_Name_Bookmark2_. _Name_Bookmark2_. PNOZmulti Modbus/TCP. PNOZmulti Modular Safety System. Operating Manual No EN-01

Transcription

1 _Name_Bookmark2 Name_Bookmark2_ PNOZmulti Modbus/TCP PNOZmulti Modular Safety System Operating Manual No EN-01

2 _Name_Bookmark2_ This document is a translation of the original document. All rights to this documentation are reserved by Pilz GmbH & Co. KG. Copies may be made for internal purposes. Suggestions and comments for improving this documentation will be gratefully received. 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.

3 Contents Contents Contents Page Chapter 1 Introduction 1.1 Validity of documentation Retaining the documentation Overview of documentation Definition of symbols System requirements 1-4 Chapter 2 Communication via Modbus/TCP 2.1 Modbus/TCP - Basics Modbus/TCP with PNOZmulti 2-2 Chapter 3 Modbus/TCP - Data areas 3.1 Overview Function codes Data transfer limits Assignment of data areas Virtual inputs Control Virtual outputs LEDs Configuration State of the inputs from the base unit and 3-10 expansion modules State of the outputs from the base unit and 3-11 expansion modules LED status Diagnostic word, element types Current state of the virtual inputs State of process data Updating the data areas addressing in a 3-25 Chapter 4 Application example 4.1 Modbus subscriber Data exchange via Modbus/TCP Device configuration Modular safety system PNOZmulti PSSu system in the automation system 4-6 PSS Operator terminal PMI 4-9 1

4 Contents 2

5 1 Introduction 1.1 Validity of documentation 1000 Introduction Validity 1- Einf Einleitung of documentation This operating manual explains the function and operation, describes the installation and provides guidelines on how to connect the product Retaining the documentation Retaining 1- Einf Aufbewahren the documentation This documentation is intended for instruction and should be retained for future reference. 1-1

6 1 Introduction 1.2 Overview of documentation Overview 1- Einf_Uebersicht_über_die_Doku_6_Inbetriebnahme of documentation 1 Introduction The introduction is designed to familiarise you with the contents, structure and specific order of this manual. 2 Overview This chapter provides information on the product's most important features. 3 Safety This chapter must be read as it contains important information on safety and intended use. 4 Function Description This chapter describes the product's mode of operation. 5 Installation This chapter explains how to install the product. 6 Commissioning This chapter describes the product's commissioning and wiring. 7 Operation This chapter describes how to operate the product and gives tips in the case of a fault. 8 Technical Details This chapter contains the product's technical details and order reference. 1-2

7 1 Introduction 1.3 Definition of symbols Definition 1- Einfhrung of Zeichen 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. NOTICE This describes a situation in which the product or devices could be damaged and also provides information on preventive measures that can be taken. INFORMATION This gives advice on applications and provides information on special features, as well as highlighting areas within the text that are of particular importance. 1-3

8 1 Introduction 1.4 System requirements Systemvoraussetzungen requirements Modbus PNOZmulti Configurator: From Version Base unit PNOZ m0p ETH: From Version 1.0 Base unit PNOZ m1p ETH: From Version 2.1 Base unit PNOZ m2p ETH: From Version 1.0 Base unit PNOZ m3p ETH: From Version 1.0 Expansion module PNOZ mmc1p ETH from Version 1.0 Please contact Pilz if you have an older version. 1-4

9 2 Communication via Modbus/TCP 2.1 Modbus/TCP - Basics 2000 Communication ModbusTCP_Modbus/TCP Modbus/TCP - Basics via Modbus/TCP Allg-1 Modbus is an open fieldbus standard published by the User Group MODBUS-IDA (see Application Layer Protocol Modbus/TCP TCP (RFC 793) IP (RFC 791) Industrial Ethernet Physical Layer Ethernet Modbus/TCP is a protocol based on Industrial Ethernet (TCP/IP over Ethernet). It is a protocol with Client/Server communication. Data is transferred via a request/response mechanism using function codes (FC). Modbus/TCP is connection-oriented, i.e. before usable data is transferred via Modbus/TCP, a connection must first be established between two Modbus/TCP interfaces. The initiator of the connection is called the Client. The communications partner with which the Client establishes the connection is called the Server. Whether a connection on a device assumes the role of Client or Server is defined when a connection is configured. As a result, the Server/Client role only applies for the used connection. 2-1

10 2 Communication via Modbus/TCP 2.2 Modbus/TCP with PNOZmulti Modbus/TCP 2- ModbusTCP_Modbus/TCP with PNOZmulti Allg-2-PNOZmulti All base units from the modular safety system PNOZmulti that have an Ethernet interface (PNOZ m1p ETH from V2.1) support Modbus/TCP. The same applies for the base units PNOZmulti Mini in conjunction with a communication module with Ethernet interface. A PNOZmulti base unit can manage a max. of 8 Modbus/TCP connections. The PNOZmulti is always the Server in a connection. The Clients in the connections may be various devices, e.g. PC (PNOZmulti Configurator), control system, display unit. They can access the modular safety system PNOZmulti simultaneously. The virtual I/Os plus all the information that is polled during fieldbus communication are contained in data areas. The data is accessed directly. It's no longer necessary to switch via table/segment. The configurations required for Modbus/TCP are fully pre-configured in the PNOZmulti operating system. All that's necessary in the PNOZmulti Configurator is to activate the virtual inputs and outputs (see PNOZmulti Configurator's online help, under "Display and edit module selection"). On a modular control system PNOZmulti, port number "502" is fixed as the default for data exchange via a Modbus/TCP connection. It is not displayed in the PNOZmulti Configurator and cannot be modified. 2-2

11 3.1 Overview 3000 Modbus/TCP Overview 3- ModbusTCP_Modbus/TCP-Datenbereiche-PNOZmulti - Data areas A modular safety system PNOZmulti supports the following Modbus/ TCP data areas: Data area Modbus syntax Example Coils () 0x x65535 [read/write] Discrete Inputs () 1x x65535 [read only] Input (Word/16 s) 3x x65535 [read only] Holding (Word/16 s) 4x x65535 [read/write] 0x[xxxxx] 1x[xxxxx] 3x[xxxxx] 4x[xxxxx] 0x00031 (virtual input i31) 1x08193 (virtual output o1) 3x00002 (virtual inputs ) 4x00805 (project name, 1st character) INFORMATION Addressing for PNOZmulti systems starts at 0. On devices from other manufacturers, addressing can start at 1. Please refer to the operating manual provided by the relevant manufacturer. 3-1

12 3.2 Function codes ModbusTCP_Function codes Codes-PNOZmulti The following function codes (FC) are available for communication with the modular safety system PNOZmulti via Modbus/TCP: Function code Function FC 01 Read Coils The Client in a connection reads bit data from the Server in the connection, data length 1, content: input/output data (data received from 0x) FC 02 Read Discrete Input The Client in a connection reads bit data from the Server in the connection, data length 1, content: input/output data (data received from 1x) FC 03 Read Holding The Client in a connection reads word data from the Server in the connection, data length 1 Word, content: diagnostic word (data received from 4x) FC 04 Read Input The Client in the connection reads word data from the Server in the connection, data length 1 Word, content: diagnostic word (data received from 3x) FC 05 Write Single Coil The Client in the connection writes to one bit datum in the Server in the connection, data length = 1, content: input data (send data to 0x) FC 06 Write Single The Client in the connection writes to one word datum in the Server in the connection, data length = 1 Word, content: input data (send data to 4x) FC 15 Write Multiple Coils The Client in the connection writes to multiple bit data in the Server in the connection, data length 1, content: input data (send data to 0x) FC 16 Write Multiple s The Client in a connection writes to multiple word data in the Server in the connection, data length = 1 Word, content: input data (send data to 4x) FC 23 Read/Write Multiple s The Client in a connection reads and writes multiple word data within a telegram (receive data from 3x and send data to 4x) 3-2

13 3.3 Data transfer limits Data 3- ModbusTCP_Grenzen transfer limits Datenübertragung-PNOZmulti The following table contains information on the maximum data length per telegram that is supported: Data transfer Read data () Read data () Read data (Word) Write data (Word) Read and write data (Word) FC 01 (Read Coils) FC 02 (Read Discrete Inputs) FC 05 (Write Single Coil) 1 FC 15 (Write Multiple Coils) FC 03 (Read Holding s) FC 04 (Read Input ) FC 06 (Write Single ) FC 16 (Write Multiple s) FC 23 (Read/Write Multiple s) Max. data length per telegram 1 Word Words Read Words Write Words INFORMATION There may be some restrictions in data length, depending on the device that is used. Please refer to the information stated in the operating manual of the device you are using. 3-3

14 3.4 Assignment of data areas Assignment 3- ModbusTCP_Coil of data and areas Map-Einleitung-PNOZmulti Data can be accessed via various Modbus/TCP data areas. The tables below show the relationship between Modbus/TCP data areas and the content of the data areas Virtual inputs Virtual 3- ModbusTCP_Datenbereiche-Virtuelle inputs Eingänge-PNOZmulti The table below describes the Modbus/TCP data areas that contain the current state of the virtual inputs on the PNOZmulti. These are the virtual inputs that can be set by the user. Relevant areas for the data are defined in each Modbus/TCP data area (Coils (0x), Discrete Inputs (1x), Input (3x), Holding (4x)). Read/write access will depend on the Modbus/TCP data area. (3x, 4x) Coil/ Discrete Input (0x, 1x) State of the inputs State of the inputs State of the inputs State of the inputs State of the inputs State of the inputs State of the inputs State of the inputs Content High Byte Low Byte i15 i8 i31 i24 i47 i40 i63 i56 i79 i72 i95 i88 i111 i104 i127 i120 i7 i0 i23 i16 i39 i32 i55 i48 i71 i64 i87 i80 i103 i96 i119 i

15 3.4 Assignment of data areas Control Control 3- ModbusTCP_Datenbereiche-Control -PNOZmulti A watchdog can be activated in Control 255. If no input bits are set by a Modbus/TCP subscriber within the preset time, the PNOZmulti will set the input bits to "0". A relevant area for the watchdog is defined in each Modbus/TCP data area (Coils (0x), Discrete Inputs (1x), Input (3x), Holding (4x)). Read/write access will depend on the Modbus/TCP data area. (3x, 4x) Coil/ Discrete Input (0x, 1x) Content High Byte Low Byte Control See table below High Byte The table below describes the Modbus/TCP data areas for the watchdog. WD-Trigger Error Message Reserved Reserved Reserved W-Timer 2 W-Timer 1 W-Timer 0 Low Byte Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 15 "Watchdog Trigger": The watchdog can be triggered by setting 15 constantly to "1", or by a Client writing in the input area of the 128 inputs. The state of the bit when reading is undefined. A 1 or a 0 can be read. 14 "Error Message": If this bit is set, an error stack entry is generated when the watchdog is triggered "WD Timer": If the set time for the watchdog is set, then 15 must be set, or become set, at the same time. Watchdog Timer 2 Watchdog Timer 1 Watchdog Timer 0 Watchdog time Timer deactivated ms ms ms s s s s 3-5

16 3.4 Assignment of data areas INFORMATION To check whether the watchdog has been triggered, set a virtual input permanently to "1". If this input is "0", then the watchdog has been triggered Virtual outputs Virtual 3- ModbusTCP_Datenbereiche-Virtuelle outputs Ausgänge-PNOZmulti The table below describes the Modbus/TCP data areas that contain the state of the virtual outputs on the PNOZmulti. Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Discrete Input (1x) State of the outputs State of the outputs State of the outputs State of the outputs State of the outputs State of the outputs State of the outputs State of the outputs Content High Byte Low Byte o15 o8 o31 o24 o47 o40 o63 o56 o79 o72 o95 o88 o111 o104 o127 o120 o7 o0 o23 o16 o39 o32 o55 o48 o71 o64 o87 o80 o103 o96 o119 o

17 3.4 Assignment of data areas LEDs 3- ModbusTCP_Datenbereiche-LEDs-PNOZmulti The table below describes the Modbus/TCP data areas that contain the LED status. Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Discrete Input (1x) LED status; 8 reserved Reserved Content High Byte Low Byte Reserved PNOZmulti LEDs 0 = 1: LED OFAULT illuminates or flashes 1 = 1: LED IFAULT illuminates or flashes 2 = 1: LED FAULT illuminates or flashes 3 = 1: LED DIAG illuminates or flashes 4 = 1: LED RUN illuminates 5: Reserved 6: Reserved 7: Reserved Configuration Configuration 3- ModbusTCP_Datenbereiche-Konfiguration-PNOZmulti The table below describes the Modbus/TCP data areas that contain the device data from the base unit and the project data. The data was defined in the PNOZmulti Configurator. Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Discrete Input (1x) Content High Byte Low Byte Product number HH Byte HL Byte Product number LH Byte LL Byte Device version HH Byte HL Byte Device version LH Byte LL Byte Serial number HH Byte HL Byte Serial number LH Byte LL Byte 3-7

18 3.4 Assignment of data areas (3x) Discrete Input (1x) Content High Byte Low Byte Reserved Project check sum H Byte L Byte Chip card check sum H Byte L Byte Project date Day Month Project date Year (H Year (L Operating hours HL Byte LH Byte Operating hours / Type of base LL Byte Type unit Reserved Configuration, fieldbus modules / Slot 1 Fieldbus RS232 / expansion module, right Configuration, expansion module, Slot 3 Slot 2 right Configuration, expansion module, Slot 5 Slot 4 right Configuration, expansion module, Slot 7 Slot 6 right Configuration, expansion module, Reserved Slot 8 right Reserved Reserved Project name 1stcharacter (H Project name 2nd character (H Project name 3rd character (H Project name 4th character (H Project name 5th character (H Project name 6th character (H Project name 7th character (H Project name 8th character (H Project name 9th character (H Project name 10th character (H Project name 11th character (H 1st character (L 2nd character (L 3rd character (L 4th character (L 5th character (L 6th character (L 7th character (L 8th character (L 9th character (L 10th character (L 11th character (L 3-8

19 3.4 Assignment of data areas (3x) Discrete Input (1x) Content High Byte Low Byte Project name 12th character (H Project name 13th character (H Project name 14th character (H Project name 15th character (H Project name 16th character (H 12th character (L 13th character (L 14th character (L 15th character (L 16th character (L Project name 0xFF 0xFF Reserved Reserved Reserved Reserved Project date Day Month Project date Year (H Year (L Project date Hour Minute Project date Time zone Reserved Reserved Reserved Reserved Fieldbus type Fieldbus type (H Fieldbus type (L Fieldbus module software version Version Reserved Reserved Reserved Reserved Reserved Reserved Configuration, expansion module, Slot 2 Slot 1 left Configuration, expansion module, Slot 4 Slot 3 left Configuration, expansion module, Slot 6 Slot 5 left Reserved Reserved Reserved Reserved 3-9

20 3.4 Assignment of data areas State of the inputs from the base unit and expansion modules State 3- ModbusTCP_Datenbereiche-Status of the inputs from the base unit Eingänge and expansion Basisgerät modulesu Module-PNOZmulti The table below describes the Modbus/TCP data areas that contain the state of the inputs from the base unit and expansion modules. Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Base unit i0 - i15 i15.i8 i7.i Base unit i16-23 Reserved i23...i Reserved / Right 1 (i7...i0) Reserved expansion module, right Expansion module, right Right 3 (i7...i0) Right 2 (i7...i0) Expansion module, right Right 5 (i7...i0) Right 4 (i7...i0) Expansion module, right Right 7 (i7...i0) Right 6 (i7...i0) Expansion module, right / reserved Reserved Right 8 (i7...i0) Expansion module, left Left 1 (i15 i8) Left 1 (i7 i0) Expansion module, left Left 1 (i31 i24) Left 1 (i23 i16) Expansion module, left Left 2 (i15 i8) Left 2 (i7 i0) Expansion module, left Left 2 (i31 i24) Left 2 (i23 i16) Expansion module, left Left 3 (i15 i8) Left 3 (i7 i0) Expansion module, left Left 3 (i31 i24) Left 3 (i23 i16) Reserved Expansion module, left Left 4 (i15 i8) Left 4 (i7 i0) Expansion module, left Left 4 (i31 i24) Left 4 (i23 i16) Expansion module, left Left 5 (i15 i8) Left 5 (i7 i0) Expansion module, left Left 5 (i31 i24) Left 5 (i23 i16) Expansion module Left 6 (i15 i8) Left 6 (i7 i0) Expansion module, left Left 6 (i31 i24) Left 6 (i23 i16) 3-10

21 3.4 Assignment of data areas (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Reserved to 866"Expansion module, left" Please note: for analogue input modules, the content for "High Byte" and "Low Byte" is transposed State of the outputs from the base unit and expansion modules State 3- ModbusTCP_Datenbereiche-Status of the outputs from the base unit Ausgänge and expansion Basisgerät modules u Module-PNOZmulti The table below describes the Modbus/TCP data areas that contain the state of the outputs from the base unit and expansion modules. Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte / Base unit o reserved..o3 o Base unit o4 - o5 / expansion Right 1 o7 o0 module, right 0 6 reserved o5,o Expansion module Right 3 o7 o0 Right 2 o7 o Expansion module, right Right 5 o7 o0 Right 4 o7 o Expansion module, right Right 7 o7 o0 Right 6 o7 o Expansion module, right Reserved Right 8 o7 o0 / res / Expansion module, right Right 1 o15 o Expansion module, right Right 3 o15 o8 Right 2 o15 o Expansion module, right Right 5 o15 o8 Right 4 o15 o Expansion module, right Right 7 o15 o8 Right 6 o15 o Expansion module, right / res Reserved Right 8 o15 o8 3-11

22 3.4 Assignment of data areas (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Expansion module, left Left 1 (o15 o8) Left 1 (o7 o0) Expansion module, left Left 1 (o31 o24) Left 1 (o23 o16) Expansion module, left Left 2 (o15 o8) Left 2 (o7 o0) Expansion module, left Left 2 (o31 o24) Left 2 (o23 o16) Expansion module, left Left 3 (o15 o8) Left 3 (o7 o0) Expansion module, left Left 3 (o31 o24) Left 3 (o23 o16) Expansion module, left Left 4 (o15 o8) Left 4 (o7 o0) Expansion module, left Left 4 (o31 o24) Left 4 (o23 o16) Expansion module, left Left 5 (o15 o8) Left 5 (o7 o0) Expansion module, left Left 5 (o31 o24) Left 5 (o23 o16) Expansion module, left Left 6 (o15 o8) Left 6 (o7 o0) Expansion module, left Left 6 (o31 o24) Left 6 (o23 o16) LED status 3- ModbusTCP_Datenbereiche-Status-LEDs status The table below describes the Modbus/TCP data areas that contain the LED status. Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Discrete Input (1x) Content High Byte Low Byte LEDs RUN / DIAG Diag Run LEDs FAULT/IFAULT I Fault Fault LEDs OFAULT / Expansion module, Right 1 O Fault right LEDs expansion module, right Right 3 Right LEDs Right 5 Right LEDs Right 7 Right LEDs / res Reserved Right LED base unit i0 - i15 LED i15 i8 LED i7 i LED base unit i16-i19 / 0 0 LED i19 i / LEDs expansion module, right LED right LEDs expansion module, right LED right 3 LED right

23 3.4 Assignment of data areas (3x) Discrete Input (1x) Content High Byte Low Byte LEDs expansion module, right LED right 5 LED right LEDs expansion module, right LED right 7 LED right LED right 8 / res Reserved LED right LEDs fieldbus status LED 2 LED LEDs fieldbus status LED 4 LED LEDs speed monitor 1 Axis 2 Axis LEDs speed monitor 2 Axis 2 Axis LEDs speed monitor 3 Axis 2 Axis LEDs speed monitor 4 Axis 2 Axis LEDs expansion module, left Left 2 Left LEDs expansion module, left Left 4 Left LEDs expansion module, left Left 6 Left "LEDs" and 924 to 926 LEDs expansion module, left" 0x00 = LED off 0xFF = LED on 0x30 = LED flashes 910 to 911 "LEDs fieldbus" Position of LED1... LED4: PNOZ mc... LED3 LED4 LED1 LED2 3-13

24 3.4 Assignment of data areas 0x00 = LED off 0xFF = LED green 0x30 = LED red The LED functions are described in the relevant operating manual. 917 to 920 "LEDs speed monitor " State of the LEDs on the speed monitors PNOZ ms1p, PNOZ ms2p: I10, I11, I20, I21, X12, X22 PNOZ ms3p: X12, X22 PNOZ ms4p: X Axis I11 I11 I10 I10 0 X12 Axis I21 I21 I20 I20 0 X22 LEDs for proximity switch: I10, I11, I20, I21: If the LED is lit, the corresponding will contain 1. The proximity switch is energised. LEDs for incremental encoder: X12, X22: If the LED is lit, the corresponding will contain 1 ; The incremental encoder is connected correctly. The LED functions are described in the operating manuals for the speed monitors Diagnostic word, element types Diagnostic 3- ModbusTCP_Datenbereiche-Diagnosewort-Elementtypen word, element types The table below describes the Modbus/TCP data areas that contain information on the elements in the PNOZmulti Configurator and the diagnostic word. Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Coil/ Discrete Input (1x) Number of elements that can store a state Reserved Content High Byte Low Byte 0 Number 3-14

25 3.4 Assignment of data areas (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Reserved Reserved Reserved Reserved Reserved Element enable Element enable Element enable Element enable Element enable Element enable Element enable / reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word

26 3.4 Assignment of data areas (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word

27 3.4 Assignment of data areas (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word

28 3.4 Assignment of data areas (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Diagnostic word Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Element type Element ID = 2 Element ID = Element type Element ID = 4 Element ID = Element type Element ID = 6 Element ID = Element type Element ID = 8 Element ID = Element type Element ID = 10 Element ID = Element type Element ID = 12 Element ID = Element type 0 Element ID = Element type Element ID = 15 Element ID = Element type Element ID = 17 Element ID = Element type Element ID = 19 Element ID =

29 3.4 Assignment of data areas (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Element type Element ID = 21 Element ID = Element type Element ID = 23 Element ID = Element type Element ID = 25 Element ID = Element type 0 Element ID = Element type Element ID = 15 Element ID = Element type Element ID = 17 Element ID = Element type Element ID = 19 Element ID = Element type Element ID = 21 Element ID = Element type Element ID = 23 Element ID = Element type Element ID = 25 Element ID = Element type 0 Element ID = Element type Element ID = 41 Element ID = Element type Element ID = 43 Element ID = Element type Element ID = 45 Element ID = Element type Element ID = 47 Element ID = Element type Element ID = 49 Element ID = Element type Element ID = 51 Element ID = Element type 0 Element ID = Element type Element ID = 54 Element ID = Element type Element ID = 56 Element ID = Element type Element ID = 58 Element ID = Element type Element ID = 60 Element ID = Element type Element ID = 62 Element ID = Element type Element ID = 64 Element ID = Element type 0 Element ID = Element type Element ID = 67 Element ID = Element type Element ID = 69 Element ID = Element type Element ID = 71 Element ID = Element type Element ID = 73 Element ID = Element type Element ID = 75 Element ID = Element type Element ID = 77 Element ID = Element type 0 Element ID = Element type Element ID = 80 Element ID = Element type Element ID = 82 Element ID = Element type Element ID = 84 Element ID = Element type Element ID = 86 Element ID = Element type Element ID = 88 Element ID =

30 3.4 Assignment of data areas (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Element type Element ID = 90 Element ID = Element type 0 Element ID = Element type Element ID = 93 Element ID = Element type Element ID = 95 Element ID = Element type Element ID = 97 Element ID = Element type Element ID = 99 Element ID = Element type Reserved Element ID = Element type Reserved Reserved Element type Reserved Reserved 938 to 944 "Element enable " Each element is assigned an ID in the PNOZmulti Configurator. If the element's output = 0 (no enable), the corresponding bit is set. Byte Byte Byte Byte Byte Byte to 1126 "Element type" The available element types are listed below. Element type Element ( Function elements 01 Switch type 1: N/C contact 02 Switch type 1: N/C contact, monitored reset 03 Switch type 1: N/C contact, manual reset 04 Switch type 1: N/C contact, start-up test 05 Switch type 1: N/C contact, start-up test, monitored reset 06 Switch type 1: N/C contact, start-up test, manual reset 3-20

31 3.4 Assignment of data areas Element type ( Element 07 Switch type 2: N/C contact, N/O contact 08 Switch type 2: N/C contact, N/O contact, monitored reset 09 Switch type 2: N/C contact, N/O contact, manual reset 0A Switch type 2: N/C contact, N/O contact, start-up test 0B Switch type 2: N/C contact, N/O contact, start-up test, monitored reset 0C Switch type 2: N/C contact, N/O contact, start-up test, manual reset 0D Switch type 3: N/C contact, N/C contact 0E Switch type 3: N/C contact, N/C contact, monitored reset 0F Switch type 3: N/C contact, N/C contact, manual reset 10 Switch type 3: N/C contact, N/C contact, start-up test 11 Switch type 3: N/C contact, N/C contact, start-up test, monitored reset 12 Switch type 3: N/C contact, N/C contact, start-up test, manual reset 13 Switch type 4: N/C contact, N/C contact, N/O contact 14 Switch type 4: N/C contact, N/C contact, N/O contact, monitored reset 15 Switch type 4: N/C contact, N/C contact, N/O contact, manual reset 16 Switch type 4: N/C contact, N/C contact, N/O contact, start-up test 17 Switch type 4: N/C contact, N/C contact, N/O contact, start-up test, monitored reset 18 Switch type 4: N/C contact, N/C contact, N/O contact, start-up test, manual reset 19 Switch type 5: N/C contact, N/C contact, N/C contact 1A Switch type 5: N/C contact, N/C contact, N/C contact, monitored reset 1B Switch type 5: N/C contact, N/C contact, N/C contact, manual reset 1C Switch type 6: Two-hand, N/C contact, N/O contact 1D Switch type 7: Two-hand, N/O contact 1E Operating mode selector switch 1 from 2 1F Operating mode selector switch 1 from 3 20 Operating mode selector switch 1 from 4 21 Operating mode selector switch 1 from 5 22 Safety mat, with automatic reset 23 Safety mat, with start-up test 24 Safety mat, with reset button 25 Cascading input 26 Switch type 5, N/C contact, N/C contact, N/C contact, start-up test 3-21

32 3.4 Assignment of data areas Current state of the virtual inputs Current 3- ModbusTCP_Datenbereiche-aktuelle state of the virtual inputs Zustände der virtuellen Eingänge The table below describes the Modbus/TCP data areas that contain the current state of the virtual inputs. These are the virtual inputs that can be set by various subscribers (e.g. fieldbus). Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Coil/ Discrete Input (1x) Inputs, feedback status Inputs, feedback status Inputs, feedback status Inputs, feedback status Inputs, feedback status Inputs, feedback status Inputs, feedback status Inputs, feedback status Reserved Reserved Reserved Reserved Reserved Reserved Content High Byte Low Byte i15 i8 i31 i24 i47 i40 i63 i56 i79 i72 i95 i88 i111 i104 i127 i120 i7 i0 i23 i16 i39 i32 i55 i48 i71 i64 i87 i80 i103 i96 i119 i

33 3.4 Assignment of data areas State of process data State 3- ModbusTCP_Datenbereiche-Zustand of process data der Prozessdaten The table below describes the Modbus/TCP data areas that contain the status info register. The general state of the data is reproduced in the status info register. Relevant areas for the data are defined in the Modbus/TCP data areas Discrete Inputs (1x) and Input (3x). Read access is available to these data areas. (3x) Coil/ Discrete Input (1x) Content High Byte Low Byte Status information See below High Byte Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Low Byte Reserved Reserved WD Timeout Reserved Reserved Reserved Reserved Global Error 5 "WD Timeout": The set watchdog for the input bits has been triggered and the inputs set to "0". 0 "Error ": The content of the data areas is not current or the set watchdog for the input bits has been triggered. 3-23

34 3.5 Updating the data areas Updating 3- ModbusTCP_Aktualisierung the data areas der Datenbereiche-PNOZmulti Data is updated with varying priority. The table below shows the typical update cycles for the various data. Content Virtual inputs/outputs Configuration State of the inputs/outputs from the base unit and expansion modules LED status Number of elements that can store a state Element enable Diagnostic words Element types Current state of the virtual inputs Typ. update cycle 20 ms Once during initialisation 320 ms 1000 ms Once during initialisation 320 ms 1000 ms Once during initialisation 1000 ms INFORMATION The update time may increase if there are additional TCP/IP connections (e.g. PNOZmulti Configurator, PMI, control system) on the PG port (Port 9000). 3-24

35 3.6 addressing in a ModbusTCP_-Adressierung addressing in a in einem -PNOZmulti Addressing the virtual inputs (coils) on the PNOZmulti Addressing the virtual outputs (discrete inputs) on the PNOZmulti

36 3-26

37 4 Application example 4.1 Modbus subscriber 4000 Application ModbusTCP_Bsp_Teilnehmer subscriber example In this example, the following subscribers communicate via Modbus/ TCP or Ethernet: Devices with server role: PNOZmulti base unit PNOZ m1p ETH PNOZmulti Mini base unit PNOZ mm0.1p with the expansion module PNOZ mmc1p ETH Devices with client role: PSSu system in the automation system PSS 4000 Operator terminal PMI PC as programming device for PNOZmulti, PSSu system and PMI The PSSu system and the operator terminal PMI access both modular safety systems PNOZmulti (server roles) simultaneously. 4-1

38 4 Application example 4.2 Data exchange via Modbus/TCP Data 4- ModbusTCP_Bsp_Kommunikation exchange via Modbus/TCP Client - Server An example of data exchange is shown below. The modular safety system PNOZmulti is always the server in a connection and the PSSu system from the automation system PSS 4000 is always the client in a connection. It is always the connection's client that initiates data transfer. The direction of the data flow (send/receive) and access to Modbus/TCP data areas (coils, discrete inputs, input registers, holding register) is defined by the function code. When sending, the connection's client sends data to a data area belonging to the connection's server. This is also known as "Writing data". When receiving, the connection's client requests and receives data located in a data area belonging to the connection's server. This is also known as "Reading data". 4-2

39 4 Application example 4.2 Data exchange via Modbus/TCP PSS IP Connections ModbusTCPClient_0 Remote-IP-Address: ReadCoils0x ModbusTCPClient_1 Remote-IP-Address: PNOZmulti m1p ETH Coil & Map 0x 1x 3x 4x Server WriteMultipleCoils0x PNOZmulti m1p ETH ModbusTCPClient_2 Server Remote-IP-Address: ReadCoils0x ModbusTCPClient_3 Remote-IP-Address: Coil & Map 0x 1x 3x 4x WriteMultipleCoils0x In this program, inputs on the PNOZmulti are copied to virtual outputs. The PSSu system reads the data from the PNOZmulti, processes it and then writes it back to the virtual inputs on the PNOZmulti. There the state of the virtual inputs is written to signal outputs. 4-3

40 4 Application example 4.2 Data exchange via Modbus/TCP Client Server POU PI- Variables I/O Mapping IP-Connections WriteCoils Modbus/TCP Virtual Inputs I 00 I PNOZmulti Project Digital Outputs I 126 I 127 Read discrete inputs Virtual Outputs O 00 O 01.. Modbus/TCP..... O 126 O 127 Digital Inputs 4-4

41 4 Application example 4.3 Device configuration 4300 Device 4- configuration Modular safety system PNOZmulti Modular 4- ModbusTCP_Bsp_Konfiguration-PNOZmulti safety system PNOZmulti Insert the required modules in the PNOZmulti Configurator, in the "Hardware Configuration" window. Base unit PNOZm1p ETH: 1. Insert base unit PNOZ m1p ETH 2. Insert inputs/outputs that are downloaded via the integrated interface 4-5

42 4 Application example 4.3 Device configuration Base unit PNOZ mm0.1p 1. Base unit PNOZ mm0.1p 2. Configure communication module PNOZ mmc1p ETH 3. Insert inputs/outputs that are downloaded via the integrated interface PSSu system in the automation system PSS 4000 PSSu 4- ModbusTCP_Bsp_Konfiguration-PSS system in the automation system 4000 PSS 4000 The configuration is made in PAS4000. Create IP connection Create the IP connection in the IP Connections Editor 1. Enter remote IP address Enter the IP addresses of the PNOZmulti Ethernet connections. 2. Enter remote port number Enter the port number "502". The number may not be modified. 3. Select function code From the list, select "WriteMultipleCols0x" 4. Define the start address and the length of the data block Enter the start address and the data length in the "Send" field 4-6

43 4 Application example 4.3 Device configuration 4-7

44 4 Application example 4.3 Device configuration Perform I/O mapping The PI variables are mapped to the data in the Modbus/TCP connection. Map the PI variables in the I/O Mapping Editor as follows: 1. Set filter Select the option "PI variables < - > IP connections" 2. Map PI variables 4-8

45 4 Application example 4.3 Device configuration Operator terminal PMI Operator 4- ModbusTCP_Bsp_Konfiguration-PMI terminal PMI The configuration is made in the PMImicro Configurator Select Modbus/TCP driver, create IP connection Select the Modbus/TCP driver in the Configuration window and set the IP connection: 1. Enter remote IP address Enter the IP addresses of the PNOZmulti. 2. Enter remote port number Enter the port number "502". The number may not be modified. A variable is defined in the variable list for each display or operator element. 4-9

46 4 Application example 4.3 Device configuration The offset refers to the data block provided by the PNOZmulti. 4-10

47 EN-01, Printed in Germany Pilz GmbH & Co. KG, In many countries we are represented by our subsidiaries and sales partners. Please refer to our homepage for further details or contact our headquarters. Pilz GmbH & Co. KG Felix-Wankel-Straße Ostfildern, Germany Telephone: Telefax: pilz.gmbh@pilz.de www Technical support support@pilz.com InduraNET p, Pilz, PIT, PMCprotego, 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. We would point out that product features may vary from the details stated in this document, depending on the status at the time of publication and the scope of the equipment. We accept no responsibility for the validity, accuracy and entirety of the text and graphics presented in this information. Please contact our Technical Support if you have any questions.