control The installation procedure is described as an example A different procedure may be sensible or necessary depending on the application of the equipment Caution Only install and wire up the equipment when it is not live e when neither the mains power supply nor the 24 V auxiliary voltage nor the operating voltages of any other connected equipment is switched on Take care that the
33. ition control active LED off Contact open motor off state I RJ45 Pi Description 5 NO1 Normal open 1 9000 r 11 NO2 Normal open 2 channel 1 COM2 shared contact oo 00000010 o oo ooo ojo ao ojoo OO 00 Oo o o o o o o o o o O o o o o o o o o o o o o o o o Installation manual PMCprimo 16 9 Interfaces 9 6 gt D Encoder inputs The PMCprimo 16 is designed for use with up to three incremental or SSI encoders X7 X9 and X10 The encoder type can easily be changed with the FS command With SSI encoders the number of data bits can be set with the NB command The logical sense of each encoder input can be changed with the command CW Setting the direction bit reverses the direction of the encoder without wiring If a reference signal occurs the actual encoder position is stored see reference inputs page 34 This is useful for product referencing For further details see PMCprimo programming manual A master encoder is normally connected at the encoder input of channel three But with the FC command the encoder signals can be redirected to channel 1 or 2 All encoders have a common power supply with connector X4 Pin 5 6 See also page 27 If encoders with different supply voltages should be connected the encoder cables have to be modified The two wires for supply voltage are connected with an external power supply X7 X9 X10 Pin 4 9 The input config
34. material damage Never undo the electrical connections to the control while it is live There is a danger of electric arcing with damage to contacts and danger to persons Note This device contains a lithium battery Possible dangers Fire explosion and severe burn hazard Do not recharge disassemble heat above 100 C incinerate or expose contents to water Installation manual PMCprimo 16 5 European directives and standards 5 European directives and standards PMCprimo controls are components which are intended to be incorporated into electrical plants and machines for industrial use When the controls are built into machines or plants the intended operation of the control is forbidden until it has been established that the machine or plant fulfills the requirements of the EC Directive on Machines 98 37 EC and the EC Directive on EMC 89 336 EEC EN 60204 and EN 292 must also be observed The PMCprimo 16 complies the product standard EN61131 2 programmable controllers The manufacturer of the machine or plant is responsible for ensuring that they meet the limits which are required by the EMC regulations Advice on the correct installation for EMC such as shielding grounding arrangement of filters treatment of connectors and the laying out of cabling can be found in this documentation e CE conformance Conformance with the EC Directive on EMC 89 336 EEC and the Low Voltage Directive 73 23 EEC is mandatory for th
35. ncoder supply and CAN supply power supplies main switch Svst is bootina fesso After booting and initialisation ca 6s status codes page 51 and possible error codes page 51 are showed on the Display status and error LED display messages The programming is described detailed in the PMCprimo The control is ready to programming manual operate Page 50 Installation manual PMCprimo 16 10 Commissioning 10 1 1 Error messages Errors which occur are shown in coded form by an error number in the LED display on the front panel All error messages are also displayed on the connected terminal program e g PTERM 10 1 2 Error codes Foa Position error F03 High position limit F04 Low position limit FOS Reference timeout F06 Reference out of limits 07 F13 Encoder timeout BATT Buffer battery almost empty should be replaced immediately gt p 53 10 1 3 Error numbers on LED display Example for an error number Channel 1 Error code F01 Position error Installation manual PMCprimo we Pageb5t 10 Commissioning 10 2 Page 52 10 2 1 10 2 2 Status messages The status of the particular axes as well as the current operating condition is also showed on the display Every digit of the display corresponds on axis The display shows 4 axes simultaneously in change Status codes Display Meaning Command P Position contromod
36. nfiguration Operate Mode STANDALONE Actual IP address 10 10 180 101 Actual Netmask 255 0 0 0 Fieldbus In Out length 50 words Change Operating Mode Y N N Delete application data Y N N Change Ethernet Y N Y New IP address 10 10 180 101 10 10 180 101 New Netmask 255 0 0 0 Change Ethernet Y N N Change Fieldbus configuration Y N N 0 1 Now you can connect with Ethernet using PTerm Hew Connection Connect to Ethernet 1010 180 101 Ethernet 10 10 180 102 Modem Serial COM Serial COM1 Serial CDM After clicking on Connect the connection will be made and programming can be started Installation manual PMCprimo ae 9 Interfaces Digital signals Digital inputs 11 1 12 8 The digital inputs of the PMCprimo 16 are electrically isolated through optocouplers Connector X5 Pin 1 16 Reference ground is DGND Digital GND connector X4 Pin 6 8 e Input logic is PLC compatible 24V level according to EN 61131 2 e Logical high 11 24V logical low 0 V 11 V Fast response inputs 11 1 11 4 for e g product referencing e Actual input status is indicated through green LEDs PMCprimo 16 control PLC Q L gen e El 9 e gl 24V ref to l O GND Q 1 O GND o o o o o o o o o o o o o o o o o o o o o o o o o o Page 34 Installation manual PMCprimo 16 9 Interfaces 9 3 2 Digital outputs O1 1 02 8 All digital outputs are electr
37. ng SIC TT 15 I NENNE 16 8 1 Important instructions occcocccccnncocnconncnocnnnnncnnnconcnnnnnnonnnnnrnnnnnnnnrnnnrnnnrnnnrnnnnnnnnrnnnanenaninaninos 16 OAs AA A A A 17 X728 EMI Toa laco ION 17 8 2 2 Assembly inside switch cabinet ooonccconccccocccconcnconcnonncnnnnncnnnnrnnoncnnononnnnarnnnarncnnnnnnns 18 OG o aa 19 8 3 1 Connection diagram motors and encoders coocccccccccncccncnnononcnnnnnononnncnnnnnnnnnonanenonnns 21 8 3 2 Connection diagram digital 1 0 and communication cccooccccccocnnnnonocnncnnannnonanenonnns 22 8 3 3 Pin assignments overview sseeeesseeseeeeeeeeee nenne nennen nennen nenne nnns nnns nnns 23 8 3 4 Pin assignments top view ccccecccesceceseesesececseceseuceseueeseecenseceseusessuecsseeeenseseneas 24 8 3 5 Pin assignments front VIOW cccccesccccsscecceseecceeeecceuececseseeeseuceeseecesseueeessensessaees 25 EN uie EIE 26 9 1 AN EA 26 gii CPU powersupply 24V EA 26 9 1 2 Encoder power supply occccccccoccoccncconccncnononocononnnnonononnnnnnnonanonannnnnnonanonnnnonnnenaninaninos 27 9 1 3 Digital l O power SUPplY ooccccocnccoccnccccnconcnoconcnonncnnonononncnononnnnnnnnonnnnnnnnnnnnnnnnnnnncnaninons 28 A NN 29 9 2 Programming interfaces cccccsseccccseeccccseeeceececceuececseseeecsuscecseeeesseseesseeeeesaueeessese
38. ng manual as well as further documentations in PDF format on CD ROM Accessories The following accessories have to be ordered separately if required Encoder cable MODBUS panel and MODBUS cable Ethernet cable 10 BaseT Fieldbus module see type key CAN cable Communications cable to the PC null modem cable Software keys for Motion Generator and Soft PLC Compact Flash cards type I or II Installation manual PMCprimo 16 7 General 7 4 3 The digital control PMCprimo 16 7 4 3 1 Performance data e Position controller with 1 ms cycle time 20 axes in system 18 real axes 8 16 digital with CAN 2 analog 2 virtual axes e Each channel can operate in virtual motor mode Software gearbox with mapping Software differential and clutch Internal map generation motion generator as an option e Product referencing Tension control e 16 cam free programmable e Soft positioning S ramps 7 4 3 2 Fieldbus modules e CAN bus with 500 kBit s or 1 MBit s CANopen connecting up to 60 PMCprimo motion control systems 2 CAN for interfacing CANopen devices like panels encoders I O modules Digital demand signals for the PMCtendo DD4 amplifier series via CAN e MODBUS interface connection possibilities for operator panels e Ethernet interface 100 Mbit e Fieldbus interface Profibus DP slave master Interbus S DeviceNet option 7 4 3 3 Interfaces 16 digital inputs 24 V el
39. oltage range See encoder datasheet e Reference ground is DGND Digital GND e External fusing provided by the user XT PMCprimo 16 VEG ENG 5 yo power supply VCC Enc see encoder datasheet 24 V DC according to the encoder type 0 V digital ground OOO OJO O OO OO O o0000000 00000000 0 OO OJO O OO 006 Cc r o o o o o o o o o o o o o o o o Installation manual PMCprimo we Page27 Page 28 9 Interfaces Digital 1 0 power supply e Connector X4 Pin 7 8 e Power supply for the digital I O e Supply from an external 24V DC power supply e Required current rating depends from load on outputs see page 14 e Reference ground is DGND Digital GND e External fusing provided by the user PMCprimo 16 X4 T ss f 24V 1 0 N ND power supply 24 V DC Pin Description 7 pavoo 8 0V digital ground y nn EE o o o ojo 9 OO 9 0 o 000000 01000000 001000 OOO 00 OO a o o o o o o o o o o o o o o o o l lt Y Ji TAS AS SS A G Installation manual PMCprimo 16 9 Interfaces 9 1 4 Shielding Connector X4 Pin 3 4 Shielding connectors are connectet with the housing e For connection of cable shieldings e g analog signals encoder PMCprimo 16 shield 5 e E 1 0
40. pilz more than automation safe automation PMCprimo 16 1 1 1 2 1 3 Page 2 1 General conditions General conditions Copyright Copyright 2005 Pilz GmbH amp Co KG All rights reserved No part of this document may be reproduced in any form print photocopy microfilm or any other format or modified duplicated by electronic means without written authorization by Pilz GmbH amp Co KG Notes Pilz GmbH Co KG reserves the right to make amendments to this document at any time The examples given serve only as illustrations No guarantee is given for their suitability in particular applications Although the utmost care has been taken in the production of this document no liability can be accepted for any mistakes that it may contain We welcome any suggestions for the improvement of our products or documentation We reserve the right to make technical changes which lead to the improvement of the product Previous editions ATEX note added Buffer battery battery change battery warning notice Modem cable O y O Installation manual PMCprimo 16 2 Table of contents 2 Table of contents 1 General conditions santo eds 2 A 2 2 NOTES AA WA AA AAA 2 1 3 Previous editions ooocccocncocncoccccocnconnconnonncnonononnnnnnrnnnnnnnnnnnnrnnnrnnnnnnnnrnnnnnnnnnnnnrnnnrnnnanenaninnnos 2 2 Table of contents AP lt P 3 EG RR E EEE 5 4 Safety INS rUCtIONS ronca lei iaa 6
41. protective ground SE chassis earth connection panel O shield connection via plug Installation manual PMCprimo We Page21 8 Installation 8 3 2 Connection diagram digital I O and communication PMCprimo 16 central P PLC X8 To LJ oa MODBUS a 2 C X panel MODBUS d 8 D T y Digital In group 1 2 o z e LJ o o LJ oa o PMCprimo Q CAN In 5 0D O aal 24 V ref to I O GND 8 Digital 1 PMCprimo p KG E CAN Out EA Digital2 Ll 0 9 D Digital3 ob 5 O Digital4 S Digital Out c group 1 2 Digital5 3 8 a B Digital6 PMCtendo pa DD4 ch O Digital7 vi o Digital8 o 3 X4 o I O GND s o DGND O a m c shielding d o X2 4 PC HUB Ethernet Ethernet X4 i o X4 24ycru 2 24VI O 4 4 GND E w DGND c l 8 8 supply PE connection protective ground zl chassis earth connection panel O shield connection via plug Page 22 Installation manual PMCprimo 16 8 Installation 8 3 3 Pin assignments overview This overview shows the position of each connector X11 X7 X12 X1 X8 x2 x3 X4 X5 X6 O00000000000000 O00000000000000 X13 Option The connectors are described on following pages Connector xi sun X2 Ethernet X3 Analog 1 0 X5 Digital In X6 Digital Out page 35 X7 X9 X10 Encoder 1 3 page 39 X8 MODBUS Profibus DP S small page 42 X11 X12 CANopen page 44 X13 Fieldbus see pdf files
42. reas and by ESD protected personnel Installation manual PMCprimo ae 11 Appendix 11 2 Page 54 Removing faults The table below will help you with common problems IS possible causes Measures to remove the cause of the fault LED display keeps no power supply dark after power on no RS232 communication possible no Ethernet communication possible no encoder signals no digital outputs available digital inputs can not be read motor goes in position error internal fuse damaged system still booting wrong COM port selected wrong baud rate with BD in autostart program wrong IP address or address reserved from other device missing encoder power supply Channel in virtual mode wrong encoder type or data bits selected no encoder connected missing l O power supply output still defined as cam short circuit voltage range to low short circuit input masked missing ground connection feedback setup incorrect no drive enable signal wrong control parameters KP KF connect 24 V CPU supply watch power dissipation open the housing and replace fuse no error Booting takes about 6 s Select right port in PTerm select right baud rate in PTerm or press CTRL E after power on and delete application data change IP address check power supply set channel to real mode with
43. t O DP GND 5 DP 3 2 1 1 00000 ZN 0000 Pm Description 5 DP 5ND sev The needed GSD file HMS 1810 GSD is located on the CD ROM also see example 10 11 3 9 7 4 Using the MODBUS Profibus interface with PMCprimo With the MODBUS Profibus up to 108 bus variables MODBUS respective 16 bus variables Profibus DP S small can be read or write Notation B1 B108 see PMCprimo programming manual bus variables e Data bits 16 Bit 2 Bytes 1 Word signed e Range 32768 to 32767 Hex 0x8000 to Ox7FFF Bus variables can be defined as trigger variables so a program can be executed when the variable is updated Installation manual PMCprimo 1 Page 43 9 Interfaces 9 8 CAN bus interface General With the CAN bus interface CAN 1A X11 and CAN 1B X12 up to 60 PMCprimo motion control systems can be linked together The bus speed is 500kBit s Additional safety signals provide fault detection Much more details about linking CANopen devices are included in the manual PMCprimo CAN network The manual is part of the enclosed CD ROM Motion Control Tools 9 8 2 Linking PMCprimo motion control systems CAN 1 On each system CAN 1A X11 and CAN 1B X12 of the next system are linked together in the way as shown below PMCprimo 16 networked CAN Net feedlead gt up to 16 axes 4 up to 16 axes Pin Description
44. uration is designed for 5 V logic level Exceeding this range will damage the input logic Installation manual PMCprimo 16 o Page39 9 Interfaces 9 6 1 Incremental encoder e Reference ground is DGND connector X4 Pin 6 8 For encoders with differential line drivers track A B and Z 0 Index e Quadrature encoder x1 x2 and x4 e Maximum input frequency 1 Mhz Minimum track width Z track 200 ns e Maximum voltage range ref to DGND 5 V DC TTL Incremental encoder p a i i ib a r e luas a LI 1 L VCC Enc ME DGND VCC Enc see encoder datasheet X7 X15 X11 Encoder 1 CAN 1A CAN 1A I fooooo 0000 Exe O X9 X10 X12 Encoder 2 Encoder 3 CAN 1B Page 40 Installation manual PMCprimo 16 9 Interfaces 9 6 2 Absolute encoder SSI e Reference ground is DGND connector X4 Pin 6 8 Number of data bits 13 32 Format Binary or gray e Frequency SSI Clock 100 kHz or 300 kHz change with command FS see PMCprimo programming manual Maximum voltage range ref to DGND 5 V DC TTL Note Alternatively absolute encoder can be also connected by the CAN open interfaces X7 X9 PMCprimo 16 X10 1 8 CLOCK EE DATA i CLOCK I ot ji SSI encoder I l vo DATA AAA m i AS CLOCK DATA i amp von 5 G 4 VOS Enc X4 6 9 m DGND GND DGND DGND Encoder 1 000
45. ut and output commands are available see PMCprimo programming manual 9 10 1 Terms Virtual inputs E3 1 E3 8 Virtual outputs O3 1 O3 8 The virtual inputs an outputs are connected internal together as shown below Output O3 1 with input E3 1 Output O3 2 with input E3 2 etc 9 10 2 Application example You define a position output on the virtual output 0 3 2 If you define an input function on input 0 3 2 this program will be executed each time the output 0 3 2 is set You don t need any wiring For further details see PMCprimo programming manual Installation manual PMCprimo 16 ao 9 Interfaces 9 11 Fieldbus interface 9 11 1 General At the fieldbus interface X13 several fieldbus modules can be mounted inside the PMCprimo 16 There are modules for e g Profibus DP DeviceNet or Interbus S available see type key page 5 The fieldbus modules are delivered already inserted The original manufacturer s documentation is enclosed english language It can be found on the CD ROM Motion Control Tools in PDF format Additional files e g GSD files Profibus DP are on the CD ROM too 9 11 2 Using the fieldbus with PMCprimo With the fieldbus 108 bus variables can be used for data exchange depending on the fieldbus module e Notation B1 B108 see PMCprimo programming manual bus variables e Data bits 16 Bit 22 Bytes 1 Word signed E Range 32768 to 32767 Hex 0x8000 to Ox7FFF
Download Pdf Manuals
Related Search