Pilz PMCprimo C2 Operating Manual
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Pilz PMCprimo C2 Operating Manual

Pilz PMCprimo C2 Operating Manual

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  • Page 1 PMCprimo C2 Control systems Operating Manual-1004683-EN-02...
  • 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

    Validity of the documentation....................1.1.1 Retaining the documentation ....................Definition of symbols......................... Overview ..........................Unit features ..........................Front view plug-in card PMCprimo C2.0 ................... Front view housing version PMCprimo C2.1 ................Type code ..........................Scope of supply ........................Security ........................... Intended use ..........................
  • Page 4 Absolute encoder with SSI interface..................Commissioning ........................Safety guidelines ........................Commissioning the PMCprimo C2.................... 8.2.1 Prepare commissioning PMCprimo C2.0 with PMCprotego D ..........8.2.2 Prepare commissioning PMCprimo C2.1 with PMC SC6/PMC SI6 .......... 8.2.3 Establish communication between PMCprimo C2 and PC............8.2.4 Configure servo amplifier PMCprotego D .................
  • Page 5 Original Reset ........................... 61 9.2.4 Start and stop commands......................Functions of the reset button ....................Messages ..........................Display elements ........................Technical details ........................EC declaration of conformity ....................Order reference ........................12.1 Product ............................. 12.2 Accessories ..........................Operating Manual PMCprimo C2 1004683-EN-02...

  • Page 6: Introduction

    Introduction Introduction Validity of the documentation This documentation is valid for the product PMCprimo C2. It is valid until new documenta- tion is published. This operating manual explains the function and operation, describes the installation and provides guidelines on how to connect the product PMCprimo C2.
  • 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 C2 1004683-EN-02...

  • Page 8: Overview

    – Device project with user program USB port Reset button – To change between operating states – For a hardware reset (cold start) – For importing project data when devices are exchanged LED display for device's operating status Operating Manual PMCprimo C2 1004683-EN-02...

  • Page 9: Front View Plug-In Card Pmcprimo C2.0

    Overview Front view plug-in card PMCprimo C2.0 [10] [11] Fig.: Front view plug-in card PMCprimo C2.0 Legend Screw for attachment to the servo amplifier Reset button and LEDs to display operating states X46, USB interface X45, unused X44, EtherCAT interface...

  • Page 10: Front View Housing Version Pmcprimo C2.1

    – Number of device version Front view housing version PMCprimo C2.1 [10] [11] Fig.: Front view housing version PMCprimo C2.1 Legend Screw for attachment to the front plate of the housing Reset button and LEDs to display operating states X46, USB interface...
  • Page 11 X40b, digital inputs and outputs X40a, supply voltage for device, digital outputs X40b and interfaces X42 … X45 [10] Labelling strip [11] – Order number – Serial number – Number of device version Operating Manual PMCprimo C2 | 11 1004683-EN-02...

  • Page 12: Type Code

    CAN/PROFIBUS Software options Without Dynamic curve calculation IEC 61131-3 programming Path interpolation Fig.: Type code for PMCprimo C2 Legend Explanation of type code Software 2 Software option not enabled 3,5,7 Dynamic curve calculation enabled The dynamic curve calculation is a calculation program for allocation tables. The al- location table is defined through variables.

  • Page 13: Scope Of Supply

    PMCprimo C2.0 Expansion card (plug-in card) See "Type code" for motion controller (for function range see "Type code") PMCprimo C2.1 Housing version motion con- See "Type code" troller (for function range see "Type code") Operating Manual PMCprimo C2 | 13 1004683-EN-02...

  • Page 14: Security

    Security Security Intended use The motion controller PMCprimo C2 is suitable for use in logic and motion control applica- tions. Examples of typical application areas for the product are Clocked production machinery Continuous manufacturing processes (winding, flying saw, cross cutter)

  • Page 15: Safety Regulations

    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 2021-03 latest editions shall apply. Operating Manual PMCprimo C2 | 15 1004683-EN-02...

  • Page 16: Security

    Perform a risk assessment in accordance with VDI/VDE 2182 or IEC 62443-3-2 and plan the security measures with care. If necessary, seek advice from Pilz Customer Support. Required security measures The product is not protected from physical manipulation or from reading of memory con- tents during physical access.
  • Page 17 Company network Machine network Product Configuration computer Fig.: Example network topology Protect the configuration and log data from unauthorised changes. Configure the display device so as to prevent unauthorised access to the file system. Operating Manual PMCprimo C2 | 17 1004683-EN-02...

  • Page 18: Function Description

    Device properties 5.1.1 Controller The PMCprimo C2 is a drive-integrated 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 19 The motion controller PMCprimo C2.0 plug-in card (1) is installed in a servo amplifier PMC- protego D (2). Networking can be via EtherCAT. EtherCAT Ethernet Fig.: Installation of the motion controller in a servo amplifier PMCprotego D Operating Manual PMCprimo C2 | 19 1004683-EN-02...
  • Page 20 Function description The Motion controller PMCprimo C2.1 in the housing networked via EtherCAT to the drive controller PMC SC6/PMC SI6. EtherCAT out (X201) PMC SC6 PMCprimo C2 Ethernet X43 EtherCAT in (X200) Fig.: PMCprimo C2.1 in the housing networked via EtherCAT with PMC SC6...

  • Page 21: Supply Voltage

    Function description 5.1.2 Supply voltage The PMCprimo C2 has two supply voltages: X40a/1,3 Supply voltage for the device and the digital outputs (24 VDC) X40a/2,4 Supply voltage for the encoder (5 V, 24 VDC) The voltage is connected directly to the Mini-I/O connector X41/1,2.

  • Page 22: Interfaces

    EtherCAT as a drive bus – 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 C2 and the servo amplifier PMCprotego D/drive controller PMC SC6/SI6. – The PMCprimo C2 acts as Master –...

  • Page 23: Canopen

    CANopen interface on an RJ45 socket (X7). The operating parameters of the motion controller and PROFIBUS are set using CODESYS. Maximum data length of the PROFIBUS interface: Input 244 Byte Output 244 Byte Operating Manual PMCprimo C2 | 23 1004683-EN-02...

  • Page 24: Ethernet

    The device sequence may no longer be modified. It is not permitted to add or remove devices. The PMCprimo C2 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 25: Usb

    The data can contain a new firmware with a complete project. Save data from a controller to a USB stick: – Save data on a USB stick into the following directory: "\PILZ\primoBACKUP\" To save, execute the SP11 command. Save data for device exchange via reset button to USB stick: –...

  • Page 26: Software

    CODESYS packages the "PMC Programming Tool" also contains the target support packages and the PMCprimo base project. DriveControlSuite DriveControlSuite is used to set parameters and commission the drive controller PMC SC6/PMC SI6. The software tools are available on the Internet at www.pilz.com. Operating Manual PMCprimo C2 | 26 1004683-EN-02...

  • Page 27: Installation

    Installation Installation Installation plug-in card PMCprimo C2.0 6.1.1 General requirements Please also refer to the relevant operating instructions of the servo amplifier. NOTICE Damage due to electrostatic discharge! Electrostatic discharge can damage components. Ensure against discharge before touching the product, e.g. by touching an earthed, conductive sur- face or by wearing an earthed armband.

  • Page 28: Dimensions

    Installation 6.1.2 Dimensions 18.4 97.4 Fig.: Dimensions, stated in mm Operating Manual PMCprimo C2 | 28 1004683-EN-02...

  • Page 29: Installing The Unit

    When installing, please note the guidelines given under "Installation" in the operating manual of the servo amplifier. PMCprotego D.01 PMCprotego D.24 PMCprotego D.48 PMCprotego D.03 PMCprotego D.72 PMCprotego D.06 PMCprotego D.12 Fig.: Slots 1 and 2 for installing the PMCprimo C2 Operating Manual PMCprimo C2 | 29 1004683-EN-02...

  • Page 30: Installing The Fieldbus Junction Box

    Installation 6.1.4 Installing the fieldbus junction box To network a PMCprimo C2 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 31: Dimensions Housing Version Pmcprimo C2.1

    Dimensions housing version PMCprimo C2.1 6.2.1 Dimensions 13.8 84.9 98.8 Fig.: Dimensions PMCprimo C2.1, dimensions in mm 6.2.2 Installating PMCprimo C2.1 in the control cabinet The device can be installed horizontally or vertically using the mounting lugs. Operating Manual PMCprimo C2 | 31...

  • Page 32: Wiring

    Possible remedy: Use separate multicore cable for supply voltages. Use appropriate wiring to exclude short circuits between the outputs. The actuators may be connected using unshielded cables. The outputs do not need suppression for inductive loads. Cable material Use copper wiring. Operating Manual PMCprimo C2 | 32 1004683-EN-02...

  • Page 33: Connector Pin Assignment X40B

    The power supplies must comply with EN 62368-1, EN 61558-2-6, 08:2009. Connector X40a Designation Description +24 V Supply voltage +24 VDC 0 V supply Earth for supply voltage Supply voltage for: the device, digital outputs X40b, interfaces X42 to X45 Operating Manual PMCprimo C2 | 33 1004683-EN-02...

  • Page 34: 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 C2 | 34 1004683-EN-02...

  • Page 35: 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 DI 8 O1:8 X40a Operating Manual PMCprimo C2 | 35 1004683-EN-02...

  • Page 36: Interfaces

    (cable resistance and cable capacitance). The signal lines must be terminated with resistors on the first and last subscriber. A characteristic impedance of 120 Ohm is acceptable for bus lengths up to 40 m. Operating Manual PMCprimo C2 | 36 1004683-EN-02...
  • Page 37 Terminating resistor R [Ohm] 0 - 40 40 - 300 150 - 300 300 - 500 150 - 300 INFORMATION Please also refer to the installation guidelines published by the CANopen User Group. Operating Manual PMCprimo C2 | 37 1004683-EN-02...

  • Page 38: Two Canopen Interfaces

    CAN high signal CAN_L CAN low signal n.c. = not connected Basic configuration: 1 CANopen/ 1 PROFIBUS DP interface Connection via fieldbus junction box on the servo amplifier PMC- protego D Socket assignment Operating Manual PMCprimo C2 | 38 1004683-EN-02...

  • Page 39: Ethernet

    The Ethernet interface is compatible with 1000Base-T (Standard Gigabit Ethernet) Recommended cable: Cat5e SF/UTP 7.6.4 EtherCAT Socket X44 Designation Description Transmit + Transmit - Receive + n. c. n. c. Receive - n. c. n. c. n. c. = not connected Recommended cable: Cat5e SF/UTP Operating Manual PMCprimo C2 | 39 1004683-EN-02...

  • Page 40: Encoder

    Supply voltage for encoder at X41 Supply voltage X40a/2 is linked internally X40a to X41/4 and X40a/1 to X41/2 *If the link is removed, earth fault monitoring must be used in accordance with EN 60204 / VDE 0113. Operating Manual PMCprimo C2 | 40 1004683-EN-02...

  • Page 41: Incremental Encoder With Ttl Signal

    Channel A inverted Reference pulse Z inverted Channel B Channel B inverted Shield Shield n. c. = not connected Input circuit Incremental encoder Twisted pair, shielded Shield connection in the housing Shield X40a Encoder supply Operating Manual PMCprimo C2 | 41 1004683-EN-02...

  • 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 C2 | 42 1004683-EN-02...

  • Page 43: Commissioning

    The heat sink and front plate temperature on the amplifier may reach 80 °C during opera- tion. Check (measure) the temperature of the heat sink. Wait until the heat sink has cooled to 40 °C before touching it. Operating Manual PMCprimo C2 | 43 1004683-EN-02...

  • Page 44: Commissioning The Pmcprimo C2

    Example 1 via CANopen/PROFIBUS DP interface: Connect PMCprimo C2 and PMC- protego D X40a Fig.: Connect PMCprimo C2 and PMCprotego D, example 1 via CANopen/PROFIBUS interface Prerequisites: The motion controller PMCprimo C2 is installed in a servo amplifier. A fieldbus junction box PMCprotego D.CAN-CANbus Adapter or PMCprotego D.CAN- PROFIBUS Adapter is inserted.
  • Page 45 Commissioning Example 2 via EtherCAT interface: Connect PMCprimo C2.0 and PMCprotego D. EtherCAT X40a Fig.: Connect PMCprimo C2.0 and PMCprotego D, example 2 via EtherCAT interface Prerequisites: The motion controller PMCprimo C2.0 is installed in a servo amplifier. Establish the following connections: Connect X44 on the motion controller to X7A on the PMCprotego D servo amplifier.
  • Page 46 The devices start. The motion controller PMCprimo C2.0 scans the network for subscribers. Logical axes are automatically assigned to the servo amplifiers in the motion controller if No configuration is stored on the motion controller. New servo amplifiers are detected in the existing configuration. Operating Manual PMCprimo C2 | 46 1004683-EN-02...

  • Page 47: Prepare Commissioning Pmcprimo C2.1 With Pmc Sc6/Pmc Si6

    X201: EtherCAT Out X200 EtherCAT In Fig.: Connect PMCprimo C2.1 and SC6, example via EtherCAT interface Establish the following connections: Connect X44 on the motion controller to X200 on the PMC SC6 drive controller. Connect the Ethernet interface X43 on the motion controller to the PC.

  • Page 48: Establish Communication Between Pmcprimo C2 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 C2 and PC must be in the same network or be accessible via a Router. 1. Select Ethernet.
  • Page 49 NOT INSTALLED ETHERNET IP address 172.23.10.141 Netmask 255.255.248.0 Gateway 192.168.0.1 CHANNELS Number 1...60 HARDWARE Type: PMCprimo C2 1300MHz unknown Item No.: 680190 Ser. No.: 111111 Pr. Ver.: Encoder Inputs: Outputs: Virtual inputs: Virtual outputs: Analogue inputs: Analogue outputs: 0 DEVICES in EtherCAT Network:...
  • Page 50 Axis executes alignment movement Axis executes coupling process Initialisation running Axis executes positioning CNC program active Axis executes stop command Axis is in speed control Axis is in standby Position assignment is active on the axis Operating Manual PMCprimo C2 | 50 1004683-EN-02...

  • Page 51: Configure Servo Amplifier Pmcprotego D

    The 24 VDC supply voltage for the drive controller's control element is present. The EtherCAT network is configured for the motion control system (via CODESYS) and the drive controller. Further information is available in the operating instructions for the drive controller. Operating Manual PMCprimo C2 | 51 1004683-EN-02...

  • Page 52: Adapt Basic Configuration Of Pmcprimo

    (28) Modbus Client not active ***************************************** Exit menu Delete application data Change CAN1 baudrate Change Ethernet Change in/out length for Profibus Change offset for Profibus Set CAN1 Cycle time Set CAN address Change Profibus address Operating Manual PMCprimo C2 | 52 1004683-EN-02...

  • Page 53: Operate Pmcprimo C2

    0.1: SOFTWARE Firmware: 03.06.00, Dec 16 2020, 13:20:52 Motion: INSTALLED IEC PLC: INSTALLED Interpolation: INSTALLED ETHERNET IP address 192.168.0.11 Netmask 255.255.255.0 Gateway 192.168.0.1 CHANNELS Number 1...32 HARDWARE Type: PMCprimo C2 1.3 GHz CAN/CAN Operating Manual PMCprimo C2 | 53 1004683-EN-02...
  • Page 54 2 inputs linked to channel from 0.1 to 0.2 puts: Analogue out- 2 outputs linked to channel from 0.1 to 0.2 puts: PMCtendo DD4 (SD01) at CAN1 ADDR 13 found (DS402) Inputs: Outputs: Operating Manual PMCprimo C2 | 54 1004683-EN-02...

  • Page 55: Install Codesys

    Install CODESYS The development environment for programming in accordance with IEC 61131-3 CODESYS can be found in the software package "PMC Programming Tool". The software package is available on the Internet at www.pilz.de. After downloading a Unpack the Zip file, a Start the installation program.

  • Page 56: Operation

    - RS4 RS2 or - RS5 - RS6 Reset button program No user Error detected HW reset: - RS1 - Reset button Fig.: Operating states and changes in operating status of the motion controller Operating Manual PMCprimo C2 | 56 1004683-EN-02...

  • Page 57: Operating States

    "FUNC" LED: Lights up yellow 9.1.2.4 "RUN" operating status In "RUN" operating status All system sections are in a RUN condition and are operating without error. A PLC user program is run as part of each cycle. Operating Manual PMCprimo C2 | 57 1004683-EN-02...

  • Page 58: Stop" Operating Status

    Press the reset pushbutton during this time to change to "Boot Menu" 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. Operating Manual PMCprimo C2 | 58 1004683-EN-02...
  • Page 59 The system performs a hardware reset after Running the command RS1 in the terminal program (cold start). Holding down the reset pushbutton for a long period (> 4 s) (alternative to RS1 command (cold start)). Operating Manual PMCprimo C2 | 59 1004683-EN-02...

  • Page 60: Reset, Restart, Start And Stop Options

    Online --> Reset (cold) Warm reset Online --> Reset Original reset Online --> Reset (ori- ginal) The following table provides an overview of the impact of a reset, start or stop on a vari- able. Operating Manual PMCprimo C2 | 60 1004683-EN-02...

  • Page 61: Cold Start, "Startup

    Deletes the user program. Resets all variables to the value with which they were initialised (including remanent vari- ables with attribute RETAIN and PERSISTENT). Resets the motion controller to its original condition (factory defeault settings). Operating Manual PMCprimo C2 | 61 1004683-EN-02...

  • Page 62: Start And Stop Commands

    After cold starting the motion controller you can change to the "Boot Menu" in order to set the operating parameters. Follow the instructions below: The controller is in "Startup" operating status. LED flashes rapidly. Operating Manual PMCprimo C2 | 62 1004683-EN-02...

  • Page 63: Messages

    The error stack contains the last 100 error messages. It can be read in the operating status "RUN" and "STOP". Select the LE1 command in the terminal program. PVIS Errors, messages and the corresponding remedies are displayed in the expanded dia- gnostics system PVIS. Operating Manual PMCprimo C2 | 63 1004683-EN-02...
  • Page 64 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 C2 | 64 1004683-EN-02...

  • Page 65: Display Elements

    Data storage for device ex- Blue Blue change (see USB) Legend LED on LED off LED flashes Meaning CAN1 Network connection Green CAN1 No network connection CAN2 CAN2 Network connection Yellow No network connection Operating Manual PMCprimo C2 | 65 1004683-EN-02...
  • Page 66 Operation Meaning LINK Network connection LINK Green No network connection TRAFFIC TRAFFIC Data traffic Yellow X43, X44, X45 No data traffic Operating Manual PMCprimo C2 | 66 1004683-EN-02...

  • Page 67: Technical Details

    10 ... 30 VDC, 4,75 ... 5,25 VDC Phase position for the differential signals A, /A and B,/B 90° ±30° 90° ±30° Maximum cutoff frequency 0,5 MHz 0,5 MHz Inputs 680180 680190 Number Operating Manual PMCprimo C2 | 67 1004683-EN-02...
  • Page 68 – – Transmission rates 1000 kBit/s, 250 kBit/s, 500 kBit/s 1000 kBit/s, 250 kBit/s, 500 kBit/s Potential isolation Ethernet interface 680180 680190 Number IP address, factory setting 192.168.0.11 192.168.0.11 Connection type RJ45 RJ45 Operating Manual PMCprimo C2 | 68 1004683-EN-02...
  • Page 69 In accordance with the standard EN 60529 EN 60529 Housing IP20 IP20 Terminals IP20 IP20 Mounting area (e.g. control cab- inet) IP54 IP54 Potential isolation 680180 680190 Potential isolation between Encoder and system voltage Encoder and system voltage Operating Manual PMCprimo C2 | 69 1004683-EN-02...
  • Page 70 0,75 mm² Dimensions Height 173 mm 199 mm Width 18,5 mm 30 mm Depth 97 mm 99 mm Weight 200 g 516 g Where standards are undated, the 2021-03 latest editions shall apply. Operating Manual PMCprimo C2 | 70 1004683-EN-02...

  • Page 71: Ec Declaration Of Conformity

    European Parliament and of the Council. The complete EC Declaration of Conformity is available on the Internet at www.pilz.com/downloads. Authorised representative: Norbert Fröhlich, Pilz GmbH & Co. KG, Felix-Wankel-Str. 2, 73760 Ostfildern, Germany Operating Manual PMCprimo C2...

  • Page 72: Order Reference

     680194 interface, 1.3 GHz, IEC 61131-3 programming and path in- terpolation housing version PMCprimo C2.1/C/C/7 Motion controller with configurable CANopen/PROFIBUS  680195 interface, 1.3 GHz, dynamic curve calculation, IEC 61131-3 programming and path interpolation housing version Operating Manual PMCprimo C2 | 72 1004683-EN-02...

  • Page 73: Accessories

    PROFIBUS interface for PMCprotego D.48/D.72 48-72A incl. RJ45 con- nection cable Product type Features Order no. Cable PMCprimo mini-I/ Adapter cable 0.75 m 680044 O>enc. SubD9 0.75m Mini-I/O connector - Sub-D socket, 9-pin (for encoder) Operating Manual PMCprimo C2 | 73 1004683-EN-02...
  • Page 74 We are represented internationally. Please refer to our homepage www.pilz.com for further details or contact our headquarters. Headquarters: Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: info@pilz.com, Internet: www.pilz.com...

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