PMCprimo MC

} Control systems

Operating Manual-1003813-EN-03
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.
Source code from third-party manufacturers or open source software has been used for
some components. The relevant licence information is available on the Internet on the Pilz
homepage.
Pilz®, PIT®, PMI®, PNOZ®, Primo®, PSEN®, PSS®, PVIS®, SafetyBUS p®,
SafetyEYE®, SafetyNET p®, the spirit of safety® are registered and protected trademarks
of Pilz GmbH & Co. KG in some countries.

SD means Secure Digital

Contents

1 Introduction ............................................................................................................................ 6
1.1 Validity of documentation.......................................................................................................... 6
1.2 Retaining the documentation .................................................................................................... 6
1.3 Definition of symbols................................................................................................................. 6

2 Overview ................................................................................................................................. 8
2.1 Unit features ............................................................................................................................. 8
2.2 Front view ................................................................................................................................. 9
2.3 Type code ................................................................................................................................. 10
2.4 Type label ................................................................................................................................. 11
2.5 Scope........................................................................................................................................ 11

3 Safety ...................................................................................................................................... 12
3.1 Intended use ............................................................................................................................. 12
3.2 Safety regulations ..................................................................................................................... 12
3.2.1 Use of qualified personnel ........................................................................................................ 12
3.2.2 Warranty and liability ................................................................................................................ 13
3.2.3 Disposal .................................................................................................................................... 13
3.3 Standards ................................................................................................................................. 13

4 Function description ............................................................................................................. 14

4.1 Device properties ...................................................................................................................... 14
4.1.1 Controller .................................................................................................................................. 14
4.1.1.1 Networking with servo amplifier ................................................................................................ 15
4.1.2 Connecting the supply voltage.................................................................................................. 17
4.1.3 Digital inputs ............................................................................................................................. 18
4.1.4 Digital outputs ........................................................................................................................... 19
4.1.5 Interfaces .................................................................................................................................. 19
4.1.5.1 Overview ................................................................................................................................... 19
4.1.5.2 CANopen .................................................................................................................................. 20
4.1.5.3 PROFIBUS DP ......................................................................................................................... 21
4.1.5.4 Ethernet .................................................................................................................................... 21
4.1.5.5 EtherCAT .................................................................................................................................. 21
4.1.5.6 USB .......................................................................................................................................... 22
4.1.6 Encoder .................................................................................................................................... 22
4.1.7 Encoder emulation.................................................................................................................... 23
4.1.8 Reset button ............................................................................................................................. 24
4.2 Software.................................................................................................................................... 25

5 Installation .............................................................................................................................. 26
5.1 General requirements ............................................................................................................... 26
5.2 Dimensions ............................................................................................................................... 26
5.3 Installing the unit....................................................................................................................... 27
5.4 Installing the fieldbus junction box ............................................................................................ 28

6 Wiring ...................................................................................................................................... 29
6.1 Wiring guidelines ...................................................................................................................... 29
6.2 Supply voltage .......................................................................................................................... 29

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6.3 Digital inputs ............................................................................................................................. 31

6.4 Digital outputs ........................................................................................................................... 33
6.5 Interfaces .................................................................................................................................. 35
6.5.1 CANopen X42........................................................................................................................... 35
6.5.2 Ethernet X43............................................................................................................................. 35
6.5.3 EtherCAT X44........................................................................................................................... 36
6.5.4 CANopen, PROFIBUS X51 ...................................................................................................... 36
6.5.4.1 Wiring guidelines for the CANopen interfaces .......................................................................... 37
6.5.5 CANopen X52........................................................................................................................... 38
6.6 Encoder .................................................................................................................................... 39
6.6.1 Supply voltage .......................................................................................................................... 39
6.6.2 Incremental encoder with TTL signal........................................................................................ 40
6.6.3 Absolute encoder with SSI interface......................................................................................... 42

7 Commissioning ...................................................................................................................... 44
7.1 Safety guidelines ...................................................................................................................... 44
7.2 Commissioning the PMCprimo MC........................................................................................... 45
7.2.1 Preparing for commissioning .................................................................................................... 45
7.2.2 Establish communication between PMCprimo MC and PC...................................................... 47
7.2.3 Adapt basic configuration ......................................................................................................... 50
7.2.4 Configure servo amplifier .......................................................................................................... 51
7.2.5 Operate PMCprimo MC HW1 - Show Hardware ...................................................................... 52
7.2.6 Operate PMCprimo MC HW2 - Show hardware ....................................................................... 54
7.3 Install CODESYS ...................................................................................................................... 54

8 Operation ................................................................................................................................ 55
8.1 Operating states and changes in operating status ................................................................... 55
8.1.1 Status graph ............................................................................................................................. 55
8.1.2 Operating states ....................................................................................................................... 56
8.1.2.1 "Power Off" operating status..................................................................................................... 56
8.1.2.2 "Startup" operating status ......................................................................................................... 56
8.1.2.3 "Boot Menu" operating status ................................................................................................... 56
8.1.2.4 "RUN" operating status ............................................................................................................. 56
8.1.2.5 "STOP" operating status ........................................................................................................... 57
8.1.2.6 "Fatal Error" operating status.................................................................................................... 57
8.1.3 Change in operating status....................................................................................................... 57
8.2 Reset, restart, start and stop options........................................................................................ 59
8.2.1 Overview ................................................................................................................................... 59
8.2.2 Cold start, "Startup" .................................................................................................................. 60
8.2.3 Reset commands ...................................................................................................................... 60
8.2.3.1 Warm reset ............................................................................................................................... 60
8.2.3.2 Cold reset ................................................................................................................................. 60
8.2.3.3 Original reset ............................................................................................................................ 61
8.3 Functions of the reset button .................................................................................................... 61
8.4 Messages ................................................................................................................................. 62
8.5 Display elements ...................................................................................................................... 63

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9 Technical details .................................................................................................................... 65

10 Order reference ...................................................................................................................... 69

10.1 Product ..................................................................................................................................... 69
10.2 Accessories .............................................................................................................................. 69

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Introduction

1 Introduction

1.1 Validity of documentation

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.
} Guidelines regarding installation and environmental conditions can be found in the oper-
ating manual for the servo amplifier PMCprotego D.
} The configuration and programming software for motion control devices (e.g. CODESYS,
PASmotion) can be found on the Internet at www.pilz.com.
You will need to be conversant with the information in these documents in order to fully un-
derstand this operating manual.

1.2 Retaining the documentation

This documentation is intended for instruction and should be retained for future reference.

1.3 Definition of symbols

Information that is particularly important is identified as follows:

DANGER!
This warning must be heeded! It warns of a hazardous situation that poses
an immediate threat of serious injury and death and indicates preventive
measures that can be taken.

WARNING!
This warning must be heeded! It warns of a hazardous situation that could
lead to serious injury and death and indicates preventive measures that can
be taken.

CAUTION!
This refers to a hazard that can lead to a less serious or minor injury plus
material damage, and also provides information on preventive measures
that can be taken.

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Introduction

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

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Overview

2 Overview

2.1 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
– Speed axes
– Positioning axes
– Synchronisation axes (electrical cam disk)
– Path axes (interpolation)
– Technology functions
} Digital inputs and outputs
– 16 digital inputs, 6 of which are inputs, which can be used as reference inputs
– 16 single-pole digital outputs
} 2/3 Mini-I/O sockets for encoder or 1 Mini-I/O socket (X41) for encoder emulation
– Incremental encoder with TTL signal
– Absolute encoder with SSI interface
} Supply voltages for
– Device plus digital outputs
– Encoder
} Memory for
– Applications
– Non-volatile data (non-volatile ST memory)
} USB interface for data exchange
} Reset button
– For switching between operating states
– For a hardware reset (cold start)
– For importing project data when devices are exchanged
} LED display for device's operating status
} Interfaces
– 1 Ethernet TCP/IP on RJ45 socket
– 1 EtherCAT on RJ45 socket
– 2 CANopen on RJ45 socket
– 1 CANopen on 9-pin female D-Sub connector
} 1 CANopen or 1 PROFIBUS DP interface on 9-pin male D-Sub connector, selectable with
software

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Overview

2.2 Front view

[17] X56
ENC2 [1]
[16] X55
ENC3

STAT
RESET [2]
FUNC
X46
USB [3]
X45
[4]
X52
X44

[15]
CAN3
ECat [5]
X43
ETH [6]
X42
X51
CAN4 CAN1
CAN2
[7]
[14] PB

X41
ENC1 [8]
X50c X40b

[13] [9]

[12] X50b X40a

[10]
[11] X50a

Legend
[1] Type label, on the side of the housing
[2] Reset button and LEDs to display operating states
[3] X46, USB interface
[4] X45, unused
[5] X44, EtherCAT interface
[6] X43, Ethernet TCP/IP interface
[7] X42, CANopen interfaces
[8] X41, Connection for encoder 1 or in emulation mode: Output encoder
[9] X40b, Digital inputs and outputs
[10] 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

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Overview

[15] X52, CANopen interface

[16] X55, Connection for encoder 2
[17] X56, Connection for encoder 3

2.3 Type code

Type

PMCprimo MC. _ / _ _ _ _ _ _ / _

CPU 1.3 GHz C

Hardware 16DIDO

Software option 2 3 4 5 6 7
Without
Dynamic curve calculation
IEC 61131 - 3 programming
Path interpolation

Fig.: PMCprimo MC type code

Explanation of type code

} CPU
Clock frequency of processor
} Hardware
– Diverse interfaces, see section entitled Interfaces [ 19] plus an optional
PROFIBUS DP Slave interface via software switching.
} Software
– 2: Software options not enabled
– 3, 5, 7: Dynamic curve calculation enabled
The dynamic curve calculation is a calculation program for allocation tables.
– 4-7: IEC 61231-3 programming enabled
The PLC functionality is programmed with CODESYS.
– 6, 7: Path interpolation enabled
PLC functionality and path interpolation

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Overview

2.4 Type label

The type label is positioned on the side of the motion controller.

[1] [2] [3] [4]

[5]

[6]

[7]

Fig.: Type label PMCprimo MC

Legend
[1] Order number
[2] Serial number
[3] Hardware version
[4] Firmware version
[5] Type code
[6] Supply voltage, voltage tolerance
[7] Year of manufacture

2.5 Scope
Order reference Description Order number
PMCprimo MC Motion controller (for function range See "Type
see "Type code") code"

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Safety

3 Safety

3.1 Intended use

The motion controller is suitable for use in logic and motion control applications.
Examples of typical application areas for the product are
} Clocked production machinery
} Continuous manufacturing processes (winding, flying saw, cross cutter)
} Machine tools
} Packaging machines
} Pick and place applications
The following is deemed improper use in particular
} Any component, technical or electrical modification to the product,
} Use of the product outside the areas described in this manual,
} Use of the product outside the technical details (see Technical details).

NOTICE
EMC-compliant electrical installation
The product is designed for use in an industrial environment. The product
may cause interference if installed in other environments. If installed in other
environments, measures should be taken to comply with the applicable
standards and directives for the respective installation site with regard to in-
terference.

3.2 Safety regulations

3.2.1 Use of qualified personnel

The products may only be assembled, installed, programmed, commissioned, operated,
maintained and decommissioned by competent persons.
A competent person is a qualified and knowledgeable person who, because of their train-
ing, experience and current professional activity, has the specialist knowledge required. To
be able to inspect, assess and operate devices, systems and machines, the person has to
be informed of the state of the art and the applicable national, European and international
laws, directives and standards.
It is the company’s responsibility only to employ personnel who
} 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.

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Safety

3.2.2 Warranty and liability

All claims to warranty and liability will be rendered invalid if
} The product was used contrary to the purpose for which it is intended,
} Damage can be attributed to not having followed the guidelines in the manual,
} Operating personnel are not suitably qualified,
} Any type of modification has been made (e.g. exchanging components on the PCB
boards, soldering work etc.).

3.2.3 Disposal
} When decommissioning, please comply with local regulations regarding the disposal of
electronic devices (e.g. Electrical and Electronic Equipment Act).

3.3 Standards
To use the device correctly you will need to have a good knowledge of the relevant stand-
ards and directives. The following standards are relevant:
} EN 61131-1: Programmable controllers – Part 1: General information
} 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.

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Function description

4 Function description

4.1 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.
User programs can be programmed in the main IEC 61131-3 languages. The software
CODESYS is used to program the PLC functionality.
The motion controller has 16 digital inputs and 16 single-pole digital outputs. The inputs
and outputs are read cyclically. The cycle time is ≤ 1ms. It can also access inputs and out-
puts on networked servo amplifiers from the PMC product area.
The motion controller has fieldbus interfaces for communication with the periphery.
3 encoders can be connected (incremental encoder with TTL signal or absolute encoder
with SSI interface).
Two LEDs provide information on the operating states of the controller and indicate any er-
rors.

X50a/b X40a X40b X51 X52 X41 X55 X56 FUNC

X40a X50a X50b
1 ... 16

(1...4, 9...12)
(5...8, 13...16)

EtherCAT

Logic

(1...4, 9...12)
Motion Control

(5...8, 13...16)
1 ... 16 USB

X50c X46

Fig.: Block diagram PMCprimo MC

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Function description

4.1.1.1 Networking with servo amplifier

PMCprimo MC has the following options for networking with servo amplifiers:
Networking of PMCprimo MC (1) with the servo amplifier PMCprotego D (3)
} Via the communication protocol CANopen
} Via the interface X52 (9-pin D-Sub).
To create a connection, a fieldbus distributor PMCprotego D.CAN-Adapter (2) is required
with the servo amplifier PMCprotego D.

CANopen 1 CAN1 CAN2

PMCprotego D.CAN-Adapter (2)

PMCprimo MC (1)

X52
X43
Ethernet

X50a/b X40a
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).

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Function description

To create a connection, a fieldbus distributor PMCprimo DriveP.CAN-CAN-Adapter (2) is

required with the servo amplifier PMCprotego D.

CAN1 CAN2
PMCprimo DriveP.CAN-CAN-Adapter (2)

PMCprimo MC (1)

CAN1 CAN2
X43
Ethernet X42

X40a
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 EtherCAT
} Via the interface X44 (RJ45).
There is not adapter required.

PMCprimo MC (1)

X7A

X7B EtherCAT

X44
X43
Ethernet

X50a/b X40a
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.

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Function description

4.1.2 Connecting the supply voltage

Connect the following supply voltages to the device:
Supply voltage for the device, the digital outputs and interfaces
} X40a/Pin 1 and Pin 3
Supply voltage for the device, the digital outputs X40b (24 VDC), the interfaces X42 to
X45 and the interfaces X51 and X52
} X50a/Pin 1 and Pin 3 and X50b/Pin 1 and Pin 3
Supply voltage for the digital outputs X50c (24 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)
– X50a/Pin 2 and X50b/Pin 2
– X50a/Pin 4 and X50b/Pin 4

X56
ENC2

X55
ENC3

STAT
RESET
FUNC
X46
USB

X45
SNet
In

X52
CAN3
X44
SNet
Out

X43
ETH

X51 X42
CAN4 CAN1
PB CAN2

X41
ENC1

X50c X40b

X50c X40b

X50ab
X50b X40a
X40a
X50a

Fig.: Connecting the supply voltage for device, digital outputs and interfaces

Connect the following supply voltages for the encoders:

} X40a/Pin 2 and Pin 4
Supply voltage for the encoder X41 (5 V, 10-30 VDC).
The voltage is wired directly to the Mini-I/O socket X41/Pin 1 and Pin 2.
} 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)

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Function description

X56
X56 ENC2
2

X55 X55
ENC3
3

STAT
RESET
FUNC
X46
USB

X45
SNet
In

X52
CAN3
X44
SNet
Out

X43
ETH

X51 X42
CAN4 CAN1
PB CAN2

X41
ENC1 X41
X50c X40b

X50a
X40a
X50b X40a

X50b X50a

Fig.: Connecting the supply voltage for encoder

CAUTION!
Risk of material damage by applying the supply voltage
Do not connect the supply voltage for the encoder when the encoder input
is used in emulation mode (as an output).

Further information on the emulation mode is available at: Encoder emulation [ 23].

4.1.3 Digital inputs

The device has 16 digital inputs (X40b: Pin 1 … 4 and Pin 9 … 12, X50c: Pin 1 … 4 and
Pin 9 … 12).
The inputs are compatible with EN 61131-2, Type 1.
The time behaviour of the digital inputs depends on the method of use:
} With normal use, the inputs have a filter time of ≤ 600 μs.
} 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.

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Function description

4.1.4 Digital outputs

The device has 16 single-pole digital outputs (X40b: Pin 5 … 8 and Pin 13 … 16, X50c:
Pin 5 …8 and Pin 13 … 16).
Signals at the output
} "0" signal (0 V) at the output:
– Output is high impedance
– No current to the load
} "1" signal (+24 V) at the output:
– Output is low impedance
– Current is supplied to the load
– The maximum current strength per output is 0.5 A.
All digital outputs are protected against short circuit and overload.
The outputs can be used to connect relays, valves or inputs from another controller, for ex-
ample.

4.1.5 Interfaces

4.1.5.1 Overview
The motion controller PMCprimo MC has various fieldbuses for communication with the
periphery. These are available on RJ45 sockets on the front of the device or 9-pin D-Sub
connections. The interfaces are suitable for the following applications:
} CANopen
– Real-time capable networking between CAN devices and the motion controller
– Suitable for applications
– with ≤ 49 subscribers
– with cycle time of ≥ 1 ms
– in existing networks (e.g. with PMCtendo DD5).
– Connection to the servo amplifier PMCprotego D via the fieldbus junction box PMC-
protego D.CAN-CANbus Adapter (fieldbus junction box, can be ordered as an option)
} PROFIBUS DP Slave
– Hardware switching via software command, from CANopen to PROFIBUS DP.
– Networking between the motion controller and a PROFIBUS Master.
– Suitable for data exchange with a third party controller.
} 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).

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Function description

– Suitable for networking between the motion controller and a visualisation device or
a PSS 4000, for example.
} 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
MC and the servo amplifier PMCprotego D.
– The PMCprimo MC acts as Master
– Suitable for applications
– with ≤ 32 subscribers
– with cycle time of 1 ms
} USB
– For data exchange, see section entitled USB [ 22]

4.1.5.2 CANopen
The CAN network is designed as a linear structure. The CANopen communication protocol
is based on CAN.
} CAN networking with the motion controller is suitable for applications with a maximum
subscriber number of ≤ 49 and a cycle time ≥ 1 ms.
} Only CAN devices that are known to the controller or support a corresponding device pro-
file can be operated in the motion controller's CAN network.
} CAN devices detected by the motion controller are ready for operation immediately after
the initial network run-up. No complex configuration of the CAN devices is required.
} The overall line length and the length of the stub lines depend on the transmission rate,
see section entitled Wiring guidelines for the CANopen interfaces [ 37].
} Process data objects (PDO) are defined for each CAN device type and cannot be cus-
tomised by the user.
} For servo amplifiers, the "FS" command can be used to set which process data is to be
exchanged between the motion controller and the servo amplifier (see "PMCprimo Pro-
gramming Manual").
} The signal lines must be terminated with resistors (120 Ohm) on the first and last sub-
scriber.
– Interface X42 (RJ45)
For a PMCprimo MC, a terminating resistor can be activated in the fieldbus junction
box PMCprotego D.CAN-CANbus Adapter or PMCprotego D.CAN-PROFIBUS Ad-
apter. The resistors are generally integrated within the connected devices and must
not be activated there.
– Interface X51, X52 (9-pin D-Sub connector)
A terminating resistor is permanently installed between Pin 2 and Pin 7. The resistors
are generally integrated within the connected devices and must not be activated
there.

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Function description

4.1.5.3 PROFIBUS DP
PROFIBUS is an open fieldbus standard. Communication is defined in IEC 61158 and IEC
61784. Further provisions have been defined in specifications published by the PROFIBUS
User Group. These specifications are available from PROFIBUS International.
On a certain unit type, the PROFIBUS DP interface is available together with a CANopen
interface on a 9-pin female D-Sub connector (X51).
Properties:
} The PROFIBUS is configured using the CD command: Slave address, address range,
see "PMCprimo Programming Manual".
} PROFIBUS DP with CODESYS
– Ignores configuration with CD command
– 1000 16 Bit signed variables available
they start from address 1000
} A total of up to 108 bus variables can be read and written in command language (see
"PMCprimo Programming Manual"):
– Address space of bus variables: $B1 to $Bx108 (can be set using the CD command).
– Data width: 16 Bit including sign
– Value range: -32768 to 32767 (Hex: 0x0000 bis 0x7FFF).

INFORMATION
The GSD file is available on the Pilz homepage. The name of the descrip-
tion file can be found in Technical details [ 65].

INFORMATION
Please also refer to the installation guidelines published by the PROFIBUS
User Group.

4.1.5.4 Ethernet
The Gigabit Ethernet interface (X43) connects the PMCprimo MC to a programming device
for configuration, programming and commissioning. The interface can also be used to con-
nect a visualisation device.
The Gigabit Ethernet interface is compatible with 1000Base-T (Standard Gigabit Ethernet).
Data exchange is possible via Modbus/TCP.

4.1.5.5 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.

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Function description

Before the CODESYS project starts, all the devices must be operational so that they are
detected by the EtherCAT master.
The address assignment of the network subscribers is performed automatically in the se-
quence of the physical arrangement. The sequence of the inserted devices in the device
tree must match the physical arrangement.
Please note the following during operation:
} 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.
This prevents unforeseeable delays and it guarantees real-time capability.
Bit errors in the transmission are reliably detected in the evaluation of CRC check sums.
Rare interferences can be detected and localised with EtherCAT even if the interference
does not influence the functionality of the machine.

4.1.5.6 USB

INFORMATION
Use a USB stick with FAT32 formatting.

} The USB interface is used for data exchange.

} 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:
– Make sure that the directory "primoBACKUP" does not exist on the USB stick. (avoid
overwriting accidentally)
– Insert USB stick
– Press the RESET button during the boot process until the LEDs flash blue.
} Copy data stored on a USB stick to the controller:
– Insert USB stick
} Activate the hardware reset (cold start) by pressing the "RESET" button, see Functions of
the reset button [ 61].

4.1.6 Encoder
Depending on the configuration, the device has
} 3 encoder connections X41, X55 and X56 (Mini I/O sockets)
} 2 encoder connections X55 and X56 (Mini I/O sockets) and 1 encoder connection X41 for
Encoder emulation [ 23]

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The following encoders are supported:

} Incremental encoder with TTL signal
} Absolute encoder with SSI interface
The supply voltages of the encoders are connected to separate terminals of the device
} X40a/Pin 2 and Pin 4 for encoder at X41
} X50a/X50b/Pin 2 and Pin 4 combined for encoders at X55 and X56
The size of the voltage depends on the encoder (e.g. 5 V, 10 - 30 VDC).

INFORMATION
For details of how to connect the supply voltage see Supply
voltage [ 29].

Encoder emulation
The encoder connection X41 can be used as an output, see Encoder emulation [ 23].

CAUTION!
Risk of material damage by applying the supply voltage
Do not connect the supply voltage for the encoder when the encoder input
is used in emulation mode (as an output).

4.1.7 Encoder emulation

Prerequisite: Motion Controller from Firmware version 0305 (see Type label [ 11])
To interconnect motion controllers and to be able to synchronise the position, the encoder
input X41 can be used as an output. The output emulates the behaviour of a relative incre-
mental encoder and it works as a virtual axis.
For each increment, the virtual axis moves and the A/B signal changes. So the relative pos-
ition of a motion controller (master) to another motion controller (slave) can be communic-
ated.
Further information on the encoder emulation can be found in the chapter Technical
details. [ 65]

CAUTION!
Risk of material damage by applying the supply voltage
Do not connect the supply voltage for the encoder when the encoder input
is used in emulation mode (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

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NOTICE
The maximum output frequency of the encoder emulation is 250 kHz
(250000 incr./s). When the output frequency is exceeded, no further signals
are output at the output.

INFORMATION
Only one device must be operated at the output (X41) of the encoder emu-
lation. To connect several devices to the encoder interfaces, you require a
splitter that amplifies the signals.

4.1.8 Reset button

The "RESET" button is mounted in a recess on the front of the unit. It can only be accessed
using an appropriate tool (e.g. a pin).
The following actions can be triggered by pressing the "RESET" pushbutton:
} Change from "Startup" operating status to "Boot Menu"
} Hardware reset (cold start): Change from operating states "RUN" or "STOP" to "Star-
tup" (if a USB stick is inserted, any device data present will be copied, see Functions of
the 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].

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4.2 Software
Various tools are available for planning, configuration, programming and commissioning.
They are used to create a project:
} PASmotion
PASmotion is used to parameterise and commission the motion controller and the servo
amplifier PMCprotego D.
– Terminal program: The terminal can be used to transfer commands directly to the
hardware. It can also be used for firmware updates and for basic configuration of the
motion controller.
– Oscilloscope function: PScope is a PC-based oscilloscope with up to 4 channels. It
can be used to record and visualise signals from controllers and servo amplifiers.
– Elliptical curve tool: PMotion is a tool for constructing elliptical curves.
} Development environment in accordance with IEC 61131-3
CODESYS is a development environment for programming controllers in accordance with
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.

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5 Installation

5.1 General requirements

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.

5.2 Dimensions

30
256.7
270.6
4.8

171.5
42 9.5
183
60

Fig.: Dimensions, stated in mm

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5.3 Installing the unit

} Installation materials: 3 hexagon socket cylinder head screws DIN 912, M5
} Required tool: Hexagonal wrench 4 mm
Follow the instructions below:
} Drill M5 holes in the control cabinet's mounting plate, as shown in the illustrations.
Attach the device to the control cabinet's mounting plate with a minimum distance of >5 mm
to the adjacent servo amplifier.

>70
>5

42
PMCprimo MC PMCprotego D.01

Fig.: Installing the motion control system next to a servo amplifier

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5.4 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.

To install the fieldbus junction box, follow the instructions below:

} Switch off the mains voltages and 24 V supply.
} Connect the 9-pin female D-Sub connector X6D to the male connector X6 on the servo
amplifier.
} Turn the screws into the thread on the housing.

Fig.: Installing the fieldbus junction box on a servo amplifier

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6 Wiring

6.1 Wiring guidelines

Please note:
} Cable cross sections for field connection terminals in mm2:
– Digital inputs/outputs, supply voltage: 0.5 (AWG20) ... 1.0 (AWG18),
crimp connectors with plastic collar
0.75 mm2 [H 0.75/16D] metrical. Ferrule length 12 mm, stripping length 14 mm
0.5 mm2 [H 0.5/16D] metrical. Ferrule length 10 mm, stripping length 12 mm
Inputs
} Appropriate wiring must be used to exclude short circuits between the inputs or to a sup-
ply line.
} Cables must be shielded if the signals are used as reference inputs. Other signal lines do
not need to be shielded.
Outputs
} If short circuits occur between the cable from the output to the load and a supply line, it
will no longer be possible to switch off the load.
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.

6.2 Supply voltage

The digital outputs and the unit need a 24 VDC supply.
} When selecting the power supply, please refer to the requirements stated under “Tech-
nical Details”.
} The power supply must be able to bridge a power outage of 20 ms.

WARNING!
Electric shock!
Safe electrical isolation must be ensured for the external power supply that
generates the supply voltage. Failure to do so could result in electric shock.
The power supplies must comply with EN 60950-1, 05/2006, EN 61558-2-6,
11/1997.

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Connector X40a Pin Designation Description

1 +24 V Supply voltage +24 VDC
3 0 V supply Earth for supply voltage
Supply voltage for:
the device, digital outputs X40b, interfaces
X42 to X45
and interfaces X51 and X52

Supply voltage 24 V
X40a 24 V connection isolated
1 from external power supply,
e.g. with isolating trans-
3 former
N
*If the link is removed, earth
*
fault monitoring must be
used in accordance with
EN 60204 / VDE 0113.

Connector X50a/ Pin Designation Description

X50b
X50a 1 +24 V Supply voltage +24 VDC
3 0 V supply Reference earth for digital inputs
X50b X50c
Supply voltage for
the two encoders X55 and X56
the digital outputs X50c

Supply voltage 24 V
X50b 24 V connection isolated
V+ 1 from external power supply,
e.g. with isolating trans-
3 former
*If the link is removed, earth
X50a fault monitoring must be
V+ 1 used in accordance with
3 EN 60204 / VDE 0113.
N
*

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6.3 Digital inputs

Connector X40a, Pin Designation Description
X40b
X40b X40b
1 I1:1 Digital, fast input 1
2 I1:2 Digital, fast input 2
3 I1:3 Digital, fast input 3
4 I1:4 Digital, fast input 4
X40a
9 I1:5 Digital, fast input 5
10 I1:6 Digital, fast input 6
11 I1:7 Digital input 7
12 I1:8 Digital input 8
X40a
3 0V Reference earth for digital inputs

Input circuit Digital input

X40b 24 VDC, referenced to
earth (X40a/3)

Cables must be shielded if

4 the signals are used as ref-
erence inputs.
Example: Reference inputs
I1:1 and I1:2 (Pin 1, 2)

I1.7
12
I1.8

X40a 3

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Connector X50a, Pin Designation Description

X50b, X50c
X50c X50c
1 I2:1 Digital input 1
2 I2:2 Digital input 2
3 I2:3 Digital input 3
4 I2:4 Digital input 4
X50b
9 I2:5 Digital input 5
X50a 10 I2:6 Digital input 6
11 I2:7 Digital input 7
12 I2:8 Digital input 8
X50b
3 0V Reference earth for digital inputs
X50a
3 0V Reference earth for digital inputs

Input circuit Digital input

X50c 24 VDC, referenced to
I2:1 earth, X50a/3 and X50b/3
are linked internally
I2:2

I2:3
4
I2:4

I2:5

I2:6

I2:7
12
I2:8

X50b 3

X50a 3

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6.4 Digital outputs

Connector X40a, Pin Designation Description
X40b
X40b X40b
5 O1:1 Digital output 1
6 O1:2 Digital output 2
7 O1:3 Digital output 3
8 O1:4 Digital output 4
X40a
13 O1:5 Digital output 5
14 O1:6 Digital output 6
15 O1:7 Digital output 7
16 O1:8 Digital output 8
X40a
1 +24 V Supply voltage for digital outputs
3 0 V supply Reference earth for digital outputs

Output circuit Digital output

X40b 24 VDC, referenced to
earth (X40a/3)

O1:7 DI 7
16
O1:8 DI 8
1
X40a

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Connector X50a, Pin Designation Description

X50b, X50c
X50c X50c
5 O2:1 Digital output 1
6 O2:2 Digital output 2
7 O2:3 Digital output 3
8 O2:4 Digital output 4
X50b
13 O2:5 Digital output 5
X50a 14 O2:6 Digital output 6
15 O2:7 Digital output 7
16 O2:8 Digital output 8
X50a
X50b
1 +24 V Supply voltage for digital outputs
3 0 V supply Reference earth for digital outputs

Output circuit Digital output

X50c 24 VDC, referenced to
O2:1 earth
O2:2 Linked internally:

O2:3 X50a/1 and X50b/1

8 X50a/3 and X50b/3
O2:4

O2:5

O2:6

O2:7 DI 7
16
O2:8 DI 8
1
X50b
3
1
X50a

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6.5 Interfaces

6.5.1 CANopen X42

There are two CANopen interfaces on the same socket. The two CANopen interfaces use
the same operating earth (GND).

Socket X42 Pin Designation Description

8 1 n. c.
2 n. c.
1 3 GND Ground
4 CAN2_H CAN2 high signal
5 CAN2_L CAN2 low signal
6 GND Ground
7 CAN_H CAN1 high signal
8 CAN_L CAN1 low signal
n.c. = not connected
Device type: 2 CANopen interfaces
Connection via fieldbus junction box on the servo amplifier PMC-
protego D

6.5.2 Ethernet X43

Socket X43 Pin Designation Description
8 1 D1+ TX D1+
2 D1- TX D1-
1 3 D2+ RX D2+
4 D3+ BI D3+
5 D3- BI D3-
6 D2- RX D2-
7 D4+ BI D4+
8 D4- BI D4-

The Ethernet interface is compatible with 1000Base-T (Standard Gigabit Ethernet)

Recommended cable: Cat5e SF/UTP

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6.5.3 EtherCAT X44

Socket X44 Pin Designation Description
8 1 TD+ Transmit +
2 TD- Transmit -
1 3 RD+ Receive +
4 n. c.
5 n. c.
6 RD- Receive -
7 n. c.
8 n. c.
n. c. = not connected
Recommended cable: Cat5e SF/UTP

6.5.4 CANopen, PROFIBUS X51

INFORMATION
Use a straight design with axial cable routing as the PROFIBUS connector/
CANopen connector.

The PROFIBUS DP and CANopen interface are on the same socket. The PROFIBUS DP
and CANopen interface use the same operating earth (GND). The PROFIBUS DP interface
is implemented in accordance with the PROFIBUS-DP specification.

CANopen interface

Socket X51 Pin Designation Description

1 n. c. n. c.
2 CAN_L CAN low signal
5
9 3 GND Ground
4 n. c. n. c.
6 1 5 n. c. n. c.
6 n. c. n. c.
7 CAN_H CAN high signal
8 n. c. n. c.
n. c. = not connected

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PROFIBUS DP interface

Socket X51 Pin Designation Description

1 n. c. n. c.
2 n. c. n. c.
5
9 3 RxD/TxD-P PROFIBUS B cable
4 n. c. n. c.
6 1 5 GND Ground
6 +5 VDC / 50mA Supply voltage for terminating
resistors
7 n. c. n. c.
8 RxD/TxD-N PROFIBUS A cable
n. c. = not connected

6.5.4.1 Wiring guidelines for the CANopen interfaces

The CAN network is designed in a linear structure.
} The overall line length and the length of the stub lines depend on the transmission rate
and on the cable properties (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.
} A terminating resistor is permanently installed between Pin 2 and Pin 7.

Node 2 Node n-1

Node 1 Node 3 a Node n

A A
RT [W] RT [W]

Fig.: Overall length and length of the stub lines on a CAN network.

Legend:
} Node: CANopen subscriber
} a: Length of stub line
} A: Branch
} RT: Terminating resistor

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Relationship between transmission rate, bus length and length of stub lines:

Transmission rate Bus length l [m] Length of stub line Overall length of all
[kBit/s] a [m] stub lines [m]
1000 10 1.5 7.5
500 70 5.5 27.5
250 115 11 55
The following table provides an approximate overview of the size of the terminating resistor
RT with different cable lengths. In each specific case, details of the characteristic imped-
ance can be found in the cable specification.

Bus length l [m] Terminating resistor RT [Ohm]

0 - 40 120
40 - 300 150 - 300
300 - 500 150 - 300

INFORMATION
Please also refer to the installation guidelines published by the CANopen
User Group.

6.5.5 CANopen X52

Connector X52 Pin Designation Description
1 n. c. n. c.
2 CAN_L CAN low signal
1
6 3 GND Ground
4 n. c. n. c.
9 5 5 n. c. n. c.
6 n. c. n. c.
7 CAN_H CAN high signal
8 n. c. n. c.
n. c. = not connected

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6.6 Encoder

6.6.1 Supply voltage

WARNING!
Electric shock!
Safe electrical isolation must be ensured for the external power supply that
generates the supply voltage. Failure to do so could result in electric shock.
The power supplies must comply with EN 60950-1, 05/2006, EN 61558-2-6,
11/1997.

CAUTION!
Risk of material damage by applying the supply voltage
Do not connect the supply voltage for the encoder when the encoder input
is used in emulation mode (as an output).

See information on encoder emulation [ 23].

Connector X40a Pin Designation Description

X40a 2 Encoder Supply Supply voltage for ex-
ternal encoder
4 0 V Encoder Supply Supply voltage for ex-
ternal encoder (0 V)
Supply voltage for encoder at X41

Supply voltage
X40a X40a/2 is linked internally
1 V+ V+ 2 to X41/4 and X40a/1 to
X41/2
2 4
N *If the link is removed, earth
fault monitoring must be
*
used in accordance with
EN 60204 / VDE 0113.

Connector X50a, X50b Pin Designation Description

X50a 2 Encoder Supply Supply voltage for ex-
ternal encoder
X50b 4 0 V Encoder Supply Supply voltage for ex-
ternal encoder (0 V)
Supply voltage for encoder at X55 and X56

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Supply voltage
X56 ENC2 X50b The terminals "V+" X50a
1 V+ V+ 2 and "V+" X50b are linked
internally.
2 4
The terminals "0 V" X50a
and "0 V" X50b are linked
X55 ENC3 X50a
1 V+ 2 internally.
V+
*If the link is removed, earth
2 4
N fault monitoring must be
* used in accordance with
EN 60204 / VDE 0113.

6.6.2 Incremental encoder with TTL signal

If the cable length is > 50 m, please speak to our Customer Support.

Mini-I/O socket X41, Pin Designation Description

X55, X56
8 6 4 2 1 V+ Supply voltage
2 0 V Supply voltage 0 V
3 T Reference pulse Z
7 5 3 1
4 A Channel A
5 A\ Channel A inverted
6 Z\ Reference pulse Z inverted
7 B Channel B
8 B\ Channel B inverted
--- Shield Shield
n. c. = not connected

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Input circuit Incremental encoder

Twisted pair, shielded

5 Shield connection in the

housing

Shield

X40a
2

4 Encoder supply

X55/X56 Twisted pair, shielded

5 Shield connection in the

housing

Shield

X50b
2

X50a
2

Encoder supply
4

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6.6.3 Absolute encoder with SSI interface

If the cable length is > 50 m, please speak to our Customer Support.

Mini-I/O socket X41, Pin Designation Description

X55, X56
8 6 4 2 1 V+ Supply voltage
2 0 V Supply voltage 0 V
3 n. c. ---
7 5 3 1
4 CLOCK Pulse signal
5 CLOCK\ Pulse signal inverted
6 n. c. ---
7 DATA Data
8 DATA\ Data inverted
--- Shield Shield
n. c. = not connected

Input circuit Absolute encoder with SSI

interface
Shielded

8 Shield connection in the

housing
4

Shield

X40a
2

4 Encoder supply

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X55/X56 Encoder Shielded

DATA DATA

DATA\ DATA\ Shield connection in the

4 housing
CLOCK CLOCK
5
CLOCK\ CLOCK\

Vcc

Shield

X50b
2

X50a
2

4 Encoder supply

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7 Commissioning

7.1 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. Appropriate protection and precautionary measures must be
put in place.
} To avoid personal injury and material damage, only qualified, trained personnel should
work on the devices. Qualified technical staff are those who are familiar with the trans-
port, installation, commissioning, maintenance and operation of the device. They will be
familiar with the relevant standards and regulations.
} Prior to commissioning the machine manufacturer must produce a hazard analysis for the
machine and take appropriate measures to ensure that unexpected movements do not
cause injury to people or damage to equipment.
} Only specialist staff with extensive knowledge of drive technology and control engineering
should be permitted to program a running drive online.
} Data stored on data media is not protected from unintended changes by third parties.
Data must be checked for accuracy before it is downloaded to the control system.
} Prior to installation and commissioning, information in this operating manual, and in par-
ticular the safety guidelines, must be carefully read and considered (see Chapter entitled
“Safety”). Personal injury and material damage may result if devices are handled incor-
rectly.
} It is essential to comply with the technical details and specifications (type label and docu-
mentation).

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7.2 Commissioning the PMCprimo MC

7.2.1 Preparing for commissioning

PASmotion
Install the commissioning software PASmotion. The software is available on www.pilz.com.
Example 1 via CANopen interface: Connect PMCprimo MC and PMCprotego D

CANopen CAN1 CAN2

PMCprotego D.CAN-Adapter

PMCprimo MC

X52 X4A
Ethernet X43 +24 V

X50a/b 0V
1
+24 V
3 X40a
0V
PMCprotego D
X40a
1 3
+24 V 24V 0V 0V

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.
} Connect the Ethernet interface X43 on the motion controller to the PC.

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Example 2 EtherCAT interface: Connect PMCprimo MC and PMCprotego D

PMCprimo MC

X7A

X7B EtherCAT

X44
X4A
Ethernet
X43 +24 V

X50a/b 0V
1
+24 V
3 X40a
0V
PMCprotego D
X40a
1 3
+24 V 24V 0V 0V

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.
Connect the supply voltages
} Servo amplifier:
– PMCprotego D.01 … D.24
X4A/1: 24 V,
X4A/2: 0 V,
– PMCprotego D.48 or PMCprotego D.72
X4/1: 24 V,
X4/3: 0 V,
} PMCprimo MC:
– X40a/1: 24 V,
– X40a/3: 0 V,
Apply the supply voltages
} Switch on the supply voltages for the motion controller and the servo amplifier's control
element.
The devices start. The motion controller PMCprimo MC 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

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7.2.2 Establish communication between PMCprimo MC and PC

The following steps describe how to establish a connection between the PC and motion
controller via the Ethernet interface.
Prerequisite:
} The commissioning software PASmotion is installed on the PC.
} The supply voltages (24 VDC) must be present on the servo amplifier and PMCprimo MC.
} The configuration PC must be connected to the Ethernet interface X43 on the PM-
Cprimo MC.
Establish connection
1. Start the commissioning software PASmotion.
2. Select the Terminal window.

3. Click on the icon - Create New Connection.

The Connection Settings window opens.
You can now connect to a known network subscriber. If you do not know the IP address,
you can browse the network for subscribers.
Alternative 1: The IP settings are known
} Prerequisite: The PMCprimo MC and PC must be in the same network or be accessible
via a Router.
1. Select Ethernet.
The New Connection window opens.
2. Enter the IP address in the connection settings and select Finish.
The connection to the PMCprimo MC is established.
Alternative 2: The IP settings are unknown
} Prerequisite: The PMCprimo MC and the PC are in the same broadcast domain.
1. Select Ethernet.
2. From the list, select the subscriber to which you wish to connect.
Reference: Click on Ping to identify the device's hardware.
3. Select Configuration… The Device Configuration window opens.
4. Enter the IP settings and then select Use this IP address. The Connection Wizard
window opens.
5. Select Finish.
The network subscriber is connected.
The motion controller reports on the configuration, once the Ethernet connection has been
established.

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S T A R T
SOFTWARE

Firmware: 03.05.01, Oct 15 2018, 09:01:35

Motion: INSTALLED
IEC PLC: INSTALLED
Interpolation: 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.: 1.0
Encoder: 3
Inputs: 16
Outputs: 16
Virtual inputs: 56
Virtual outputs: 56
Analogue inputs: 0
Analogue Outputs: 0

DEVICES in CAN Network:

PMCtendo DD4 (SD01) at CAN4 ADDR 6 found (DS402)

Inputs: 2
Outputs: 0

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The motion controller is ready for operation. It reports with the command prompt 0.1: Key:

Charac- Meaning Details

ter
0 Address of the controller
(always 0 on PM-
Cprimo MC)
. Decimal point

1 Number of current axis

: Status indicator of current > Control loop closed

axis
: Control loop open

A Axis executes alignment movement

C Axis executes coupling process

I Initialisation running

M Axis executes positioning

S Axis executes stop command

V Axis is in speed control

W Axis is in standby

X Position assignment is active on the axis

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7.2.3 Adapt basic configuration

The commissioning software PAS motion in the terminal program can be used to change
the basic configuration of the motion controller using the "CD" command.

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). As a result, interfaces ENC2 and ENC3 cannot be freely assigned.
Examples in the following table: "(27) Channel for encoder": 1 → ENC1 is
assigned to axis number 1.

0.1: cd
0.1:
A C T U A L C O N F I G U R A T I O N:

Operate Mode Standalone

(24) Cycle Time: 1000 µs
( 4) Actual IP address: 192.168.0.11
( 4) Actual Netmask: 255.255.255.0
( 4) Actual Gateway: 192.168.0.1
(12) Number of Channels: 32
(27) Channel for encoder: 1
( 9) CAN node address 50
( 3) CAN1 baudrate: 1000 KBit
( 8) CAN1 cycle time: 4 ms
(21) CAN2 baudrate: 1000 KBit (equal CAN1)
(23) CAN2 cycle time: 4ms (equal CAN1
(30) CAN3 cycle time: 4ms (equal CAN1
(31) CAN3 baudrate: 1000 KBit (equal CAN1)
(32) CAN4 cycle time: 4ms (equal CAN1)
(33) CAN4 baudrate: 1000 KBit (equal CAN1)
(22) CAN-mode: CAN1: Master CAN2: Master
(26) PMCprotego with SD-Card: automatic
(34) PROFIBUS/CAN: CAN
(28) Modbus Client: Not active

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Operate Mode Standalone

***************************************************
0: Exit menu
2: Delete application data
3: Change CAN1 baudrate
4: Change Ethernet
8: Set CAN1 Cycle time
9: Set CAN address
12: Change number of channels
21: Change CAN2 baudrate
22: Enable slave mode for CAN1/2
23: Set CAN2 cycle time
24: Change cycle time of system
26: Set address for PMCprotego with SD-Card
27: Change channel for encoder
28: Set number of ModbusClient
29: Change ModbusClient Parameter
30: Set CAN3 cycle time
31: Change CAN3 baudrate
32: Set CAN4 cycle time
33: Change CAN4 baudrate
34: Activate PROFIBUS/CAN
Choice [Return; ESC exits menu]:

Once you exit the menu the basic configuration is active and saved, if changes have been
made. You may be prompted to restart for the changes to take effect.

7.2.4 Configure servo amplifier

Parameters for the servo amplifiers available in the network can be set using the commis-
sioning software PASmotion.
Please note the following prerequisites:
} The servo amplifier must not be enabled (ENABLE = 0).
} The mains voltage for the servo amplifier's power element must be switched off.
} 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.

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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
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 MC 1300MHz 4xCAN
Item No.: 680080
Ser. No.: 100033
Pr. Ver.: 1.0
Encoder: 3
Inputs: 16
Outputs: 16
Virtual in- 56
puts:
Virtual out- 56
puts:
Analogue in- 0
puts:
Analogue Out- 0
puts:

DEVICES in CAN Network:

PMCtendo DD4 (SD01) at CAN4 ADDR 6 found (DS402)

Inputs: 2

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Outputs: 0
DEVICES in EtherCAT Network:
PMCprotego D (S706) at EtherCAT ADDR 51 found (DS402)
Inputs: 5
Outputs: 1
Virtual in- 17
puts:
Virtual out- 19
puts:
Analogue in- 2 inputs linked to channel from 0.1 to 0.2
puts:

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7.2.6 Operate PMCprimo MC HW2 - Show hardware

HW2 - Show Hardware State
0.1: HW2
0.1:
STATE OF DEVICES:
Device Network Addr CH FS VN State
------------------------------------------------------------------------------
PMCprimo MC --- --- --- --- 03.05.00 ACTIVE
PMCtendo DD4 CAN4 6 --- --- 5.180 FAULT
PMCprotego D ECAT 51 --- --- 6.22 ACTIVE

7.3 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.
The PMCprimo Target Package is installed.

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8 Operation

8.1 Operating states and changes in operating status

8.1.1 Status graph

The following status graph shows the operating states and changes in operating status.
The priority of a transition is indicated by a number in a small square in the middle of the
transition arrow. The operating states and changes in operating status are described in de-
tail below.

Boot Menu
X40/7 = 24 -> 0 V

2
Press reset
1 button

X40/7 = 0 -> 24 V 2 Exit Boot Error detected

Menu
1 Command?
0
Fatal Error
1
1

Power Off
1 Automatic 5
X40/7 = 0 V
HW reset

Startup 11
3 User
program
available

2 RUN 1

HW reset: Error detected

- RS1 3
- Reset button
- RS3 or
reset button
- RS4
RS2 or - RS5
3 reset button - RS6 1

No user 2 2
program Error detected
HW reset:
- RS1 2
- Reset button

STOP

Fig.: Operating states and changes in operating status of the motion controller

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8.1.2 Operating states

8.1.2.1 "Power Off" operating status

In the "Power Off" operating status, the motion controller is voltage-free. By switching on
the supply voltage, the system changes to the "Startup" operating status.

8.1.2.2 "Startup" operating status

The following steps are performed in the "Startup" operating status:
} Initialise hardware
} Initialise fieldbus interfaces
} Load operating system
} Load user program
If no errors are detected during "Startup", the controller changes to
} "RUN" status, if a user program has been loaded.
} "STOP" status, if no user program has been loaded.
Status of LEDs:
} "STAT" LED flashes yellow, "FUNC" LED off: "Startup" operating status active
} "STAT" LED flashes green for 4 s when startup has been run. During this time it's pos-
sible to change to "Boot Menu" operating status.
Change to "Boot Menu":
} Press the reset button while the "STAT" LED flashes green.

8.1.2.3 "Boot Menu" operating status

In the "Boot Menu" operating status, the operating parameters for the motion controller can
be configured in the command language in the terminal program using the CD command,
e.g.
} Configuration of the interfaces
} Deletion of the user program
Prerequisite:
} The PC and motion controller must be connected via the Ethernet interface.
Status of LEDs:
} "STAT" LED: Flashes green
} "FUNC" LED: Lights up yellow

8.1.2.4 "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.
} It is possible to communicate with the motion controller in the terminal program via the
command language.

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Status of LEDs:
} The "STAT" and "FUNC" LEDs light up green.

8.1.2.5 "STOP" operating status

In "STOP" operating status
} No user program is run.
} The system is operating without error.
} It is possible to communicate with the motion controller in the terminal program via the
command language.
Status of LEDs:
} "STAT" LED: Lights up green
} "FUNC" LED: Off

8.1.2.6 "Fatal Error" operating status

"Fatal Error" operating status is reached when an error occurs.
} The function is disrupted long-term The operating status is adopted temporarily.
} The motion controller automatically changes back to "Startup" operating status.
} The error is entered in the error stack.
Status of LEDs:
} The "STAT" and "FUNC" LEDs light up red.

8.1.3 Change in operating status

0
--> All operating states change to "Power Off"
The system changes to "Power Off" operating status when the 24 VDC supply voltage has
been switched off.

0 1
--> Change from "Power Off" to "Startup"
The system changes to "Startup" operating status when the 24 VDC supply voltage has
been switched on.

1 2
--> Change from "Startup" to "Boot Menu"
The "STAT" LED flashes green for 4 s, if the "Startup" operating status has been run
without error.
} Press the reset button during this time to change to "Boot Menu" operating status.

1 3
--> 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.

1 4
--> Change from "Startup" to "STOP"

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"Startup" operating status has been run without error. The system changes to "STOP"
status if no user program was loaded in "Startup" status.

1 5
--> Change from "Startup" to "Fatal Error"
The system changes to "Fatal Error" status if an error occurred in "Startup" status.

2 1
--> Change from "Boot Menu" to "Startup"
The system changes to "Startup" status if the "Boot Menu" in the terminal program is exited
using the command O or ESC.

3 1
--> Change from "RUN" to "Startup"
The system performs a hardware reset after
} Running the command RS1 in the terminal program (cold start).
} Holding down the reset button for a long period (> 4 s) (alternative to RS1 command).

3 4
--> Change from "RUN" to "STOP"
The system performs this status change after
} Running the following commands in the terminal program:
– RS3 (change to "STOP")
– RS4 (warm reset), stops the user program
– RS5 (cold reset), stops the user program
– RS5 (original reset), deletes the user program
} Running commands in the IEC 61131 development environment.
} Holding down the reset button for a short period (< 4 s) (alternative to RS3 command,
change to "STOP").

3 5
--> Change from "RUN" to "Fatal Error"
The system changes to "Fatal Error" status if an error occurred in "RUN" status.
Remedy
} Delete user program
} Firmware update

4 1
--> Change from "STOP" to "Startup"
The system performs a hardware reset after
} Running the command RS1 in the terminal program (cold start).
} Holding down the reset button for a long period (> 4 s) (alternative to RS1 command (cold
start)).

4 3
--> 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:

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} Holding down the reset button for a short period (< 4 s) (alternative to RS2 command
(change to "RUN")).

4 5
--> Change from "STOP" to "Fatal Error"
The system changes to "Fatal Error" status if an error occurred in "STOP" status.
Remedy
} Delete user program
} Firmware update

5 1
--> Change from "Fatal Error" to "Startup"
"Fatal Error" operating status is only adopted temporarily after an error has occurred. The
motion controller automatically changes to "Startup" operating status.
The error is entered in the error stack.

8.2 Reset, restart, start and stop options

8.2.1 Overview
Various options are available to specifically stop or start the motion controller, for operation
or commissioning for example. The implications of intervening depend on the specific com-
mand that is used.

Options Action Command lan- IEC 61131 program-

guage ming
Cold start motion Cold start (HW reset) RS1 (alternative:
controller Hold down reset but-
ton for long period (>
4 s))
Stop user program Stop RS3 (alternative: Online --> Stop
Hold down reset but-
ton for short period
(< 4 s))
Start user program Start RS2 (alternative: Online --> Start
Hold down reset but-
ton for short period
(< 4 s))
Reset motion control- Cold reset RS5 Online --> Reset
ler (cold)
Warm reset RS4 Online --> Reset
Original reset RS6 Online --> Reset (ori-
ginal)

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The following table provides an overview of the impact of a reset, start or stop on a vari-
able.

Action Variable with attrib- Variable with attrib- Variable with attrib-
ute RETAIN ute PERSISTENT ute
RETAIN PERSIST-
ENT
Warm reset x - x
Cold reset - - -
Original reset - - -
x = Value is retained, - = Value is re-initialised

8.2.2 Cold start, "Startup"

A reset via the "Power Off" operating status performs a system cold start with "Startup".
} Switch the 24 VDC supply voltage to the motion controller off and then on again.
} The motion controller changes to "Startup" operating status.

8.2.3 Reset commands

8.2.3.1 Warm reset

This command
} Stops the user program.
} Resets all variables to the value with which they were initialised (exception: variable with
attribute RETAIN).
} Resets all variables that have not been explicitly initialised to a default initialisation value.
Commands:
} Command language: RS4
} IEC 61131 programming: Menu Online -> Reset

8.2.3.2 Cold reset

This 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)

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8.2.3.3 Original reset

This command
} 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).
Commands:
} Command language: RS6
} IEC 61131 programming: Menu Online -> Reset (original)

8.3 Functions of the reset button

The "RESET" button is mounted in a recess on the front of the unit. It can only be accessed
using an appropriate tool (e.g. a pin).
The following actions can be triggered by pressing the "RESET" button:
} Change from "Startup" operating status to "Boot Menu"
} Hardware reset (cold start): Change from "RUN" or "STOP" operating status to "Startup"
} Change from "RUN" operating status to "STOP"
} Change from "STOP" operating status to "RUN"
} A USB stick must be inserted: the data stored on the USB stick is copied to the controller.
The data can contain a new firmware with a complete project.
Change from "Startup" operating status to "Boot Menu"
After cold starting the motion controller you can change to the "Boot Menu" in order to set
the operating parameters.
Proceed as follows:
} The controller is in "Startup" operating status. LED flashes rapidly.
} The LED lights for 4 s continuously after "Startup" has been run. During this time it's pos-
sible to change to "Boot Menu" operating status.
} Press the reset button while the LED is lit continuously.
} The controller changes to "Boot Menu".
Hardware reset (cold start)
A hardware reset can be triggered in "RUN" or "STOP" operating status. The controller
changes to "Startup" operating status.
Proceed as follows:
} The controller is in "STOP" or "RUN" operating status.
} Hold the reset button down for at least 4 s.
} The controller changes to "Startup".
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".

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8.4 Messages
The motion controller provides many options for diagnostics, fault detection and communic-
ation with other controllers.
Diagnostics can be performed via
} The LEDs on the front of the device.
} The error stack.
} PVIS expanded diagnostics.
} Display commands.
} Recording of process data.
LEDs
LEDs on the front of the device provide information on the operating status (see section on
"Display elements" in this chapter).
Error stack
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.
Display commands
Display commands for recording process data are axis-related. They are used to display
motion control data, e.g. position, speed, tracking distance. Display commands can be ex-
ecuted in the operating status "RUN" and "STOP".
} To start display mode, select the DM command in the terminal program.
} 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.

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8.5 Display elements

The motion controller has two multi-coloured "STAT" and "FUNC" LEDs for displaying the
operating status.

STAT FUNC Description

Yellow Yellow Firmware update is running

Yellow "Startup" operating status

active

Green Reset button can be pressed

in order to perform an action
(4 s duration)

Green Yellow Controller is in "Boot Menu"

status

Green Green Controller is in "Startup"

status

Red Red Fatal error, "Fatal Error"

status

Green Green Controller is in "RUN" status

Green System is in "STOP" status

Green Blue Identification (Ping)

Blue Blue Data storage for device ex-

change (see USB [ 22])
} Legend

LED on

LED off

LED flashes

LED Meaning
CAN3 Green Network connection
CAN4
No network connection
LED

X51, X52

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LED Meaning
CAN1 Green Network connection
CAN1
X42 No network connection
CAN2
CAN2 Yellow Network connection

No network connection

LED Meaning

LINK LINK Green Network connection

No network connection
TRAFFIC
TRAFFIC Yellow Data traffic
X43, X44, X45
No data traffic

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9 Technical details

General
Certifications CE
Electrical data
Supply voltage
for Supply
Voltage 24 V
Kind DC
Voltage tolerance -15 %/+20 %
Output of external power supply (DC) at no load 14,4 W
Max. power dissipation of module 20 W
CPU
Memory for applications 256 MB
Processor clock speed 1,3 GHz
Typ. processing time/1000 instructions 2 µs
Working memory (RAM) 512 MB
Non-volatile ST memory 32 KB
Absolute encoder input
Number of counter inputs 3
Type of counter inputs SSI encoder
Connection type Mini-IO female connector, 8-pin
Supply voltage for absolute encoder 10 ... 30 VDC
Output signal (clock) Differential signal (RS-422/TTL)
Max. number of bits on the counter input 12 - 32 Bit
Transmission rate 300 kHz
Coding of the input signal Binary, Gray
Signal at the data input Differential signal (RS-422/TTL)
Potential isolation yes
Incremental encoder input
Number of inputs 2-3
Connection type Mini-IO female connector, 8-pin
Supply voltage for incremental encoders 10 ... 30 VDC, 4,75 ... 5,25 VDC
Phase position for the differential signals A, /A and
B,/B 90° ±30°
Maximum cutoff frequency 0,5 MHz
Encoder emulation
Max. output frequency 250 kHz
Max. output current 10 mA
Max. jitter 1000 incr./s
Inputs
Number 16
Input filter depending on parameter settings 5 µs, 600 µs
Signal level at "0" -3 - +5 V DC

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Inputs
Signal level at "1" 15 - 30 V DC
Input voltage in accordance with EN 61131-2 Type 1 24 V DC
Input current range 3,5 - 10,8 mA
Potential isolation yes
Semiconductor outputs
Number of positive-switching single-pole semicon-
ductor outputs 16
External supply voltage 24 V
Voltage tolerance -15 %/+20 %
Typ. output current at "1" signal and rated voltage of
semiconductor output 0,5 A
Permitted current range 0,5 A
Potential isolation yes
Short circuit-proof yes
Permitted loads inductive, capacitive, resistive
PROFIBUS-DP interface
Number 1
Device type Slave
Station address 0 ... 126d
Station address selectable via Software
Maximum data length of PROFIBUS interface
Input device 244 Byte
Output 244 Byte
Diagnostics 80 Byte
Connection 9-pin D-Sub female connector
Log DPV0
Operating modes AutoBaud
Description file Pilz0DCC.gsd
Manufacturer’s ID 0DCCh
CANopen interface
Number 3, 4
Connection type 9-pin D-Sub female connector, RJ45
Device type Master, Slave
Cycle times –
Transmission rates 1000 kBit/s, 250 kBit/s, 500 kBit/s
Potential isolation yes
Ethernet interface
Number 1
IP address, factory setting 192.168.0.11
Connection type RJ45
Transmission rate 1 Gbit/s
Potential isolation yes
EtherCAT interface
Quantity 1

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EtherCAT interface
Connection RJ45
Transmission rates 100 MBit/s
Potential isolation yes
Environmental data
Climatic suitability EN 60068-2-1, EN 60068-2-14, EN 60068-2-2, EN
60068-2-78
Ambient temperature
In accordance with the standard EN 60068-2-14
Temperature range 0 - 40 °C
Storage temperature
In accordance with the standard EN 60068-2-1/-2
Temperature range -40 - 70 °C
Climatic suitability
In accordance with the standard EN 60068-2-78
Humidity 93 % r. h. at 40 °C
Condensation during operation Not permitted
Max. operating height above sea level 2000 m
EMC EN 61131-2
Vibration
In accordance with the standard EN 60068-2-6
Frequency 5 - 8,4 Hz
Amplitude 3,5 mm
Acceleration 10 m/s²
Shock stress
In accordance with the standard EN 60068-2-27
Acceleration 150 m/s²
Duration 11 ms
Cooling Built-in fan
Airgap creepage
In accordance with the standard EN 61131-2
Overvoltage category II
Pollution degree 2
Protection type
In accordance with the standard EN 60529
Housing IP20
Terminals IP20
Mounting area (e.g. control cabinet) IP54
Potential isolation
Potential isolation between Encoder and system voltage
Type of potential isolation Basic insulation
Rated surge voltage 500 V
Potential isolation between Ethernet and system voltage
Type of potential isolation Basic insulation
Rated surge voltage 500 V
Potential isolation between EtherCAT and system voltage

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Potential isolation
Type of potential isolation Basic insulation
Rated surge voltage 500 V
Potential isolation between SC output and system voltage
Type of potential isolation Basic insulation
Rated surge voltage 500 V
Potential isolation between Input and system voltage
Type of potential isolation Basic insulation
Rated surge voltage 500 V
Potential isolation between CANopen and system voltage
Type of potential isolation Basic insulation
Rated surge voltage 500 V
Mechanical data
Material
Housing Hot dip galvanised metal
Front Hot dip galvanised metal
Top Polyester film
Mounting type plug-in
Conductor cross section with screw terminals
Rigid single-core, flexible multi-core or multi-core
with crimp connector 0,75 mm²
Dimensions
Height 270,6 mm
Width 60 mm
Depth 183 mm
Weight 1.360 g
Where standards are undated, the 2015-05 latest editions shall apply.

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10 Order reference

10.1 Product
Only the basic versions are listed. Please refer to the Type code for expansion details.

Product type Features Order No.

PMCprimo Motion controller with CANopen/CANopen interface 680 080
MC.C/16DIDO/2/000

10.2 Accessories
Product type Features Order
no.
PMCprotego D.CAN-Adapter 01-24A Fieldbus junction box for PMCprotego D.01 … 8176300
D.24
Two CANopen interfaces: CAN-in, CAN-out,
RS232 with termination and monitoring voltage
switch
PMCprotego D.CAN-Adapter 48-72A Fieldbus junction box for PMCprotego D.48/D.72 8176470
Two CANopen interfaces: CAN-in, CAN-out,
RS232 with termination and monitoring voltage
switch
PMCprimo DriveP.CAN-CAN Adapter 01-24 Fieldbus junction box for PMCprimo DriveP 680040
(Drive: PMCprotego D.01 … D.24)
(for X42)
Two CANopen interfaces: CAN1, RS232 and
CAN2 with termination switch and RJ45 cable for
connecting the fieldbus junction box to PMCprimo
PMCprimo DriveP.CAN-CAN Adapter 48-72 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

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