Pilz PMCprimo MC Operating Manual
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Pilz PMCprimo MC Operating Manual

Pilz PMCprimo MC Operating Manual

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Operating Manual-1003813-EN-03

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  • Page 1 PMCprimo MC Control systems Operating Manual-1003813-EN-03...
  • Page 2 Preface This document is the original document. All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made for the user's internal purposes. Suggestions and comments for improving this documenta- tion will be gratefully received.

  • Page 3: Table Of Contents

    4.1.6 Encoder ............................ 4.1.7 Encoder emulation........................4.1.8 Reset button ..........................Software............................ Installation ..........................General requirements ....................... Dimensions ..........................Installing the unit........................Installing the fieldbus junction box .................... Wiring ............................Wiring guidelines ........................Supply voltage .......................... Operating Manual PMCprimo MC 1003813-EN-03...
  • Page 4 Establish communication between PMCprimo MC and PC............7.2.3 Adapt basic configuration ......................7.2.4 Configure servo amplifier ......................7.2.5 Operate PMCprimo MC HW1 - Show Hardware ..............7.2.6 Operate PMCprimo MC HW2 - Show hardware ............... Install CODESYS ........................Operation ..........................
  • Page 5 Contents Technical details ........................Order reference ........................10.1 Product ............................. 10.2 Accessories ..........................Operating Manual PMCprimo MC 1003813-EN-03...

  • Page 6: Introduction

    This operating manual explains the function and operation, describes the installation and provides guidelines on how to connect the product. This documentation is valid for the product PMCprimo MC. It is valid until new documenta- tion is published. Please also refer to the following documents from the motion control range: The online help for the PASmotion commissioning software describes how to set the parameters for the servo amplifiers from the PMC product area.
  • Page 7 It also highlights areas within the text that are of particular import- ance. INFORMATION This gives advice on applications and provides information on special fea- tures. Operating Manual PMCprimo MC 1003813-EN-03...

  • Page 8: Overview

    Overview Overview Unit features PMCprimo MC is a motion controller used to automate multi-axis motion sequences. The device contains a PLC with the functionality of a logic and motion controller. Logic controller universally programmable in accordance with IEC 61131-3 Motion controller –...

  • Page 9: Front View

    X40a, supply voltages for device and encoder on the right-hand side of the device [11], X50a, X50b, Supply voltages for device and encoder on the left-hand side of the [12] device [13] X50c, Digital inputs/outputs [14] X51, CANopen/PROFIBUS DP interface Operating Manual PMCprimo MC 1003813-EN-03...

  • Page 10: Type Code

    X52, CANopen interface [16] X55, Connection for encoder 2 [17] X56, Connection for encoder 3 Type code Type PMCprimo MC. _ / _ _ _ _ _ _ / _ 1.3 GHz Hardware 16DIDO Software option Without Dynamic curve calculation...

  • Page 11: Type Label

    Overview Type label The type label is positioned on the side of the motion controller. Fig.: Type label PMCprimo MC Legend Order number Serial number Hardware version Firmware version Type code Supply voltage, voltage tolerance Year of manufacture Scope Order reference...

  • Page 12: Safety

    Are familiar with the basic regulations concerning health and safety / accident prevention, Have read and understood the information provided in the section entitled Safety Have a good knowledge of the generic and specialist standards applicable to the specific application. Operating Manual PMCprimo MC | 12 1003813-EN-03...

  • Page 13: Warranty And Liability

    EN 61131-2: Programmable controllers – Part 2: Equipment requirements and tests EN 61131-3: Programmable controllers – Part 3: Programming languages Please note this is not an exhaustive list of safety standards and directives. Where standards are undated, the 2015-05 latest editions shall apply. Operating Manual PMCprimo MC | 13 1003813-EN-03...

  • Page 14: Function Description

    Device properties 4.1.1 Controller The PMCprimo MC is a programmable logic controller with motion control functionalities. The controller has volatile and non-volatile memory for the operating system, the data and the device project with the user program. It can be used for logic and motion control of intelligent drives.

  • Page 15: Networking With Servo Amplifier

    PMCprimo MC (1) Ethernet X40a X50a/b PMCprotego D (3) Fig.: Motion controller with servo amplifier, networking via CANopen Networking of PMCprimo MC (1) with the servo amplifier PMCprotego D (3) Via the communication protocol CANopen Via the interface X42 (RJ45). Operating Manual PMCprimo MC | 15 1003813-EN-03...
  • Page 16 X40a X50a/b PMCprotego D (2) Fig.: Motion controller with servo amplifier, networking via EtherCAT INFORMATION Networking with PROFIBUS between servo amplifier and motion controller is not possible because both devices operate as slaves. Operating Manual PMCprimo MC | 16 1003813-EN-03...

  • Page 17: Connecting The Supply Voltage

    X50a/Pin 1 and Pin 3 and X50b/Pin 1 and Pin 3 Supply voltage for the two encoders X55 and X56 (5 V, 10-30 V DC). The following terminals are linked internally: - X50a/Pin 1 and X50b/Pin 1 (24 V) - X50a/Pin 3 and X50b/Pin 3 (0 V) Operating Manual PMCprimo MC | 17 1003813-EN-03...

  • Page 18: Digital Inputs

    If the inputs are used as reference inputs, the reaction time to 0/1 or 1/0 pulse edges is < 5μs. The inputs can be used as reference inputs, to poll the position of the encoder for ex- ample. Operating Manual PMCprimo MC | 18 1003813-EN-03...

  • Page 19: Digital Outputs

    Ethernet – Ethernet TCP/IP – Communication between the programming device and the motion controller – Suitable for configuration, programming, commissioning – Modbus TCP/IP – Communications protocol based on Industrial Ethernet (TCP/IP over Ethernet). Operating Manual PMCprimo MC | 19 1003813-EN-03...

  • Page 20: Canopen

    – EtherCAT is an Ethernet-based master bus system suitable for industrial use. It is suitable for real-time capable networking between the motion controller PMCprimo MC and the servo amplifier PMCprotego D. – The PMCprimo MC acts as Master – Suitable for applications – with ≤ 32 subscribers –...

  • Page 21: Profibus Dp

    EtherCAT EtherCAT uses the Ethernet Standard (IEEE 802.3) without modifications. The PMCprimo MC does not require a setting (CD command) to use the EtherCAT master as a drive bus. To do this, however, a CODESYS V3 project must be active (Boot project), where all the EtherCAT devices are configured.

  • Page 22: Usb

    The device sequence may no longer be modified. It is not permitted to add or remove devices. The PMCprimo MC is an EtherCAT master, which is the only subscriber in the segment that can actively send an EtherCAT frame; all the other subscribers only forward the frames.

  • Page 23: Encoder Emulation

    (as an output). Software settings are required (see PMCprimo programming manual) to activate this function: Using the software tool CODESYS: In the function block "SetFeedbackEncoder" Using the software tool PASmotion with command language: FS 37 Operating Manual PMCprimo MC | 23 1003813-EN-03...

  • Page 24: Reset Button

    [ 61].) Change from "RUN" operating status to "STOP" Change from "STOP" operating status to "RUN" INFORMATION For further information on the reset button see the chapter entitled Operation [ 55]. Operating Manual PMCprimo MC | 24 1003813-EN-03...

  • Page 25: Software

    IEC 61131-3. Additional commands for motion sequences have been added. In addition to the core CODESYS packages the "PMC Programming Tool" also contains the target support packages and the PMCprimo base project. The software tools are available on the Internet at www.pilz.com. Operating Manual PMCprimo MC | 25...

  • Page 26: Installation

    Electrostatic discharge can damage components. Ensure against discharge before touching the product, e.g. by touching an earthed, conductive sur- face or by wearing an earthed armband. Dimensions 171.5 Fig.: Dimensions, stated in mm Operating Manual PMCprimo MC | 26 1003813-EN-03...

  • Page 27: Installing The Unit

    Attach the device to the control cabinet's mounting plate with a minimum distance of >5 mm to the adjacent servo amplifier. >70 >5 PMCprimo MC PMCprotego D.01 Fig.: Installing the motion control system next to a servo amplifier Operating Manual PMCprimo MC | 27...

  • Page 28: Installing The Fieldbus Junction Box

    Installation Installing the fieldbus junction box To network a PMCprimo MC via CANopen, PROFIBUS DP you need a fieldbus junction box. This is available as an accessory. The fieldbus junction box is plugged into the servo amplifier. INFORMATION Pin assignment, wiring and assembly are described in the operating manual for the fieldbus junction box.

  • Page 29: Wiring

    Safe electrical isolation must be ensured for the external power supply that generates the supply voltage. Failure to do so could result in electric shock. The power supplies must comply with EN 60950-1, 05/2006, EN 61558-2-6, 11/1997. Operating Manual PMCprimo MC | 29 1003813-EN-03...
  • Page 30 Supply voltage 24 V 24 V connection isolated X50b from external power supply, e.g. with isolating trans- former *If the link is removed, earth fault monitoring must be X50a used in accordance with EN 60204 / VDE 0113. Operating Manual PMCprimo MC | 30 1003813-EN-03...

  • Page 31: Digital Inputs

    Digital input 24 VDC, referenced to X40b earth (X40a/3) Cables must be shielded if the signals are used as ref- erence inputs. Example: Reference inputs I1:1 and I1:2 (Pin 1, 2) I1.7 I1.8 X40a Operating Manual PMCprimo MC | 31 1003813-EN-03...
  • Page 32 Reference earth for digital inputs X50a Reference earth for digital inputs Input circuit Digital input 24 VDC, referenced to X50c earth, X50a/3 and X50b/3 I2:1 are linked internally I2:2 I2:3 I2:4 I2:5 I2:6 I2:7 I2:8 X50b X50a Operating Manual PMCprimo MC | 32 1003813-EN-03...

  • Page 33: Digital Outputs

    +24 V Supply voltage for digital outputs 0 V supply Reference earth for digital outputs Output circuit Digital output 24 VDC, referenced to X40b earth (X40a/3) O1:7 DI 7 O1:8 DI 8 X40a Operating Manual PMCprimo MC | 33 1003813-EN-03...
  • Page 34 Reference earth for digital outputs Output circuit Digital output 24 VDC, referenced to X50c earth O2:1 Linked internally: O2:2 X50a/1 and X50b/1 O2:3 X50a/3 and X50b/3 O2:4 O2:5 O2:6 O2:7 DI 7 O2:8 DI 8 X50b X50a Operating Manual PMCprimo MC | 34 1003813-EN-03...

  • Page 35: Interfaces

    Socket X43 Designation Description TX D1+ TX D1- RX D2+ BI D3+ BI D3- RX D2- BI D4+ BI D4- The Ethernet interface is compatible with 1000Base-T (Standard Gigabit Ethernet) Recommended cable: Cat5e SF/UTP Operating Manual PMCprimo MC | 35 1003813-EN-03...

  • Page 36: Ethercat X44

    PROFIBUS-DP specification. CANopen interface Socket X51 Designation Description n. c. n. c. CAN_L CAN low signal Ground n. c. n. c. n. c. n. c. n. c. n. c. CAN_H CAN high signal n. c. n. c. n. c. = not connected Operating Manual PMCprimo MC | 36 1003813-EN-03...

  • Page 37: Wiring Guidelines For The Canopen Interfaces

    R T [ R T [ Fig.: Overall length and length of the stub lines on a CAN network. Legend: Node: CANopen subscriber a: Length of stub line A: Branch : Terminating resistor Operating Manual PMCprimo MC | 37 1003813-EN-03...

  • Page 38: Canopen X52

    Please also refer to the installation guidelines published by the CANopen User Group. 6.5.5 CANopen X52 Connector X52 Designation Description n. c. n. c. CAN_L CAN low signal Ground n. c. n. c. n. c. n. c. n. c. n. c. CAN_H CAN high signal n. c. n. c. n. c. = not connected Operating Manual PMCprimo MC | 38 1003813-EN-03...

  • Page 39: Encoder

    Connector X50a, X50b Pin Designation Description Encoder Supply Supply voltage for ex- X50a ternal encoder 0 V Encoder Supply Supply voltage for ex- X50b ternal encoder (0 V) Supply voltage for encoder at X55 and X56 Operating Manual PMCprimo MC | 39 1003813-EN-03...

  • Page 40: Incremental Encoder With Ttl Signal

    X55, X56 Supply voltage 0 V Supply voltage 0 V Reference pulse Z Channel A Channel A inverted Reference pulse Z inverted Channel B Channel B inverted Shield Shield n. c. = not connected Operating Manual PMCprimo MC | 40 1003813-EN-03...
  • Page 41 Wiring Input circuit Incremental encoder Twisted pair, shielded Shield connection in the housing Shield X40a Encoder supply Twisted pair, shielded X55/X56 Shield connection in the housing Shield X50b X50a Encoder supply Operating Manual PMCprimo MC | 41 1003813-EN-03...

  • Page 42: Absolute Encoder With Ssi Interface

    CLOCK\ Pulse signal inverted n. c. DATA Data DATA\ Data inverted Shield Shield n. c. = not connected Input circuit Absolute encoder with SSI interface Shielded Shield connection in the housing Shield X40a Encoder supply Operating Manual PMCprimo MC | 42 1003813-EN-03...
  • Page 43 Wiring Shielded X55/X56 Encoder DATA DATA Shield connection in the DATA\ DATA\ housing CLOCK CLOCK CLOCK\ CLOCK\ Shield X50b X50a Encoder supply Operating Manual PMCprimo MC | 43 1003813-EN-03...

  • Page 44: Commissioning

    Commissioning Commissioning Safety guidelines This chapter describes the communication between a PMCprimo MC and a servo amplifier PMCprotego D during initial commissioning. Further information on commissioning the servo amplifier can be found in the operating manual. Please note the following safety guidelines during commissioning: When commissioning, you must ensure that the control systems do not present a risk to persons, plant or machinery.

  • Page 45: Commissioning The Pmcprimo Mc

    PMCprotego D X40a 24V 0V +24 V Fig.: Connect PMCprimo MC and PMCprotego D, example 1 via CANopen interface Prerequisites: A fieldbus junction box PMCprotego D.CAN Adapter is inserted. Establish the following connections: Connect X52 on the motion controller to X6B on the fieldbus junction box.
  • Page 46 PMCprotego D X40a 24V 0V +24 V Fig.: Connect PMCprimo MC and PMCprotego D, example 2 via EtherCAT interface Connect PMCprimo MC and PMCprotego D Establish the following connections: Connect X44 on the motion controller to X7A on the PMCprotego Ds. Connect the Ethernet interface X43 on the motion controller to the PC.

  • Page 47: Establish Communication Between Pmcprimo Mc And Pc

    You can now connect to a known network subscriber. If you do not know the IP address, you can browse the network for subscribers. Alternative 1: The IP settings are known Prerequisite: The PMCprimo MC and PC must be in the same network or be accessible via a Router. 1. Select Ethernet.
  • Page 48 INSTALLED ETHERNET IP address: 192.168.0.11 Netmask: 255.255.255.0 Gateway: 192.168.0.1 CHANNEL Number: 1...32 HARDWARE Type: PMCprimo MC 1300MHz 4xCAN Item No.: 680080 Ser. No.: 100033 Pr. Ver.: Encoder: Inputs: Outputs: Virtual inputs: Virtual outputs: Analogue inputs: Analogue Outputs: DEVICES in CAN Network:...
  • Page 49 Axis executes alignment movement Axis executes coupling process Initialisation running Axis executes positioning Axis executes stop command Axis is in speed control Axis is in standby Position assignment is active on the axis Operating Manual PMCprimo MC | 49 1003813-EN-03...

  • Page 50: Adapt Basic Configuration

    INFORMATION The encoder interface ENC1 can be assigned an axis number via the basic configuration of the PMCprimo MC. (PTERM, command CD:27). For ex- ample, if the ENC1 is assigned the axis number 3, ENC2 and ENC3 are automatically assigned the subsequent axis numbers (axis number 4 and 5).

  • Page 51: Configure Servo Amplifier

    The 24 VDC supply voltage for the servo amplifier's control element must be present. The CANopen network must be configured for the motion control system and servo amp- lifier Further information is available in the operating instructions for the servo amplifier. Operating Manual PMCprimo MC | 51 1003813-EN-03...

  • Page 52: Operate Pmcprimo Mc Hw1 - Show Hardware

    Commissioning 7.2.5 Operate PMCprimo MC HW1 - Show Hardware You can operate the motion controller in the commissioning software terminal by issuing commands in the command language. HW1 - Show Hardware 0.1: hw1 0.1: SOFTWARE Firmware: 03.05.01, Oct 15 2018, 09:01:35...
  • Page 53 DEVICES in EtherCAT Network: PMCprotego D (S706) at EtherCAT ADDR 51 found (DS402) Inputs: Outputs: Virtual in- puts: Virtual out- puts: Analogue in- 2 inputs linked to channel from 0.1 to 0.2 puts: Operating Manual PMCprimo MC | 53 1003813-EN-03...

  • Page 54: Operate Pmcprimo Mc Hw2 - Show Hardware

    Commissioning 7.2.6 Operate PMCprimo MC HW2 - Show hardware HW2 - Show Hardware State 0.1: HW2 0.1: STATE OF DEVICES: Device Network Addr State ------------------------------------------------------------------------------ PMCprimo MC 03.05.00 ACTIVE PMCtendo DD4 CAN4 5.180 FAULT PMCprotego D ECAT 6.22 ACTIVE Install CODESYS The development environment for programming in accordance with IEC 61131-3...

  • Page 55: Operation

    RS2 or - RS5 reset button - RS6 No user program Error detected HW reset: - RS1 - Reset button STOP Fig.: Operating states and changes in operating status of the motion controller Operating Manual PMCprimo MC | 55 1003813-EN-03...

  • Page 56: Operating States

    All system sections are in a RUN condition and are operating without error. A PLC user program is run as part of each cycle. It is possible to communicate with the motion controller in the terminal program via the command language. Operating Manual PMCprimo MC | 56 1003813-EN-03...

  • Page 57: Stop" Operating Status

    Change from "Startup" to "RUN" "Startup" operating status has been run without error. The system changes to "RUN" status if a user program was loaded in "Startup" status. --> Change from "Startup" to "STOP" Operating Manual PMCprimo MC | 57 1003813-EN-03...
  • Page 58 Holding down the reset button for a long period (> 4 s) (alternative to RS1 command (cold start)). Change from "STOP" to "RUN" --> The system performs this status change after Running the command RS2 in the terminal program (change to "RUN"). Running commands in the IEC 61131 development environment: Operating Manual PMCprimo MC | 58 1003813-EN-03...

  • Page 59: Reset, Restart, Start And Stop Options

    Online --> Start Hold down reset but- ton for short period (< 4 s)) Reset motion control- Cold reset Online --> Reset (cold) Warm reset Online --> Reset Original reset Online --> Reset (ori- ginal) Operating Manual PMCprimo MC | 59 1003813-EN-03...

  • Page 60: Cold Start, "Startup

    IEC 61131 programming: Menu Online -> Reset 8.2.3.2 Cold reset This command Stops the user program. Resets all variables to the value with which they were initialised. Commands: Command language: RS5 IEC 61131 programming: Menu Online -> Reset (cold) Operating Manual PMCprimo MC | 60 1003813-EN-03...

  • Page 61: Original Reset

    Changing between the operating states "RUN" and "STOP" You can change between the operating states "RUN" and "STOP". Briefly press the reset button to change from "RUN" to "STOP" or from "STOP" to "RUN". Operating Manual PMCprimo MC | 61 1003813-EN-03...

  • Page 62: Messages

    To end display mode, select the DO command in the terminal program. Process data Process data can be recorded in the operating status "RUN" and "STOP" via the Motion controller Terminal program. Oscilloscope function PScope. Operating Manual PMCprimo MC | 62 1003813-EN-03...

  • Page 63: Display Elements

    Identification (Ping) Green Blue Data storage for device ex- Blue Blue change (see USB [ 22]) Legend LED on LED off LED flashes Meaning CAN3 Network connection Green CAN4 No network connection X51, X52 Operating Manual PMCprimo MC | 63 1003813-EN-03...
  • Page 64 Green CAN1 No network connection CAN2 CAN2 Network connection Yellow No network connection Meaning LINK Network connection Green LINK No network connection TRAFFIC TRAFFIC Data traffic Yellow X43, X44, X45 No data traffic Operating Manual PMCprimo MC | 64 1003813-EN-03...
  • Page 65 Max. output frequency 250 kHz 10 mA Max. output current Max. jitter 1000 incr./s Inputs Number 5 µs, 600 µs Input filter depending on parameter settings Signal level at "0" -3 - +5 V DC Operating Manual PMCprimo MC | 65 1003813-EN-03...
  • Page 66 Cycle times – 1000 kBit/s, 250 kBit/s, 500 kBit/s Transmission rates Potential isolation Ethernet interface Number 192.168.0.11 IP address, factory setting Connection type RJ45 Transmission rate 1 Gbit/s Potential isolation EtherCAT interface Quantity Operating Manual PMCprimo MC | 66 1003813-EN-03...
  • Page 67 Type of potential isolation Basic insulation 500 V Rated surge voltage Potential isolation between Ethernet and system voltage Type of potential isolation Basic insulation 500 V Rated surge voltage Potential isolation between EtherCAT and system voltage Operating Manual PMCprimo MC | 67 1003813-EN-03...
  • Page 68 Rigid single-core, flexible multi-core or multi-core with crimp connector 0,75 mm² Dimensions Height 270,6 mm Width 60 mm 183 mm Depth Weight 1.360 g Where standards are undated, the 2015-05 latest editions shall apply. Operating Manual PMCprimo MC | 68 1003813-EN-03...
  • Page 69 Fieldbus junction box for PMCprimo DriveP 680042 (Drive: PMCprotego D.48 … D.72) (for X42) Two CANopen interfaces: CAN1, RS232 and CAN2 with termination switch and RJ45 cable for connecting the fieldbus junction box to PMCprimo Operating Manual PMCprimo MC | 69 1003813-EN-03...

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