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XPSMC Hardware Manual

12/2007

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Table of Contents

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Chapter 1 Overview: XPSMC16Z/ZC/ZP/X, XPSMC32Z/ZC/ZP/X . . . . . . . 13


At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . XPSMC Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 14 17 19 20 23 24 25 29 33 35 35 36 39 43 46 48 55

Chapter 2

Application and Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23


At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Initial Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Chapter 3
3.1

XPSMC Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . General Description of the XPSMC16/32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Front View of XPSMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Communication Connections TER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Elements of the Display and System Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Technical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2

3.3

3.4

Modbus (RTU) Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Cables to Connect the XPSMC Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 Connecting XPSMC to Premium PLC Modbus Communication Cards . . . . . . . . 60 Configuring a Premium PLC with Unity for Modbus RTU Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Importing a Section Including the DFB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Viewing Modbus Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 Function Codes and Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 Description of Profibus DP Parameter and Settings . . . . . . . . . . . . . . . . . . . . . . 85 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Profibus DP Communication Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86 Profibus DP LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 Description of CANopen Parameter and Settings . . . . . . . . . . . . . . . . . . . . . . . . 91 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 CANopen Communication Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 CANopen LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 CANopen Network Length and Stub Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 CANopen Data Exchange . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

Appendices
Appendix A

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

Brief Description of the Functional Devices . . . . . . . . . . . . . 109


At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Device Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 Monitoring Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 EDM Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Start Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Enabling Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Miscellaneous Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119 Output Functional Elements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Appendix B

Examples of Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121


At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Application Example - Light Curtain With Muting. . . . . . . . . . . . . . . . . . . . . . . . 122 Application Example - Safety Guard with Enabling Device . . . . . . . . . . . . . . . . 124 Application Example for Several Functions - Emergency Stop, Two Hand Control, Safety Mat. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

Appendix C Appendix D

Electrical Life of the Output Contacts . . . . . . . . . . . . . . . . . . 129


Diagram of the Electrical Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

Examples for Bus Configuration. . . . . . . . . . . . . . . . . . . . . . . 131


At a Glance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connection of the XPSMC with CANopen and Sycon 2.8 . . . . . . . . . . . . . . . . Connection of the XPSMC with CANopen and Sycon 2.9 . . . . . . . . . . . . . . . . Configuration of Unity Pro for CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Connection of the XPSMC with Profibus and Sycon 2.9. . . . . . . . . . . . . . . . . . 131 132 141 149 152

Glossary Index

. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

Safety Information

Important Information
NOTICE Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential hazards or to call attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result in personal injury if the instructions are not followed. This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow this symbol to avoid possible injury or death.

DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death or serious injury.

WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or equipment damage.

CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment damage.

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Safety Information

PLEASE NOTE

Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material. 2007 Schneider Electric. All Rights Reserved.

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About the Book

At a Glance
Document Scope This manual provides a detailed description of the XPSMC* safety controller range. Details of each of the references are outlined below. All hardware aspects of the safety controller range are outlined in this manual. The following descriptions are included: the dimensions and installation of the XPSMC the application and function description of the XPSMC a brief description of the functional devices examples of applications the technical characteristics of the safety controllers There are 8 versions of the safety controller:
Type XPSMC16Z Characteristics 8 control outputs and 16 safety inputs 6 safety transistor outputs 2 x 2 safety relay outputs 8 control outputs and 16 safety inputs 6 safety transistor outputs 2 x 2 safety relay outputs Profibus DP slave interface 8 control outputs and 16 safety inputs 6 safety transistor outputs 2 x 2 safety relay outputs CANopen interface 8 control outputs and 16 safety inputs 6 safety transistor outputs 2 x 2 safety relay outputs Note: This product is no longer available for purchase and has been replaced by a more advanced version XPSMC16Z 9

XPSMC16ZP

XPSMC16ZC

XPSMC16X

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About the Book

Type XPSMC32Z

Characteristics 8 control outputs and 32 safety inputs 6 safety transistor outputs 2 x 2 safety relay outputs 8 control outputs and 32 safety inputs 6 safety transistor outputs 2 x 2 safety relay outputs Profibus DP slave interface 8 control outputs and 32 safety inputs 6 safety transistor outputs 2 x 2 safety relay outputs CANopen interface 8 control outputs for 32 safety inputs 6 safety transistor outputs 2 x 2 safety relay outputs Note: This product is no longer available for purchase and has been replaced by a more advanced version XPSMC32Z

XPSMC32ZP

XPSMC32ZC

XPSMC32X

Validity Note

The corresponding configuration software is XPSMCWIN under Microsoft Windows 2000/XP. The XPSMC safety controller has been developed and manufactured in accordance with European standards and directives. Note: The corresponding declaration of conformity is provided in the packing of all safety controllers. The product manufacturer possesses a certified quality assurance system in accordance with ISO 9001. The data and illustrations found in this document are not binding. We reserve the right to modify our products in line with our policy of continuous product development. The information in this document is subject to change without notice and should not be construed as a commitment by Schneider Electric.

Related Documents

Title of Documentation Configuration Software for XPSMC

Reference Number 33003281

You can download the latest Version of this document and other technical information from our website at www.telemecanique.com

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About the Book

Product Related Warnings

Schneider Electric assumes no responsibility for any errors that may appear in this document. If you have any suggestions for improvements or amendments or have found errors in this publication, please notify us. No part of this document may be reproduced in any form or by any means, electronic or mechanical, including photocopying, without express written permission of Schneider Electric. All pertinent state, regional, and local safety regulations must be observed when installing and using this product. For reasons of safety and to ensure compliance with documented system data, only the manufacturer should perform repairs to components. When controllers are used for applications with technical safety requirements, the relevant instructions must be followed. Failure to use Schneider Electric software or approved software with our hardware products may result in injury, harm, or improper operating results. Failure to observe this product related warning can result in injury or equipment damage.

User Comments

We welcome your comments about this document. You can reach us by e-mail at techpub@schneider-electric.com

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About the Book

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Overview: XPSMC16Z/ZC/ZP/X, XPSMC32Z/ZC/ZP/X

At a Glance
Overview This chapter contains an overview of eight safety controllers XPSMC16Z, XPSMC16ZC, XPSMC16ZP, XPSMC16X, XPSMC32Z, XPSMC32ZC, XPSMC32ZP, and XPSMC32X. This chapter contains the following topics:
Topic XPSMC Models Representation Dimensions Installation Page 14 17 19 20

What's in this Chapter?

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Overview

XPSMC Models
XPSMC XPSMC is a generic term that describes the entire family of eight different XPSMC safety controllers. Currently, eight models are available: XPSMC16Z, XPSMC16ZC, XPSMC16ZP, XPSMC16X, XPSMC32Z, XPSMC32ZC, XPSMC32ZP, and XPSMC32X. XPSMC safety controllers
Model XPSMC16Z XPSMC16ZC XPSMC16ZP XPSMC16X XPSMC32Z XPSMC32ZC XPSMC32ZP XPSMC32X Modbus (RTU) Serial x x x x x x x x CANopen x x Profibus DP x x No. of Inputs and Outputs 8 control outputs and 16 safety inputs 8 control outputs and 16 safety inputs 8 control outputs and 16 safety inputs 8 control outputs and 16 safety inputs 8 control outputs and 32 safety inputs 8 control outputs and 32 safety inputs 8 control outputs and 32 safety inputs 8 control outputs and 32 safety inputs

Differences Between XPSMC Models

Details about all safety controller functionality can be found within the "Device Set" chapter see Device Set, p. 110.

Note: The XPSMC16X and XPSMC32X are discontinued from sale. A suitable replacement if required is to use the XPSMC16Z or XPSMC32Z.

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Overview

XPSMC Package Content

The XPSMC Package consists of the following items:


Hardware Manuals Documentation CD Declaration of conformity XPSMC*Z* Safety Controller Printed English Manual Hardware Manuals (PDF) in: English, German, French, Spanish, Portuguese 1 sheet with 12 languages

To configure and commission the safety controller you also require of the following items (1 reference for each item):
Item Configuration software Configuration cable XPSMCWIN configuration software USB PC adaptor and connection cable (2 references) or Serial PC adaptor and connection cable (2 references) IO terminals Screw terminals pack available for 16 or 32 Digital Input versions of the Safety Controller (Terminals provided for the complete safety controller) For Safety Controller: 1. References 16 Digital Input: XPSMC16Z, XPSMC16ZC, XPSMC16ZP 2. References 32 Digital Input: XPSMC32Z, XPSMC32ZC, XPSMC32ZP References XPSMCWIN TSXPCX1031 + XPSMCCPC TSXPCX1031 + XPSMCCPC You require 1 of the following references: 1. XPSMCTS16 2. XPSMCTS32

Cage Clamp terminals pack available for 1. XPSMCTS16 2. XPSMCTS32 16 or 32 Digital Input versions of the safety controller (Terminals provided for the complete safety controller) For Safety Controller: 1. References 16 Digital Input: XPSMC16Z, XPSMC16ZC, XPSMC16ZP 2. References 32 Digital Input: XPSMC32Z, XPSMC32ZC, XPSMC32ZP

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Overview

Item Power Supply IEC EN 60950 rated powers supply with protective separation (PELV, or SELV) 1. 3A, 24 VDC 2. 5A, 24 VDC 3. 10A, 24 VDC

References 1. ABL8RPS24030 2. ABL8RPS24050 3. ABL8RPS24100

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Overview

Representation
Front View XPSMC16Z / 32Z The following image shows the front view of the XPSMC16Z and XPSMC32Z:
PWR CNF E In E Ex RUN COM o1 o5 1 5 9 13 o2 o6 2 6 10 14 o3 R1 3 7 11 15 o4 R2 4 8 12 16 17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32

Telemecanique
XPS-MC

Static Outputs

Supply

Connector 3

Relay Outputs

Inputs

Connector 2

Connector 4

Connector 1

16 additional safety inputs of XPSMC32Z

TER

Reset

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Overview

Front View XPSMC16ZP / 16ZC/ 32ZP / 32ZC

The following image shows the front view of the XPSMC16ZP , XPSMC16ZC, XPSMC32ZP and XPSMC32ZC:
PWR CNF E In E Ex RUN COM o1 o5 1 5 9 13 o2 o6 2 6 10 14 o3 R1 3 7 11 15 o4 R2 4 8 12 16 17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32

Telemecanique
XPS-MC

Static Outputs

Supply

Connector 3

Relay Outputs

Inputs

Connector 2

Connector 4

Connector 1

1 2

16 additional safety inputs of XPSMC32ZP and XPSMC32ZC Profibus DP female connector (XPSMCZP) or CANopen male connector (XPSMCZC)

18

TER

BUS

Reset

RUN

ERR

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Overview

Dimensions
Dimensions of the XPSMC The following figures show the dimensions of the XPSMC:
6 4 0.16 151,5 139,5 74 2.91 17 0.67 74 2.91 20 0.79 40 1.58 20 0.79 6 5.96 5.49 0.24 16 0.63 0.24

When using XPSMCTS connectors this dimension is 153 mm (6.02 in) When using XPSMCTC connectors this dimension is 151,5 mm (5.96 in)

59 2.32

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Overview

Installation
Assembly on a 35 mm DIN Rail 35 mm (1.37 in) DIN rail and wall installation

WARNING
RISK OF OVERHEATING Mount controllers with adequate spacing to permit proper cooling. Refer to mounting instructions. Failure to follow these instructions can result in death, serious injury, or equipment damage. Disassembling from 35 mm (1.37 in.) DIN rail
1

Note: The XPSMC is grounded through an attachment plate or a DIN rail.

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Overview

Requirements

The controller should be air-cooled by natural convection. To facilitate ventilation, install it vertically with the ventilation louvers on the bottom and on the top. If several controllers are installed on the same rack, it is recommended that the following provisions be observed: Leave a free space of at least 150 mm (5.90 in.) for the ducts, wiring, and air circulation above and below the controller. Install heat-generating devices (transformers, supply modules, power switches, etc.) above the controllers.

Disassembly of the Upper Housing

Removal of the upper housing section from the mounting plate (torque value = 1.1 Nm).
2 1

Assembly of the upper housing section on to the mounting plate (torque value = 1.1 Nm).
2 3

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Overview

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Application and Function

2
At a Glance
Overview This chapter described the application and function of XPSMC16Z, XPSMC16ZC, XPSMC16ZP, XPSMC16X, XPSMC32Z, XPSMC32ZC, XPSMC32ZP, and XPSMC32X safety controllers. This chapter contains the following topics:
Topic Application Function Initial Operation Page 24 25 29

What's in this Chapter?

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Application and Function

Application
Description The XPSMC device is an electronic safety controller for the monitoring of safety functions up to safety category 4 according to EN 954-1 and SIL 3 according to EN/ IEC 61508 in the section for machine safety. The XPSMC Safety Controller has 6 solid state transistor outputs and in addition 2 safety relay outputs, and depending on version either 16 or 32 digital inputs. The safety controller contains a configuration interface (TER). The TER interface is a Modbus (RTU) serial communications port which can also be used for diagnostic purposes as it can be connected to a standard PLC or a graphical user interface (e.g. HMI Magelis). In addition, additional references of the safety controller contain either CANopen or Profibus DP interfaces. Note: Every connected sensor and actuator to the XPSMC must change its status once between 2 machine service intervals or at least once a year. This must be done, as the Safety Integrity Level calculation for each safety function is based upon a complete input/output test once a year.

Note: The device contains no components which require maintenance by the user. For authorization of safety circuits in accordance with EN 60204-1/EN 418, only the output circuits between terminals 13-14, 23-24, 33-34, 43-44 and semiconductor safety outputs o1 to o6 can be used.

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Application and Function

Function
Description The device includes 6 independent semiconductor safety outputs and 2 independent groups of dual channel positively driven potential-free contact safety relay outputs. Each of the 4 channels has 2 contacts in series.

WARNING
RADIO INTERFERENCE This product is a Class A (FCC/VDE) product intended for use in industrial environments. Do not use this product in Class B domestic environment applications. Failure to follow these instructions can result in death, serious injury, or equipment damage.

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Application and Function

Functions of XPSMC

The XPSMC has 8 control outputs, c1 to c8 and 16 (32) safety inputs, i1 to i16 (i1 to i32). The safety inputs are monitored for cross connections and short circuits by supplying the circuit members with different control outputs, c1 to c8. The safety controller uses the control outputs to continuously test all connected inputs including their power connections. If an error is detected on the input circuit, the control logic switches off all safety outputs associated with the relevant safety function. The safety outputs associated with other safety functions continue to operate normally. All XPSMC safety controllers are equipped with a Modbus (RTU) serial interface (TER). In addition a CANopen interface is available on XPSMC16ZC XPSMC32ZC and a Profibus DP interface is available on XPSMC16ZP XPSMC32ZP The communication ports are to provide diagnostic information regarding the status of the controller. The communication is non-safety related. The safety controller is a slave for all communication possibilities. XPSMC
c1 c2 13 23

K1 K2

c8 i1 i2 i3 Functions i16 / i32 H1

24 14 33 43 44 34 24V

K1 K2

TER 24V Fieldbus

o1

o6 XPSMC16 / XPSMC32

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Application and Function

WARNING
LOSS OF SAFETY INPUT CROSS-CONNECTION DETECTION Ensure that no more than one critical safety input is connected to each of the control outputs. Failure to follow these instructions can result in death, serious injury, or equipment damage.

CAUTION
SHORT-CIRCUITS ARE NOT DETECTED Short-circuits between inputs connected to the same control output are not detected. Failure to follow these instructions can result in injury or equipment damage.

DANGER
IMPROPER CIRCUIT DESIGN, TESTING AND SERVICING HAZARD Ensure safety equipment or devices are sufficiently engaged in the switch safety process when deviating from the recommended circuit design. Strict compliance with the recommended testing and servicing intervals for the machine is required. Strict compliance with the relevant safety instructions concerning machine operation, adjustment and servicing is required. Refer to EN 292-1, Item 5 Failure to follow these instructions will result in death or serious injury. The following recommendations have been thoroughly tested and checked in operational conditions. They meet the requirements of the relevant standards, with connected peripheral equipment of safety installations and switching equipment.

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Application and Function

Configuration of XPSMC

The XPSMC is configured using a PC (computer) and the XPSMCWIN configuration software. The connection between the safety controller and PC (computer) can be made in 2 ways: using the serial communication port from the PC (computer) using the USB communication port from the PC (computer) (see chapter Connection to a PC for Configuration, p. 39).

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Application and Function

Initial Operation
Auto-test (factory settings) The XPSMC is delivered in a non-configured state. On first power up it performs an internal test which lasts approximately 2 seconds. To connect the power to the safety controller connect +24 VDC to terminal A1 and 0 VDC to terminal A2.
Stage 1 2 Description All the LEDs located on the housing light up. After 2 seconds PWR LED is on CNF LED is flashing all other LEDs are off If the controller has fieldbus interfaces then: CANopen LEDs RUN is OFF ERR is ON

Auto-test (hardware test)

During a power-cycle the XPSMCs program can be reset by pressing and holding the Reset button until all LEDs are on. The configuration will no longer be valid however, it is possible to read the configuration from the controller on the computer and revalidate the configuration.
Stage 1 2 3 Description All the LEDs located on the housing light up. After 2 seconds, the LEDs switch off for a short time and then on again, since the Reset button is pressed. Release the Reset button. PWR LED is on CNF LED is flashing If the controller has fieldbus interfaces then: Profibus LEDs (RUN and ERR) are on CANopen LEDs (RUN and ERR) RUN blinks 3 times ERR flashes once ...

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Application and Function

Auto-test (with a valid configuration)

Power cycle the XPSMC with a valid configuration.


Stage 1 2 Description All the LEDs located on the housing light up. After 2 seconds PWR LED is on RUN LED is on when the controller was in Run before power cycle RUN LED is off when the controller was in Stop before power cycle If the controller has fieldbus interfaces then: CANopen/Profibus DP LEDs (RUN and ERR) behavior depends on the connection (see Elements of the Display and System Diagnostics, p. 43).

Downloading a New Configuration

The XPSMC is delivered in a non-configured state, and the device must be configured to render it operational. The configuration is performed using software XPSMCWIN. Note: The XPSMCWIN software manual contains a detailed description of all safety functions available from the XPSMC safety controller.

DANGER
DANGEROUS MOVEMENT Evaluate operational state of all outputs before setting an XPSMC safety controller into RUN mode with the XPSMCWIN software. You must make sure that no unintended equipment operation can occur. Failure to follow these instructions will result in death or serious injury.

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Application and Function

Once the XPSMC safety controller has been successfully configured and validated, it can be set into RUN mode with the XPSMCWIN software.
Stage 1 2 Description After downloading a valid configuration CNF LED is off After setting the XPSMC safety controller into run mode: RUN LED is on LEDs corresponding to the inputs and outputs light up as a function of their status If the controller has fieldbus interfaces then: CANopen/Profibus LEDs - behavior depends on the connection (see Elements of the Display and System Diagnostics, p. 43) The XPSMC is now operational.

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Application and Function

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XPSMC Description

3
At a Glance
Overview This chapter contains the description of the eight safety controllers XPSMC16Z, XPSMC16ZC, XPSMC16ZP, XPSMC16X, XPSMC32Z, XPSMC32ZC, XPSMC32ZP, and XPSMC32X. This chapter contains the following sections:
Section 3.1 3.2 3.3 3.4 Topic General Description of the XPSMC16/32 Modbus (RTU) Communication Description of Profibus DP Parameter and Settings Description of CANopen Parameter and Settings Page 35 57 85 91

What's in this Chapter?

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33

XPSMC Description

34

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XPSMC Description

3.1
Overview
Introduction

General Description of the XPSMC16/32

This section provides an overview of the general functions and properties of the XPSMC16/32 Safety Controller. This section contains the following topics:
Topic Front View of XPSMC Communication Connections TER Elements of the Display and System Diagnostics Connection Diagram Technical Characteristics Error Codes Page 36 39 43 46 48 55

What's in this Section?

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35

XPSMC Description

Front View of XPSMC


Overview The following images represent the XPSMC models with screw terminals (ref: XPSMCTS) or cage clamp terminals (ref: XPSMCTC).

Front View XPSMCZ


1

E Ex

E In

CNF

PWR

Relay Outputs

Supply Static Outputs


o4 R2 4 8 12 16 o3 R1 3 7 11 15

COM o2 o6 2 6 10 14

RUN o1 o5 1 5 9 13

XPS-MC

Telemecanique

Connector 4 Inputs Connector 2

Connector 3 Connector 1 TER

20 24 28 32

19 23 27 31

18 22 26 30

17 21 25 29

Reset

1 1 2 3 Terminals TER connection Reset button

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XPSMC Description

Front View XPSMCZP and XPSMCZC


1 2

E Ex

E In

CNF

PWR

RUN Relay Outputs Supply Static Outputs BUS ERR

COM o4 R2 4 8 12 16 o3 R1 3 7 11 15 o2 o6 2 6 10 14

RUN o1 o5 1 5 9 13

XPS-MC

Telemecanique

Connector 4 Inputs Connector 2

Connector 3 Connector 1 TER

20 24 28 32

19 23 27 31

18 22 26 30

17 21 25 29

Reset

1 1 2 3 4

Terminals Fieldbus connection (Profibus DP(female connector) or CANopen (male connector)) TER connection Reset button

Keying of the Terminal Connectors Connector 1...4 Display

The terminal connectors Connector 1...4 can be keyed by inserting the code profiles into the slots of the controllers connectors and breaking off the appropriate tabs of the cable connector.

The LED indicators reflect the current operating status of the device (see chapter Elements of the Display and System Diagnostics, p. 43).

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XPSMC Description

Terminals

The terminal layout is as follows:


Terminal Layout A1-A2 GND o1-o6 13-44 c1-c8 Meaning 24V power supply; A1 is the + pole (+24 VDC), A2 is the - pole (0 VDC, GND) It is identical to the 0 VDC potential on A2 for loads on the o1-o6 semiconductor safety outputs. semiconductor safety outputs potential-free safety relay outputs equipped with contacts control outputs for safety input power supply The control outputs contain a signal which enables short circuit detection monitoring, voltage intrusion and open circuit detection for all connected control components. safety inputs connection for muting lamp The supply voltage must be taken from the same source which also feeds the XPSMC.

i1-i16 or i1 to i32 H1

TER Connection

8 pin RJ45 connector is used to connect the XPSMC safety controller to a PC for configuration and/or diagnostics. The communication via the TER terminal is Modbus RTU protocol and can also be used to connect to a HMI magelis operating terminal, or a standard PLC.

Fieldbus Connection

Dependant on version: Profibus DP: 9 pin DSUB female connector CANopen: 9 pin DSUB male connector The Reset button is used when an external failure is detected shown by the LED status lamp E EX. The fault must be corrected before the failure is reset! When corrected and the Reset button is pressed the safety controller performs a cross connection check.

Reset Button

CANopen/ Profibus DP LEDs

Two LEDs for CANopen/Profibus DP connection: RUN (green) and ERR (red). Refer to Profibus DP LEDs, p. 88 for Profibus DP and to CANopen LEDs, p. 94 for CANopen LED description.

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XPSMC Description

Communication Connections TER


TER Connection 8 pole RJ45-Socket pin-outs
8 Pole RJ45-Socket, with Protection Representation:
1

Pin 1 2 3 4 5 6

Signal DPT D1 (B) D0 (A) /DE 5V 0V

Description TER Port Mode Control RS485 Signal RS485 Signal Negative Data Transmit Enable Logical VCC Ground

7 8

Connection to a PC for Configuration Serial Connection

There are 2 ways to connect the safety controller to the PC (computer): using the serial communications interface from the PC using the USB communications interface from the PC The following 2 cabling components are required to set up the serial connection: XPSMCCPC adaptor TSXPCX1031 serial adaptor The following figure shows the physical serial connection from the PC to the XPSMC safety controller.
PC/Laptop

RJ45

MiniDIN

RS 485/232

2
Configuration

XPSMC

1 2

XPSMCCPC TSXPCX1031

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XPSMC Description

USB Connection

The following 2 cabling components are required to set up the USB connection: Standard (1:1) RJ45/RJ45 twisted pair Category 5D Ethernet cable Ref: 490NTW00002 TSXCUSB485 USB adaptor In addition you will require the USB driver pack available on the Safety Suite V2 (XPSMCWIN) software CD or on www.Telemecanique.com. Driver pack installation instructions are available within the software manual. The following figure shows the physical USB connection from the PC to the XPSMC safety controller.
PC/Laptop

RJ45

RJ45

2
Configuration

XPSMC

1 2

RJ45-RJ45 twisted pair category 5D or better (1:1) Ethernet cable (e.g. 490NTW00002) USB Adaptor TSXCUSB485 The following cabling components are required to set up the connection: 1. Serial connection from PC to the XPSMC safety controller: XPSMCCPC adaptor TSXPCX1031 serial adaptor 2. USB connection from the PC to communications interface from the PC Standard (1:1) RJ45/RJ45 twisted pair Category 5D Ethernet cable. Ref. 490NTW00002 TSXCUSB485 USB adaptor cable XBT-Z938 or adapter XPSMCCPC + cable XBT-Z968 cable XPSMCSCY

Connection to the PC (computer) There are 2 ways to connect the safety controller to the PC: 1. Using the serial communications interface from the PC 2. Using the USB communications interface from the PC

Connection of a Magelis HMI Terminal (for ex. XBT) Connection of a Premium PLC controller (for ex. communication cards: TSXSCY21601 or SCY11601)

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XPSMC Description

Setting of the interfaces cables TSXPCX1031 and TSXCUSB485


Representation
TER DIRECT

Switch Position
2

The switch must be put on the position 3 OTHER DIRECT


OTHER DIRECT

OTHER MULTI

1 0

3
TER MULTI

Connection of One or More XPSMC to a Modbus RTU System

Note: It is impossible to program the controller via the LUI9GC3 system. The connection of more than one controller on the network is for use with HMI-Magelis, and the standard PLCs. The following figure shows the connection of one or more XPSMC to a Modbus RTU system:
Line Terminator VW3 A8 306 RC LU9GC3 Modbus Master with polarization resistor and line terminator VW3 A8 306 R0*

Safety Controller 1

Safety Controller 2

Safety Controller 3

XPSMC

XPSMC

XPSMC

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XPSMC Description

Configuration Rules

Every XPSMC must be separately addressed and configured if it is to be used on the same bus. If the controller is operated within a Modbus network under strong EMC influence the resulting disturbances may lead to faulty bus traffic. To avoid the situation from occurring, we recommend using a snap on ferrite filter on the bus connection. Follow these recommendations for the Modbus network wiring: Use a shielded twisted pair cable. Connect the reference potentials (ground) to one another. Ensure that the maximum cable length does not exceed 1000 m (3280.8 ft). Ensure that the maximum drop length does not exceed 20 m (65.6 ft). Keep at least 30 cm (1 ft) between the bus cable and the power cable. Any crossing of the bus cable and power cables must be made at right angles (90). Earth the cable shielding on each unit. Adapt the line at both ends using a line terminator.

WARNING
LOSS OF NETWORK Make sure that devices on a Modbus system have unique network addresses. Failure to follow these instructions can result in death, serious injury, or equipment damage.

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XPSMC Description

Elements of the Display and System Diagnostics


LED Display Fields XPSMC16 Display

30 LEDs are used to display the operational status of the XPSMC16. XPSMC32 Display

46 LEDs are used to display the operational status of the XPSMC32.

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XPSMC Description

LED Description
LED PWR CNF Color green yellow Significance Power Lights up when operational voltage is applied to A1/A2. Config Lights up in the configuration mode. Flashes when the XPSMC is not configured, for example during the initial operation. The XPSMC must be configured before operation. Internal Error Lights up if an internal error occurs. All safety outputs are immediately deactivated. The XPSMC has been damaged and must be replaced. External Error Lights up when an external error is detected, for example on a connected switch or sensor. Only the safety outputs on the defective path are deactivated. When the error has been corrected, and the RESET button has been pressed, the corresponding safety outputs become operational again. Run Lights up in the RUN mode. Flashes during the transition from RUN mode to the into the STOP mode, for example when the configuration should be modified. Communication Lights up during communication via the TER. Output 1...6 Lights up when the corresponding semiconductor safety output is activated. Flash, when a short circuit or an external fault is present on this output (always in relation with the LED E Ex). Flash, when a defect is present on this output (always in relation with the LED E Ex). The error message can be caused by a false signal (e.g. cross circuit connection, external voltage) or when a transistor is defective. Disconnect the wire of the concerned output and press the RESET button. If the error message disappears, then there is an error in the wiring. Otherwise, an output transistor is defective. In this case, this output must no longer be used.

E In

red

E Ex

red

RUN

green

COM o1...o6

green green

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XPSMC Description

LED R1, R2

Color green

Significance Relay group 1/2 Lights up when relay group R1 (safety relay outputs 13/14 and 23/ 24) and/or relay group R2 (safety relay outputs 33/34 and 43/44) are activated. Flash, when a fault is present on this output (always in relation with the LED E In). This output must no longer be used. Input i1...i16 Input i1...i32 Lights up if on the corresponding i1...i16/i32 input circuit is closed. Flashes when an error is detected on this input.

1...16 1...32

green green

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XPSMC Description

Connection Diagram
Introduction The following information is provided to help you to connect and wire your XPSMC16 / XPSMC32 safety controller.

Electrical Diagram for XPSMC Devices HAZARDOUS VOLTAGE

DANGER
Disconnect all power before servicing the device. Failure to follow these instructions will result in death or serious injury. The following diagram shows the XPSMC16 / XPSMC32 connection:

XPSMC16

XPSMC32

Description of terminals:
Terminal Layout A1-A2 GND Meaning 24 V GND)

power supply; A1 is the + pole (+24 V), A2 is the - pole (0 V,

It is identical to the 0 V potential on A2 for loads on the o1...o6 semiconductor safety outputs.

46

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44 43

4K

42

41

2K

6o

2 lennahC

5o

2 lennahC

4o

2 lennahC

3o

2 lennahC

2o

2 lennahC

1o

2 lennahC

DNG DNG DNG

1C

1 lennahC

1 lennahC

1 lennahC

1 lennahC

1 lennahC

1 lennahC

1C

43 33

44 43

4K

3K

1H

42

32 31

41

2K

1K

23i ... 71i

6o

2 lennahC

61i 51i 41i 31i 21i 11i 01i 9i 8i 7i 6i 5i 4i 3i 2i 1i 1c 2c 3c 4c 5c 6c 7c 8c 1c 2c 3c 4c 5c 6c 7c 8c 1A

RET

5o

2 lennahC

subdleiF

4o

2 lennahC

3o

2 lennahC

23CMSPX rellortnoC ytefaS

2o

2 lennahC

1o

2 lennahC

0K

DNG DNG DNG

1C

1 lennahC

1 lennahC

1 lennahC

1 lennahC

1 lennahC

1 lennahC

1C

43 33

3K

1H

32 31 1K

61i 51i 41i 31i 21i 11i 01i 9i 8i 7i 6i 5i 4i 3i 2i 1i RET subdleiF

61CMSPX rellortnoC ytefaS

0K

1c 2c 3c 4c 5c 6c 7c 8c 1A CIGOL CIGOL
V5 V 42 V5 V 42

T T
2A 2A

XPSMC Description

Terminal Layout c1-c8 i1-i16 or i1-i32 H1 o1-o6 13/14, 23/24, 33/ 34, 43/44 TER

Meaning control outputs (for the XPSMC32: there are two sets of 8 control outputs available) safety inputs connection for muting lamp semiconductor safety outputs safety relay outputs, potential free 8 pin RJ45 connector for configuration and/or diagnostics. The communication via the TER terminal is Modbus RTU protocol and can also be used to connect to a HMI magelis operating terminal, or a standard PLC. Dependant on version: Profibus DP: 9 pin SUB D Female connector. CANopen: 9 pin SUB D Male connector.

Fieldbus

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XPSMC Description

Technical Characteristics
XPSMC, Terminals A1, A2, 13, 14, 23, 24, 33, 34, 43, 44 Single lead connection
Connection Diameters, Single Lead Connection Without lead end sleeves XPSMCTS / XPSMCTC solid 0.2 - 2.5 mm2 stranded 0.2 - 2.5 mm2 (24 - 12 AWG) Stranded with lead end sleeves (without plastic sleeves) Stranded with lead end sleeves (with plastic sleeves) 0.25 - 2.5 mm2 (22 - 14 AWG) 0.25 - 2.5 mm2 (22 - 14 AWG)

Multiple lead connections


Connection Diameters, Multiple Lead Connections (2 leads max. same diameters) Without lead end sleeves XPSMCTS solid 0.2 - 1.5 mm2 (24 - 16 AWG) stranded 0.2 - 1.5 mm (24 - 16 AWG) Stranded with lead end sleeves (without plastic sleeves) 0.20 - 1.5 mm2 (22 - 18 AWG) 2

XPSMCTC -

Stranded with twin lead end sleeves (with plastic 0.5 - 1.5 mm2 sleeves) (20 - 16 AWG)

0.5 - 1 mm2 (20 - 18 AWG)

Miscellaneous
Stripping length Torque 10 mm (0.39 in) 0.5 - 0.6 Nm (4.2 - 5.3 lb-in) -

Note: AWG indication according to IEC 60947-1 / table 5.

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XPSMC Description

XPSMC, All Other Terminals

Single lead connection


Connection Diameters, Single Lead Connection Without lead end sleeves XPSMCTS / XPSMCTC solid 0.14 - 1.5 mm2 stranded 0.14 - 1.5 mm2 (28 - 16 AWG) Stranded with lead end sleeves (without plastic sleeves) Stranded with lead end sleeves (with plastic sleeves) 0.25 - 1.5 mm2 (22 - 16 AWG) 0.25 - 0.5 mm2 (22 - 20 AWG)

Multiple lead connections


Connection Diameters, Multiple Lead Connections (2 leads max. same diameters) Without lead end sleeves XPSMCTS solid 0.14 - 0.5 mm2 (28 - 20 AWG) stranded 0.14 - 0.75 mm2 (28 - 18 AWG) Stranded with lead end sleeves (without plastic sleeves) 0.25 - 0.34 mm2 (22 AWG) XPSMCTC -

Stranded with twin lead end sleeves (with plastic 0.5 mm2 sleeves) (20 AWG)

Miscellaneous
Stripping length Torque 9 mm (0.35 in) 0.5 - 0.6 Nm (1.9 - 2.2 lb-in) -

Note: AWG indication according to IEC 60947-1 / table 5.

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XPSMC Description

Mechanical Structure

Enclosure Mounting

Metal adapter for mounting on 35 mm (1.37 in.) standard DIN rails as per IEC/ EN 60715 and screw mounting. Use a DIN rail with a thickness of 1.5 mm (0.06 in.) up to 2 g (0.07 oz) vibration requirements. Use the fixed mounting directly on a metal plate above 2 g (0.07 oz) vibration requirements. IP 20 IP 20 0.08 kg (0.18 lb) 0.11 kg (0.24 lb) 0.82 kg (1.81 lb) 0.84 kg (1.83 lb) 0.83 kg (1.85 lb) 0.85 kg (1.87 lb) Ventilation louver on the top and on the bottom, see chapter Installation, p. 20. -10 oC / +55 oC (+14 oF / +131 oF) -25 oC / +85 oC (-13 oF / +185 oF) 150 m/s2 duration 11 ms forms half sine 0.5 mm2 from 10 to 55 Hz

Protection, as per IEC/EN 60529, Terminals Protection, as per IEC/EN 60529, Housings Weight XPSMCT16 Weight XPSMCT32 Weight XPSMC16Z Weight XPSMC32Z Weight XPSMC16Z Weight XPSMC32Z Assembly Position Ambient Operational Temperature Storage Temperature Shock Resistance

Vibration Resistance

Power Supply

Excess voltage category III (4 kV) pollution category 2 / Isolation voltage 300 V as per DIN VDE 0110, section 1 (EN 60664-1)
Supply UE as per IEC 60038 Time between power off and on Max. Fuse Protection Consumption Max. Current Consumption, including Peripherals 24V >5s 16 A fuse (gL) < 12 W 8A (+ 20%) including ripple

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XPSMC Description

Safety Relay Outputs

The following table provides technical data on safety-relay outputs:


Max. Current per Relay Output Safety Relay Outputs, Potential Free 6A 13...14, 23...24, 33...34, 43...44

Max. Switching Capacity of Potential-Free Safety AC15 - C300 Relay Outputs (1800 VA / 180 VA) DC13 24 V / 1.5 A - L/R = 50 ms

Fuse Protection of Potential-Free Safety Output Circuits

4 A fuse (gL) or 6 A fastblow

The following table provides technical data on safety static outputs:


Semiconductor Safety Outputs, NO o1, o2, o3, o4, o5, o6

Max. Current per Semiconductor Safety Outputs 2 A Voltage Drop of the Semiconductor Safety Outputs Minimum Operating Current of the Semiconductor Safety Outputs Leakage Current of Safety Semiconductor Outputs Breaking Capacity of the Semiconductor Safety Outputs Conditional short circuit current of the Semiconductor Safety Outputs 0.25 V (typ.) 0.8 mA 10 A DC-13 SQ 24 V (SQ is defined in IEC 60947-1: 2004 table A3 -) 100 A

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A2

A4

4K/3K A4 A6 A4 A2
51

2K/1K A6 A4

Cumulative Current Limit for Concurrent use of several Relay Output Circuits:

lth 16 A Load examples:

XPSMC Description

Fuse Protection of Semiconductor Output Circuits

not required, short-circuit-protected

In the XPSMC16Z, XPSMC16ZC, XPSMC16ZP, XPSMC32Z, XPSMC32ZC, XPSMC32ZP you have the possibility to select between 20 ms and 30 ms for the response times. Selecting the 30 ms response time enables you to configure more functions within the configuration. The XPSMC16X and the XPSMC32X can only have a response time of 20 ms. Response time <= 20 ms
Response Time of the Safety Outputs Response Time of the Safety Mat Increments of all Configurable Times <= 20 ms <= 30 ms -10 ms, -15%

Response time <= 30 ms


Response Time of the Safety Outputs Response Time of the Safety Mat Increments of all Configurable Times <= 30 ms <= 45 ms -15 ms, -15%

The potential-free safety outputs are also suitable for small loads (min. 17 V / 10 mA). This is, however, only possible if high loads have not already been switched via the contacts, as the contact surface treatment (gold plating) may have been burned off.

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A5,0

6o A1

A5,0 A5,0

5o A1

4o A1

3o A1 A1

2o A1 A2

A5,1

1o A2

Cumulative Current Limit for Concurrent use of several Semiconductor Outputs

lth 6.5 A Examples:

XPSMC Description

Input Circuits
Number of Inputs Maximum Category as per EN 954-1/EN ISO 13849-1 Max. Voltage/Current in Input Circuits Max. Wire Resistance in Input Circuits Max. Line Capacitance in Input Circuits Max. Wire Length in Input Circuits 16 or 32 4/e 28.8 V / 13 mA 100 220 nF 2000 m (6500 ft)

Miscellaneous
Lamp Muting (source of white light, with a luminosity of minimum 200 cd/m2 and an illuminated surface of minimum 1 cm2) Light bulb (24 V / min. 0.5 W to max. 7.0 W, for example: references DL1-BEB) or LED (24 V / min. 0.5 W to max. 7.0 W, for example: references DL1BDB1 Typ XCS-DM Typ XY2-TP Typ XY2AU

Magnet Switch Switch Floor Enabling Device

Connectors
Screw Terminals for XPSMC16 (includes Keying Device) Screw Terminals for XPSMC32 (includes Keying Device) XPSMCTS16 XPSMCTS32

Cage Clamp Terminals for XPSMC16 (includes XPSMCTC16 Keying Device) Cage Clamp Terminals for XPSMC32 (includes XPSMCTC32 Keying Device)

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XPSMC Description

Terminals

The following table shows the terminals of XPSMC16/32:


o1 o2 o3 o4 o5 o6 c1 c2 c3 c4 c5 c6 c7 c8 i1 i2 i3 i4 i5 i6 i7 i8 i9 i10 i11 i12 i13 i14 i15 i16 Supply o1 o2 o3 o4 o5 o6 c1 c2 c3 c4 c5 c6 c7 c8 i17 i18 i19 i20 i21 i22 i23 i24 i25 i26 i27 i28 i29 i30 i31 i32 c1 c2 c3 c4 c5 c6 c7 c8 i1 i2 i3 i4 i5 i6 i7 i8 i9 i10 i11 i12 i13 i14 i15 i16

Static outputs

Static outputs

Connector 1

A1 A2 13 14 23 24 33 34 43 44

Inputs

A1 A2 13 14 23 24 33 34 43 44

Supply

Connector 2

The following table explains the layout of the terminals:


Terminal Layout A1-A2 GND o1-o6 13-44 c1-c8 Meaning 24V power supply; A1 is the + pole (+24 VDC), A2 is the - pole (0 VDC, GND) It is identical to the 0 VDC potential on A2 for loads on the o1-o6 semiconductor safety outputs. semiconductor safety outputs potential-free safety relay outputs equipped with contacts control outputs for safety input power supply The control outputs contain a signal which enables short circuit detection monitoring, voltage intrusion and open circuit detection for all connected control components. safety inputs connection for muting lamp The supply voltage must be taken from the same source which also feeds the XPSMC.

i1-i16 or i1 to i32 H1

54

Relay outputs

Relay outputs

Connector 4 Connector 2

Inputs

H1

H1

Connector 3 Connector 1

D NG D NG D NG

DNG DNG DNG

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XPSMC Description

Error Codes
Error Code Dialog Box The diagnostic window is available within the XPSMCWIN software. Errors and fault finding tasks are simplified using this tool. The diagnostics window simplifies fault finding by providing the error information along with the device index numbers. The following image is an example of the diagnostics view mode:
XPSMCWIN 2.00 File Mode Diagnosis Options i Device Library i Controller Monitoring Devices EDM Devices Start Devices Enabling Devices Miscellaneous Devices State of Outputs i Configuration i C1 [XPSMC32 ZP]: Controller1 [259] o1 [257] Not-Aus i01: Ch. 1 Help Telemecanique

Configuration

Diagnostic Mode Diagnostic running Device [257] : Short circuit between inputs.

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[261] o2 [260] Lichgitter [258] Auto Start Autmatischer Start i02: OSSD 1 i03: OSSD 2 o3 o4 o5 o6 [262] R1 [260] Lichgitter [258] Auto Start Autmatischer Start i02: OSSD 1 i03: OSSD 2 R2 Com5

55

XPSMC Description

Error code numbers and diagnostic hints of the XPSMC:


Code No. 1 2 3 4 5 6 7 8 9 10 11 12 13...15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 reset button blocked timeout incomplete opening start interlock active open circuit delay time running check locking device check valve unexpected muting signal sensor always activated restart interlock active incomplete closing no mode selection reoperate safety means open and close command active Emergency Stop pressed indication Diagnostic Hint short-circuit between inputs hardware defect muting error override timeout timeout error overtravel exceeded short-circuit muting lamp defect cam switch mechanism defect press safety valve defect external voltage detected output will not switch ON error Status

Note: The index gives the order of the devices in the configuration. The indexes for all devices can be found in the protocol of the configuration.

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XPSMC Description

3.2
At a Glance
General

Modbus (RTU) Communication

This section describes how to connect your XPSMC hardware for Modbus (RTU). It lists the cables required for connection to either HMI Magelis terminals or Premium PLCs, provides a configuration example to a Premium PLC and lists the respective function codes. This section contains the following topics:
Topic Cables to Connect the XPSMC Hardware Connecting XPSMC to Premium PLC Modbus Communication Cards Configuring a Premium PLC with Unity for Modbus RTU Communication Importing a Section Including the DFB Viewing Modbus Communications Function Codes and Parameters Page 58 60 63 70 78 81

What's in this Section?

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XPSMC Description

Cables to Connect the XPSMC Hardware


Introduction The following information helps you to select the correct cable to connect your XPSMC hardware for Modbus (RTU) to either an HMI Magelis or a Premium PLC.

Cable
Connection of an HMI Magelis terminal Connection to a Premium PLC (Modbus RTU serial card TSXSCY21601 or TSXSCY11601) cable XBT-Z938 or adapter XPSMCCPC + cable XBT-Z968 XPSMCSCY cable

Connecting XPSMC to a Premium PLC

The figure below illustrates the connection between an XPSMCZ and a Premium PLC:
1 2 3

PWR CNF E In E Ex

RUN COM

o1 o5 1 5 9 13 o2 o6 2 6 10 14 o3 R1 3 7 11 15 o4 R2 4 8 12 16

17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32

0
R e s e t

2
P57 4634M SCY 21601

PSY 2600M A

1 2 3

XPSMCZ XPSMCSCY cable Premium PLC with SCY21601 Modbus (RTU) serial interface

Modbus (RTU) communication set up is the same for all hardware references.

58

CM-SPX euqinacemeleT
T E R C o n n e c t o r 1 C o n n e c t o r 2 I n p u t s C o n n e c t o r 3 C o n n e c t o r 4 t a t i c O u t p u t s S R e l a y O u S u p p l y t p u t s

l p p 1 1

L o o p

P C s s s

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XPSMC Description

Connecting XPSMC to an HMI Magelis Terminal

The figure below illustrates the connection between an XPSMCZ and a Magelis XBTG HMI terminal:
1 2 3

PWR CNF E In E Ex

RUN COM

o1 o5 1 5 9 13 o2 o6 2 6 10 14 o3 R1 3 7 11 15 o4 R2 4 8 12 16

17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32

1 2 3

XPSMCZ XBT-Z938 cable or XPSMCCPC + XBT-Z968 cables Magelis XBTG HMI Terminal

Modbus (RTU) communication set up is the same for all hardware references.

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eu qin ac em el eT

R e s e t

Magelis

CM-SPX euqinacemeleT
T E R C o n n e c t o r 1 C o n n e c t o r 2 I n p u t s C o n n e C o n n e c t o r 4 c t o r 3 t a t i c O u t p u t s S R e l a y O u t p u t s S u p p l y

59

XPSMC Description

Connecting XPSMC to Premium PLC Modbus Communication Cards


Types of Premium PLC Modbus Communication Cards TSX SCY 11601 The following cards are available for the Premium PLC for Modbus (RTU) communication: TSX SCY 11601 TSX SCY 21601

The TSX SCY 11601 communication module allows communication via a Modbus link. It consists of a communication channel, channel 0, mono-protocol, RS485 isolated asynchronous serial link supporting the Modbus protocol.

TSX SCY 21601

The TSX SCY 21601 module has two communication ports, PCMCIA and RS485:
RS485 multi-protocol built-in channel (channel 0), RS485 isolated asynchronous serial link, supporting Uni-Telway, Modbus or Character Mode protocols. PCMCIA PCMCIA host channel (channel 1) which supports the following protocols: Uni-Telway, Modbus and Character Mode on an RS232-D Current Loop, or RS485 link, corresponding to cards TSX SCP 111, 112 and 114 Fipway cell network corresponding to the TSX FPP 20 card

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XPSMC Description

Wiring Diagram TSX SCY 21601

The figure below shows a TSX SCY 21601 configuration:


1

0
PSY 2600M A P57 454M

2
SCY 21601

3
PBY 100

4
DSY 16T2

5
DEY 16D2

6
DSY 16T2

0
B L o o p B

PWR CNF E In E Ex

RUN COM

o1 o5 1 5 9 13 o2 o6 2 6 10 14 o3 R1 3 7 11 15 o4 R2 4 8 12 16

17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32

3
R e s e t

1 2 3

SUB D 25 connector of the Unity Premium PLC SCY 21601 Master Slave

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CM-SPX euqinacemeleT
T E R C o n n e c t o r 1 C o n n e c t o r 2 I n p u t s C o n n e c t o r 3 C o n n e c t o r 4 S t a t i c O u R e l a y O u t p u t s S u p p l y t p u t s

61

XPSMC Description

XPSMCSCY Cable

The figure below shows the specifications of the XPSMCSCY connection cable:
24 --20 --19 DB (B) --13 Ground 12 DB (A) II --8 --6 --I Shield

8 7 6 5 4 3 2 1 Shield

Capacitor Inf

62

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XPSMC Description

Configuring a Premium PLC with Unity for Modbus RTU Communication


General This example connects the XPSMC safety controller via Modbus RTU to the Modbus master (Premium TSX with a TSX SCY 21601 Modbus RTU interface from Schneider Electric). The Modbus RTU is configured by Unity Pro.

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63

XPSMC Description

Configuring a Premium PLC with Unity


Step 1 Action

To configure a Premium PLC for Modbus RTU communication proceed as follows:

Connect the XPSMC to the Premium PLC as shown in the figure below: 1

0
PSY 2600M A P57 454M

2
SCY 21601

3
PBY 100

4
DSY 16T2

5
DEY 16D2

6
DSY 16T2

0
B L o o p B

PWR CNF E In E Ex

RUN COM

o1 o5 1 5 9 13 o2 o6 2 6 10 14 o3 R1 3 7 11 15 o4 R2 4 8 12 16

17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32

1 2

SUB D 25 connector of the Unity Premium TSX SCY 21601

Start Unity Pro and create a new project. Define your PLC configuration.

64

R e s e t

CM-SPX euqinacemeleT
T E R C o n n e c t o r 1 C o n n e c t o r 2 I n p u t s C o n n e C o n n e c t o r 4 c t o r 3 t a t i c O u t p S R e l a y O u t p u t s S u p p l y u t s

33003275 12/2007

sm 001 X yaled STC/STR ddO nevE ytiraP


0

)DCD( reirrac ataD e no N

tniop ot tnioP

porditluM )RSP( pool tnerruC

rebmun evalS evalS y ale d re wsnA seirter fo rebmuN r etsaM


Master

sretcarahc neewteb yaleD


19200 bits/s

deeps noissimsnarT

Step

Action

Open the TSX SCY 21601 configuration dialog box and set the parameters as shown below to communicate with XPSMC:

Config

1000

X 10 ms

stib 2 tib 1 potS


2 ms

)stib 8( UTR )stib 7( IICSA at aD


Default

epyT

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XPSMC Description

65

XPSMC Description

Step 4

Action To test the communication enter the slave address of your XPSMC and click on the Identification button.
PCMCIA INRACK BOARD TSX SCY 21601 Channel 0 Version: 2.4 Config Debug Counters Received without CRC error Received with exception code Sent in broadcast mode Retries 8735 0 0 14 Fault

Channel test Receive response Slave 1 Identification Enter Request

Result: If the communication configuration is correct and the communication is OK the number will be displayed in the Receive response box as shown below.

Channel test

Receive response

Slave 1

Enter Request

66

.x eH

IICSA

10 1 9

Identification

u oC tes eR

sr etn u oC tes eR

epyT
Master

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XPSMC Description

Inputs and Outputs


Input / Output Input

Description of the inputs and outputs (for address 1 => Slave 01)
Name Address Type ANY_ARRAY_INT Description ADDR('m.n.p.x') is the hardware address of the Modbus card (first three numbers) m: rack n: module p: channel x: Modbus slave address management parameters of the Modbus 8 outputs (6 transistor and 2 relay outputs) error bit for the 8 outputs 32 bits for input (MC32), 16 bits for input (MC16) error bit for 16 / 32 inputs text of the messages (max. 16 characters) device number of the module for the messages (max. 3) XPSMC is in STOP XPSMC is in RUN XPSMC is in configuration XPSMC has an internal error XPSMC has an external error XPSMC16 or XPSMC32 configuration is OK error word 1001 (for internal use) error word 100E (for internal use) Modbus request counter Modbus request OK counter Modbus request error counter kind of the Modbus error

Input / Output Output Output Output Output Output Output Output Output Output Output Output Output Output Output Output Output Output Output Output

Management Outputs Output_Error Inputs Input_Error Messages Device_Number Stop Run Config Error_Intern Error_Extern Device Conf_OK Error_1001 Error_100E Modbus_Counter Modbus_Counter_OK Modbus_Counter_Error Modbus_Error_Kind

ARRAY[1..3] OF INT ARRAY[1..8] OF BOOL ARRAY[1..8] OF BOOL ARRAY[1..32] OF BOOL ARRAY[1..32] OF BOOL ARRAY[1..3] OF STRING ARRAY[1..3] OF INT BOOL BOOL BOOL BOOL BOOL STRING BOOL ARRAY[1..16] OF BOOL ARRAY[1..16] OF BOOL DINT DINT DINT INT

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67

XPSMC Description

Input / Output Output Output Output

Name Modbus_Cycle Modbus_Words Fieldbus_Card_Ok

Type DINT ARRAY[0..14] OF INT BOOL

Description Modbus request / cycle time array of all Modbus words (0-14) fieldbus card (Profibus or CANopen ) OK no check of the communication

Inputs and Outputs from the DFB

When you insert the DFB Section_DFB_XPS_MC.XBD that is available on our website www.telemecanique.com, the input and output variables are already available.

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XPSMC Description

Inserting a Second DFB

To insert a second DFB file proceed as follows:


Step 1 2 Action When you insert a second DFB (XPS_MC-DFB), replace "Slave_01" with the Slave's Modbus Address as shown in the example in the next step. If the Modbus address is 32, then enter Slave_32 and create a new variable list. Example for 3 slaves with Modbus slave addresses 1,2,3
Name Conf_Ok_Slave_01 Conf_Ok_Slave_02 Conf_Ok_Slave_03 Config_Slave_01 Config_Slave_02 Config_Slave_03 Type BOOL BOOL BOOL BOOL BOOL BOOL ARRAY[1..3] OF INT ARRAY[1..3] OF INT ARRAY[1..3] OF INT STRING STRING STRING BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL BOOL ARRAY[1..3] OF INT ARRAY[1..3] OF INT ARRAY[1..3] OF INT

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30_evalS_rebmuN_eciveD 20_evalS_rebmuN_eciveD 10_evalS_rebmuN_eciveD


Device_Slave_01 Device_Slave_02 Device_Slave_03

3 0_ evalS_ nre tnI _rorrE 2 0_ evalS_ nre tnI _rorrE 1 0_ evalS_ nre tnI _rorrE 30_evalS_nretxE_rorrE 20_evalS_nretxE_rorrE 10_evalS_nretxE_rorrE
Error_Slave_01 Error_Slave_02 Error_Slave_03 Index_Slave_01 Index_Slave_02 Index_Slave_03

69

XPSMC Description

Importing a Section Including the DFB


Overview If you import a section including the DFB in Unity, you always have to adapt its contents to your configuration. You can perform the import and adaptation in 2 different ways: Importing and adapting the section with DFB file in Unity. Adapting the file with an ASCII editor and importing it in Unity. Import the Section with the DFB in Unity
Step 1 Action Open a new configuration in Unity
Project Browser Structural view Bus: Station Configuration Derived Data Types Derived FB Types Elementary Variables Derived Variables IO Derived Variables PSY 2600M X Bus

TSX P57 4634M 02.00

0
P57 4634M A

2
PBY 100

DSY DEY SCY 16T2 16D2 21601

Motion Communication Program Tasks MAST Sections SR Sections Events Timer Events I/O Events Animation Tables Operator Screens Documentation

70

secnatsnI BF devireD secnatsnI BF yratnemelE

secnatsni BF & selbairaV

0
B L o o p B

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XPSMC Description

Step 2

Action In the Project Browser right-click the Section folder and select the Import... command from the context menu.
Program Tasks MAST Sections New Section... SR Sections Events Import ... Timer Events I/O Events Add Animation TablesUser Directory ... Add Operator ScreensHyperlink ... Documentation Zoom out Expand all Collapse all

Browse to the folder where you have stored the section with DFB file, select it and click Import.
Import Search in: website

Section_DFB_XPS_MCXBD

With wizard...

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)FSX*,TSX*,LIX*,DBX*,DLX*( segaugnaL llA

Files of type: Options

tro pmI

File name:

Section_DFB_XPS_MCXB

T+ LRT C

elbaT snoitidnoC noitavitcA dedliub etaerC

golat ac era wdr aH

71

XPSMC Description

Step 4

Action After the file has been imported the Project Browser looks as shown below:
Project Browser Structural view Derived Data Types Derived FB Types XPS_MC
FB D FB D ST ST FB D

Sections Inputs_Outputs_Errors Inputs_Outputs_Status Messages Check_Modbus read_var

Variables & FB instances Elementary Variables Derived Variables IO Derived Variables

Motion Communication Program Tasks MAST Sections FB Modbus D SR Sections Events Timer Events I/O Events

72

s ecn atsn I BF devire D s ecn atsn I BF yr atn emelE


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XPSMC Description

Errors Importing the Section with the DFB in Unity


Step 1 Action If errors like these are displayed in Unity during the import of the file,
{ error_modbus [XPS_MC]} {read_var <DFB> : [XPS_MC]} {read_var <DFB> : [XPS_MC]} {read_var <DFB> : [XPS_MC]} : : : : 2 error(s).0 warning(s) (r: 9, c: 19) E1208 usage of dynamic arrays is disabled (r: 9, c: 19) E1208 usage of dynamic arrays is disabled 2 error(s).0 warning(s)

then open the Project Settings dialog box via Tools Project Settings... and enable the option Allow dynamic arrays (ANY_ARRAY_XXX).
Project Settings Build Editors Language extensions Operator Screens Reset

Source structure elements Allow procedures Allow subroutines Sequential Function Chart (SFC) Allow macro sections Allow multiple token Data types Allow usage of EBOOL edge Allow INT/DINT in place of ANY_BIT Allow bit extraction of INT & WORD Directly represented array variables Allow dynamic arrays (ANY_ARRAY_XXX) Disable array size compatibility check

Textual languages (IL/ST) Allow empty parameters in non-formal call Identifiers Allow leading digits Allow extended character set Allow jump and label (ST) Allow multi assignment (a:=b:=c;) (ST) Allow nested comments

Graphical languages (FBD/LD) Usage of ST expressions

Rebuild the project via the Build menu. 73

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pl e H

l ecn aC

KO

XPSMC Description

Step 3

Action Open the Modbus Section located within the Program folder of the Unity project by double-clicking the Modbus FBD name.
Program Tasks MAST Sections FB Modbus D

Within the FBD the following function will be shown:


.Modbus Slave 01 1 XPS_MC Outputs Outputs_Error Inputs Address Inputs_Error Messages Device Numbers Stop Run Config Error Intern Error Extern Device Conf_OK Error_1001 Error_100E Modbus_Counter Mod_Outputs_Slave_01 Mod_Outputs_Error_Slave_01 Mod_Inputs_Slave_01 Mod_Inputs_Error_Slave_01 Mod_Message_Slave_01 Mod_Device_Number_Slave_01 Mod_Management_Slave_01 Mod_Stop_Slave_01 Mod_Run_Slave_01 Mod_Config_Slave_01 Mod_Error_Intern_Slave_01 Mod_error_Extern_Slave_01 Mod_Device_Slave_01 Mod_Conf_OK_Slave_01 Mod_Error_1001_Slave_01 Mod_Error_100E_Slave_01 Mod_Counter_Slave_01 Mod_Counter_OK_Slave_01 Mod_Counter_Error_Slave_01 Mod_Error_Kind_Slave_01 Mod_Cycle_Slave_01 Modbus_data_Slave_01 Bus_Card_OK_Slave_01

ADDR(0.6.0.1)

Modbus_Error_Kind Modbus_Cycle Modbus_Words Feldbus_Card_OK

Note: To monitor more than one XPSMC Safety controller insert additional Modbus DFBs as required.

74

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t nem eg an aM

rorrE_retnuoC_subdoM K O _r et n u o C _ s u b d o M

tnemeganaM

1 0 _ e v al S _t n e m e g a n a M _ d o M

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XPSMC Description

Inserting Additional Modbus DFBs


Step 1 Action

To insert addtional Modbus DFBs proceed as follows.

Right-click on an empty place within the open DFB function block. Result: The following context menu will be displayed:
Paste Zoom Data Selection... FFB Input Assistant... Ctrl+D Ctrl+I Ctrl+V

SR

Subroutine Link Pin negation Jump F6

JL:
R

Jump Label Return Comment Inspect Window Go To... Properties... F8 F9 Ctrl+G Alt+Enter

2 3 4

Select the command Data Selection.... Place the new DFB within the Modbus area as required Fill out all inputs and outputs with the necessary variables. Hint: You can use the same variables as the above one, but replace Slave_01 by Slave_02 etc.)

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75

XPSMC Description

Adapting the File with an ASCII Editor


Step 1 Action

Since the section with DFB files are normal XML files you can edit them with a conventional ASCII editor prior to importing them in Unity.

Open the DFB_XPS_MC.XBD with a normal ASCII editor:


Section_DFB_XPS_MCXBD-Editor File Edit Format ?

2 3

Replace all Slave_01 names according to the new slave address by e.g. Slave_02 if the address is 2. Save the file under a new name. Import the saved file in Unity.

76

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XPSMC Description

Step 4

Action An Import Trouble Report (due to an existing DFB) will be displayed.


Import Trouble Report Type Duplicate DFB The variable exists... Duplicate identifier Name New Name XPS_MC_0 XPS_MC Modbus_data_Sal... Modbus_data_Sal... Modbus Modbus_0 Keep Replace Rename X X X

OK

Cancel

Keep All

Replace All

For the Duplicate DFBs select the option Keep. For the The variable exists... and Duplicate identifier select the option Rename.
Import Trouble Report Type Duplicate DFB The variable exists... Duplicate identifier Name New Name XPS_MC_0 XPS_MC Modbus_data_Sal... Modbus_data_Sal... Modbus Modbus_0 Keep X Replace Rename X X

OK

Cancel

Keep All

Replace All

Result: After the import is complete a new section will appear within the Program area of Unity with the name Modbus_0, and in addition all variables are automatically generated by Unity.

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77

XPSMC Description

Viewing Modbus Communications


Operator Screen File Operator Screen Installation
Step 1 Action In the Project Browser right-click the folder Operator Screens and select the file screen_slave_01.XCR from either the Safety Suite CD or from www.telemecanique.com.
Program Tasks MAST Sections SR Sections Events Timer Events I/O Events Animation Tables Operator Screens Documentation

To view the Modbus communications use the following operator screen file provided on either the Safety Suite V2 CD or on www.telemecanique.com. To install the operator screen proceed as follows.

Import

A website B

Search in:

L screen_slave_01 XCR B o o p

Hardware catalog Premium local drop Analog Communication Counting Discrete Motion Rack Remote XBus Supply Weighing

78

33003275 12/2007

l ecn aC

)RCX*( neercs emitnuR

Files of type:

tro pmI

RCX 10_evals_neercs

File name:

XPSMC Description

Step 2

Action Double-click the new subfolder in the folder Operator Screens. Result: The following operator screen will be displayed.
Screen_Modbus RUN CNF EIn EEx 01 05 1 02 06 2 03 R1 3 04 R2 4 5 9 13 17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32

6 10 14 7 11 15 8 12 16

01 05 1 02 06 2 03 R1 3 04 R2 4 Index 1:

13

17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32

6 10 14 7 11 15 8 12 16 Text

Index 2:

Text

3
Index 3: Text

1 Status of the inputs and outputs, internal error, external error. RUN and CNF 2 Lights red when an error of the inputs or outputs was detected 3 Messages and the device number Use this screen to view and test the communication between the Premium PLC and the XPSMC safety controller.

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79

XPSMC Description

Monitoring XPSMC Data

Use the operator screen for monitoring the data from the XPSMC.

XPS-MC
RUN CNF EIn EEx 01 05 1 02 06 2 03 R1 3 04 R2 4 5 9 13 17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32 6 10 14 7 11 15 8 12 16

Error
01 05 1 02 06 2 03 R1 3 04 R2 4 Index 1: 5 9 13 17 21 25 29 18 22 26 30 19 23 27 31 20 24 28 32 6 10 14 7 11 15 8 12 16 Text

Index 2:

Text

Index 3:

Text

If you have more than 1 XPSMC safety controller change the names using the ASCII editor by replacing SLAVE_01 with your extension (see section Adapting the File with an ASCII Editor (see Adapting the File with an ASCII Editor, p. 76)).

80

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XPSMC Description

Function Codes and Parameters


Function Codes The XPSMC controller supports the Modbus (RTU) functions 01, 02 and 03 and is a Modbus (RTU) slave. Details regarding the Modbus protocol can be found within the instruction sheets of the respective Modbus masters. The table describes data which can be read, the respective addresses and the Modbus (RTU) function codes.
Addresses (hex) 0100-0127 Addresses (dec) 256-295 Size of Data 40 bit Supported Modbus Function 01 (0x01) 02 (0x02) 01 (0x01) 02 (0x02) 03 (0x03) 43 (0x2B) MEI Type 14 (0x0E) Results for Usage

8 bit output data / 32 bit input data (0 = OFF, 1 = ON) 32 bit input data / 8 bit output data (0 = OFF, 1 = ON) Information and errors signification, see next table. Read device identification

0200-0227

512-551

40 bit

1000-100D -

4096-4109 -

14 words -

The following table provides data which can be read, to provide details of hardware and configuration status.
Word Addresses (hex) 1000 Word Addresses (dec) 4096 High Byte Low Byte Details

Status

Bit: 0 RUN (device is running) 1 CONF (configuration mode) 2 reserved 3 INTERR (fatal internal error) 4 EXTERR (external error) 5 STOP (device is not running) 6 STATUS_R_S (changeover from RUN to STOP) 7 reserved

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81

XPSMC Description

Word Addresses (hex)

Word Addresses (dec)

High Byte

Low Byte

Details

Mode

Bit: Meaning: 8 reset button pressed 9 CPU2 OK (visible only on Modbus) 10 fieldbus OK 11 1=interrupt in progress, 0=internal CPU test running 12 0=XPSMC32, 1=XPSMC16 13 1=after powerup or START until self test finished, then 0 14 configuration valid 15 received STOP command reserved

1001

4097

The following table provides data on physical input output channels which can be read to view the status.
Word Addresses (hex) 1002 1003 1004 Word High Byte Addresses (dec) 4098 4099 4100 input data (input 1-8) input data (input 17-24) not used (always 0) Low Byte Details

input data (input 9-16) input data (input 25-32) output data (output 1-8)

Bit: 1 = corresponding in/output on

The following table provides data on physical input output errors which can be read to view the status.
Word Word High Byte Addresses Addresses (hex) (dec) 1005 1006 1007 4101 4102 4103 input error (input 1-8) input error (input 17-24) not used (always 0) Low Byte Details

input error (input 9-16) input error (input 25-32) output error (output 1-8)

Bit: 1 = corresponding in/output error

82

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XPSMC Description

The following table provides data regarding the Diagnostic Hints (DH):
Word Word Addresses Addresses (hex) (dec) 1008 1009 100A 100B 100C 100D 100E 4104 4105 4106 4107 4108 4109 4110 High Byte Low Byte Details

(DH 1) index high not used (always 0) (DH 2) index high not used (always 0) (DH 3) index high not used (always 0) reserved

(DH 1) index low (DH 1) message (DH 2) index low (DH 2) message (DH 3) index low (DH 3) message

Index software device number Message Diagnostic hint (see chapter Error Codes, p. 55.)

Modbus Parameter

The following table shows the XPSMCZ Modbus RTU possible parameters.
Address Baud Rate 1 to 247 1200 bit/s 2400 bit/s 4800 bit/s 9600 bit/s 19200 bit/s even odd none RTU Mode (Remote Terminal Unit Mode) 1 start bit 8 data bits 1 stop bit with parity Even or Odd 2 stop bits with parity None

Parity

Fixed Parameter

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83

XPSMC Description

84

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XPSMC Description

3.3

Description of Profibus DP Parameter and Settings

Overview
Introduction This section provides an overview of the Profibus DP parameter and settings. To configure the Profibus DP Master you require a network configuration tool such as Sycon 2.9 or better. Other Profibus DP network configuration tools may be used. The GSD files for the safety controller are available either from the Safety Suite CD or from www.telemecanique.com. In addition please see Connection of the XPSMC with Profibus and Sycon 2.9, p. 152 within this manual. What's in this Section? This section contains the following topics:
Topic Profibus DP Communication Port Profibus DP LEDs Data Exchange Page 86 88 89

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85

XPSMC Description

Profibus DP Communication Port


Introduction The following information gives you an overview of the Profibus DP communication port and a wiring example. The following figure shows the connection of XPSMC to a Profibus DP system:
Profibus DP TAP 490 NAE 911 00 Connector for the cable of the PCMCIA Profibus DP card XPSMCZP

Wiring Example

Profibus DP connector PCMCIA Profibus DP card for Schneider Premium controller as Profibus DP master 487 NHP 811 00

Profibus DP cable

Profibus DP cable

Note: It is recommended to connect the shield of the fieldbus cable with the functional earth (FE) near the product.

86

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XPSMC Description

Profibus DP Pin Assignment

The following figure shows the pin assignment of the Profibus DP connectors: Profibus DP port (female)
1 6

(For details, see tables below) The following table shows the Profibus DP pin assignment:
Pin No. 1 2 3 4 5 6 7 8 9 Signal Shield RxD/TxD-P DGND RxD/TxD-N VP Description Shield/functional ground Reserved Receive/transmit data plus (B wire) Reserved Data ground (reference potential for VP) Reserved Reserved Receive/transmit data minus (A wire) Supply voltage plus (+5 VDC)

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dleihS N-DxT/DxR PV

P-DxT/DxR
2 7 3 8 4

DNGD
9 5

87

XPSMC Description

Profibus DP LEDs
Introduction The following information helps you to understand the status of the Profibus DP communication. The status is displayed by LEDs. The following image shows the LEDs of the XPSMC:

Profibus DP LEDs

RUN

Green

Red

Profibus DP States

The following table shows the possible states of the Profibus DP LEDs:
RUN LED on on off off ERR LED on off off on Description Profibus DP hardware is OK. The status is normal, communication is OK. Profibus DP hardware is not OK. Communication is not possible, because the configuration is missing or the hardware faulty.

88

ERR

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XPSMC Description

Data Exchange
Introduction Profibus DP Input Data Exchange The following information helps you to setup your Profibus DP data exchange. The following table shows the Profibus DP input data exchange for the hardware and configuration:
Profibus DP Word 1 High Byte Mode Low Byte Status Details Mode bit 0 reset button pressed 1 XPSMC alive 4 1 = XPSMC16 0 = XPSMC32 5 1 = after POWER UP or START command and until safety self test has finished 6 config. valid 7 received STOP command Status bit 0 RUN 1 CONF 3 INT Error 4 EXT Error 5 STOP 6 STATUS_R_S Reserved

Reserved

Reserved

The following table shows the Profibus DP input data exchange for the I/O Data:
Profibus DP Word 3 4 5 High Byte input data (input 1 -8) input data (input 17 - 24) unused (always 0) Low Byte input data (input 9 -16) Input data (input 25 -32) output data (output 1-8) Details Bit: 1 = corresponding input / output on

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89

XPSMC Description

The following table shows the Profibus DP input data exchange for the I/O Errors:
Profibus DP Word 6 7 8 High Byte input error (input 1 - 8) input error (input 17 - 24) unused (always 0) Low Byte input error (input 9 - 16) input error (input 25 - 32) Output data (output 1-8) Details Bit: 1 = error at corresponding input / output

The following table shows the Profibus DP input data exchange for the Diagnostic Hints (DH):
Profibus DP Word 9 10 11 12 13 14 High Byte (DH 1) index high unused (always 0) (DH 2) index high unused (always 0) (DH 3) index high unused (always 0) Low Byte (DH 1) index low (DH 1) message (DH 2) index low (DH 2) message (DH 3) index low (DH 3) message Details Index: software device number Message: diagnostic hint (see chapter Error Codes, p. 55.

Profibus DP Parameters

An interface is provided to exchange data between the XPSMC and the Profibus DP port. Below is a description of the Profibus DP parameter. Through the XPSMCWIN configuration software the Profibus DP node address can be set in the range between 1 125.

90

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XPSMC Description

3.4
Overview
Introduction

Description of CANopen Parameter and Settings

This section provides an overview of the CANopen parameter and settings. To configure the CANopen master you require a network configuration tool such as Sycon 2.9 or better. Other CANopen network configuration tools may be used. The EDS files for the safety controller are available either from the Safety Suite CD or from www.telemecanique.com. Please see Connection of the XPSMC with CANopen and Sycon 2.9, p. 141 within this manual.

What's in this Section?

This section contains the following topics:


Topic CANopen Communication Port CANopen LEDs CANopen Network Length and Stub Length CANopen Data Exchange Page 92 94 95 97

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91

XPSMC Description

CANopen Communication Port


Introduction The following information gives you an overview of the CANopen communication port and a wiring example. The following figure shows the connection of XPSMC to a CANopen system:
CANopen tap with cable and PCMCIA CANopen card TSXCPP110

Wiring Example

CANopen connector XPSMCZC PCMCIA CANopen card for Schneider Premium controller as CANopen master

CANopen Cable

CANopen upstream

Note: It is recommended to connect the shield of the fieldbus cable with the functional earth (FE) near the product.

92

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XPSMC Description

CANopen Pin Assignment

The following figure shows the pin assignment of the CANopen connectors: CANopen port (male)
)DLHS_NAC( +V_NAC 5 9 L_NAC DNG_NAC

The following table shows the CANopen pin assignment:


Pin No. 1 2 3 4 5 6 7 8 9 Signal CAN_L CAN_GND (CAN-SHLD) (GND) CAN_H (CAN_V+) Description Reserved CAN_L bus line (dominant low) CAN Ground Reserved Optional CAN shield Optional CAN Ground CAN_H bus line (dominant high) Reserved (error line) Optional CAN external positive supply

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)woleb selbat ees ,sliated roF(

4 8

H_NAC

3 7

)DNG(

2 6

93

XPSMC Description

CANopen LEDs
Introduction The following information helps you to understand the status of the CANopen communication. The status is displayed by LEDs. The following image shows the LEDs of the XPSMC:

CANopen LEDs

RUN

Green

Red

CANopen States

The following table shows the possible states of the CANopen LEDs:
RUN LED on off ERR LED off off Description CANopen hardware is OK. The status is normal, communication is possible. CANopen hardware is not OK. Configured and waiting for communication. Communication is not possible. At least one of the error counters of the CANopen controllers has reached or exceeded the warning level (too many errors.) A guard event or a heartbeat event has occurred.

Flashing 3 times then Error LED flashes 1 time, repeats off off on single flash (one short flash followed by a long pause) double flash (two short flashes with a pause)

off

94

ERR

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XPSMC Description

CANopen Network Length and Stub Length


Network Length and Bit Rate The length is restricted by the bit rate due to the bit arbitration process.
Bit rate 1 Mbit/s 800 kbit/s 500 kbit/s 250 kbit/s 125 kbit/s 50 kbit/s 20 kbit/s 10 kbit/s Max. Length 20 m/65 ft 40 m/131 ft 100 m/328 ft 250 m/820 ft 500 m/1640 ft 1000 m/3280 ft 2500 m/8202 ft 5000 m/16404 ft

In documents about CANopen, you will find often 40 m/131 ft as a maximum length at 1 Mbit/s. This length is calculated without electrical isolation as used in the Schneider Electric CANopen devices. With the electrical isolation, the minimum network length calculated is 4 m/13 ft at 1 Mbit/s. However, the experience shows that 20 m/65 ft are the practical length that could be shorten by stubs or other influences.

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Length Limitations Concerning Stubs

Length limitations concerning stubs have to be taken into account and are fixed by the following parameters.
Bit Rate (kbits/ s) Lmax [m/ft] (1) Lmax [m/ft] Local Star 0.3 m/0.9 ft 3 m/9.8 ft 5 m/16.5 ft 5 m/16.5 ft 5 m/16.5 ft 60 m/196.8 ft 150 m/492 ft 300 m/984 ft 0.6 m/1.9 ft 6 m/19.7 ft 10 m/32 ft 10 m/32 ft 10 m/32 ft 120 m/393 ft 300 m/984 ft 600 m/1968 ft
(2)

Interval min [m/ ft] 0.6 x L Local


(3)

Lmax [m/ft] On All Bus (4) 1.5 m/4.9 ft 15 m/49 ft 30 m/98 ft 60 m/196.8 ft 120 m/393 ft 300 m/984 ft 750 m/2460.5 ft 1500 m/4921 ft

1000 800 500 250 125 50 20 10

3.6 m/11.8 ft 6 m/19.7 ft 6 m/19.7 ft 6 m/19.7 ft 72 m/236 ft 180 m/590,5 ft 360 m/1181 ft

(1) Lmax: Maximum length for 1 stub. (2) Lmax Local Star: Maximum cumulative length of stubs in the same point when using a multi-port TAP creating a local star. (3) Interval min: Minimum distance between 2 TAP. Value for a maximum length of derivation in the same point. Could be computed case by case for each derivation. Interval min between 2 derivation is 60 % of the cumulative length of derivations at the same point. (4) Lmax On All Bus: Maximum cumulative length of stubs on the all bus. Use of Repeaters A repeater should be used when more then 64 devices are used. As repeaters add a propagation delay in the bus, this delay reduces the maximum network length of the bus. A propagation delay of 5 ns is equal to a length reduction of 1 m/3.2 ft. A repeater with e.g. 150 ns delay reduces the bus length therefore by 30 m/98 ft.

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CANopen Data Exchange


Introduction CANopen Parameters The following information helps you to run your CANopen data exchange. An interface is provided to exchange data between the XPSMC and the CANopen part. Below is a description of CANopen parameters. The CANopen parameters can be set by the XPSMCWIN configuration software. CANopen parameters are as follows: 1. bit rate, 20 kBit/s 50 kBit/s 125 kBit/s 250 kBit/s 500 kBit/s 800 kBit/s 1 Mbit/s 2. node address 1 - 127 Default bit rate is 250 kBit/s. These parameters can be adjusted with the XPSMCWIN Software. The .eds file describes the object directory. The PDOs are statically mapped. For all parameters of the XPSMC, there are 4 PDOs. The following table shows the PDO mapping:
PDO 5.PDO 5.PDO 5.PDO 5.PDO 5.PDO 5.PDO 5.PDO 5.DPO 6.PDO 6.PDO 6.PDO Byte 1.Byte 2.Byte 3.Byte 4.Byte 5.Byte 6.Byte 7.Byte 8.Byte 1.Byte 2.Byte 3.Byte Object Index, Subindex 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 200A Details status mode reserved reserved input data state 9-16 input data state 1-8 input data state 25-32 input data state 17-24 output data state 1-8 unused input error 9-16 97

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PDO 6.PDO 6.PDO 6.PDO 6.PDO 6.PDO 7.PDO 7.PDO 7.PDO 7.PDO 7.PDO 7.PDO 7.PDO 7.PDO 8.PDO 8.PDO 8.PDO 8.PDO

Byte 4.Byte 5.Byte 6.Byte 7.Byte 8.Byte 1.Byte 2.Byte 3.Byte 4.Byte 5.Byte 6.Byte 7.Byte 8.Byte 1.Byte 2.Byte 3.Byte 4.Byte

Object Index, Subindex 200B 200C 200D 200E 200F 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 201A 201B

Details input error 1-8 input error 25-32 input error 17-24 output error 1-8 unused diagnostic information index 1 low diagnostic information index 1 high diagnostic information message 1 unused diagnostic information index 2 low diagnostic information index 2 high diagnostic information message 2 unused diagnostic information index 3 low diagnostic information index 3 high diagnostic information message 3 unused

Note: For detailed diagnostic information see also Error Code Dialog Box, p. 55 (table of error messages and indication).

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Object Dictionary of the XPSMC ZC Safety Controller

The Object type column of the table contains the object name according to the table below and is used to denote what kind of object is at that particular index within the Object Dictionary. The following table explains the definitions used in the Object Dictionary:
Object code VAR ARR (ARRAY) Meaning single value, such as unsigned8, boolean, float, integer16, visible string, etc. Multiple data field object where each data field is a simple variable of the same basic data type, e.g., array of UNSIGNED16 etc. The Subindex 0 is of unsigned8 and thus is not part of the ARRAY data. The Subindex 0 sets the numbers of the elements in the ARRAY. Multiple data field object where the data fields may be any combination of simple variables. The Subindex 0 is of unsigned8 and thus is not part of the RECORD data. The Subindex 0 sets the numbers of the elements in the RECORD.

REC (RECORD)

A data type determines a relation between values and encoding for data of that type. Names are assigned to data types in their type definitions. The following table describes the various data types:
Acronym BOOL INT8 INT16 INT32 UINT8 UINT16 UINT32 STRING8 STRING16 Data Type boolean 8 bit integer 16 bit integer 32 bit integer 8 bit of unsigned integer 16 bit of unsigned integer 32 bit of unsigned integer 8 byte visible string 16 byte visible string Range of Value 0=false, 1=true -128 ... +127 -32768 ... +32767 Data Length 1 byte 1 byte 2 byte

-2147483648 ... +2147483647 4 byte 0 ... 255 0 ... 65535 0 ... 4294967295 ASCII character ASCII character 1 byte 2 byte 4 byte 8 byte 16 byte

The following table provides an overview of the Object Dictionary entries defined by the communication profile of the safety controller XPSMCZC. This is a snapshot of the Object Dictionary. Some Default Values, for instance Software version, may shown other values in the actual Object Dictionary of the XPSMC.
Index, Name Subindex 1000 1001 device type error register Data Type UINT32 UINT8 Object Access Default Value Description Type Type VAR VAR ro ro 0x00010191 0x0000 device type and profile error register 99

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Index, Name Subindex 1003 1003, 0 1003, 1 1003, 2 1003, 3 1003, 4 1003, 5 1005 1008 1009 100A 100C 100D 1014 1016 1016, 0 1016, 1 1017 1018 1018, 0 1018, 1 1018, 2 1018, 3 1018, 4 1029 100 pre-defined error field number of errors Standard error field 1 Standard error field 2 Standard error field 3 Standard error field 4 Standard error field 5 COB-ID SYNC message Manufacturer device name

Data Type UINT32 UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 STRING16

Object Type ARR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR ARR VAR VAR VAR REC VAR VAR VAR VAR VAR ARR

Access Default Value Description Type rw ro ro ro ro ro rw ro ro ro rw rw rw ro rw rw ro ro ro ro ro 0x0 0x0 0x0 0x0 0x0 0x0 0x80 XPSMCxxZC 2.10 1.08 0x0 0x00 0x80 + Node ID 0x1 0x0 0x0 4 0x0700005A 0x90102 0x00010008 0x2800564 error history number of errors error number of error 1 error number of error 2 error number of error 3 error number of error 4 error number of error 5 identifier of the SYNC object device name hardware version software version time period of node guarding (ms) factor of the node guarding protocol identifier of the EMCY object consumer heartbeat object number of nodes to be controlled time period and node ID of the controlled node time period of the heartbeat object identity object number of objects vendor ID product code revision number serial number behavior in case of an error

Manufacturer hardware STRING16 version Manufacturersoftware version Guard time Life time factor COB-ID EMCY message Consumer heartbeat time Number of entries Consumer heartbeat time of node STRING16 UINT16 UINT16 UINT32 UINT32 UINT8 UINT32

Produce heartbeat time UINT16 Identity object Number of entries Vendor ID Product code Revision number Serial number Error behavior Identity UINT8 UINT32 UINT32 UINT32 UINT32 UINT8

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Index, Name Subindex 1029, 0 1029, 1 1200 1200, 0 1200, 1 1200, 2 1201 1201, 0 1201, 1 1201, 2 1201, 3 1804 1804, 0 1804, 1 1804, 2 1804, 3 Number of entries Communication error

Data Type UINT8 UINT8

Object Access Default Value Description Type Type VAR VAR REC VAR VAR VAR REC VAR VAR VAR VAR REC VAR VAR VAR VAR ro rw ro ro ro ro ro ro rw ro rw rw rw 0x1 0x0 0x0 0x2 0x600 + node ID 0x580 + node ID 0x0 0x3 0x3 0x80000680 0xFF 0x0 number of entries behavior in case of a communication error server SDO settings number of attributes identifier client server identifier client client server SDO settings number of attributes identifier client server identifier server client node ID of the SDO client first transmit PDO settings number of settings identifier of the PDO transmission type minimum interval between two PDOs (100 s) time period of the event release (ms) second transmit PDO settings number of settings identifier of the PDO transmission type minimum interval between two PDOs (100 s )

Server SDO parameter SDO parameter Number of entries COB-ID rx COB-ID tx UINT8 UINT32 UINT32

Server SDO parameter SDO parameter Number of entries COB-ID rx COB-ID tx Node ID of SDO client TxPDO5 communication parameter Number of entries COB-ID Transmission mode Inhibit time UINT8 UINT32 UINT32 UINT8 PDO CommPar UINT8 UINT32 UINT8 UINT16

1804, 5 1805 1805, 0 1805, 1 1805, 2 1805, 3

Event timer TxPDO6 communication parameter Number of entries COB-ID Transmission mode Inhibit time

UINT16 PDO CommPar UINT8 UINT32 UINT8 UINT16

VAR REC VAR VAR VAR VAR

rw ro rw rw rw

0x0 0x3 0x80000681 0xFF 0x0

1805, 5

Event timer

UINT16

VAR

rw

0x0

time period of the event release (ms)

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Index, Name Subindex 1806 1806, 0 1806, 1 1806, 2 1806, 3 TxPDO7 communication parameter Number of entries COB-ID Transmission mode Inhibit time

Data Type PDO CommPar UINT8 UINT32 UINT8 UINT16

Object Type REC VAR VAR VAR VAR

Access Default Value Description Type ro rw rw rw 0x3 0x80000682 0xFF 0x0 third transmit parameter number of settings identifier of the PDO transmission type minimum intervals between two PDOs (100 s )

1806, 5 1807 1807, 0 1807, 1 1807, 2 1807, 3

Event timer TxPDO8 communication parameter Number of entries COB-ID Transmission mode Inhibit time

UINT16 PDO UINT8 UINT32 UINT8 UINT16

VAR REC VAR VAR VAR VAR

rw ro rw rw rw

0x0 0x3 0x80000683 0xFF 0x0

time period of the event release (ms) fourth transmit PDO settings number of settings identifier of the PDO transmission type minimum interval between two PDOs (100 s )

1807, 5 1A04 1A04, 0 1A04, 1 1A04, 2 1A04, 3 1A04, 4 1A04, 5 1A04, 6 1A04, 7 1A04, 8

Event timer TxPDO5 mapping parameters Number of mapped objects Mapped mode byte mapped status byte reserved reserved Mapped input data state 1-8 Mapped input data state 9-16 Mapped input data state 17-24 Mapped input data state 25-32

UINT16 PDO mapping UINT8 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32 UINT32

VAR REC VAR VAR VAR VAR VAR VAR VAR VAR VAR

rw ro ro ro ro ro ro ro ro ro

0x0 0x8 0x20000008 0x20010008 0x20020008 0x20030008 0x20040008 0x20050008 0x20060008 0x20070008

time period of the event release (ms) PDO mapping for TxPDO5 number of mapped objects first mapped object second mapped object third mapped object fourth mapped object fifth mapped object sixth mapped object seventh mapped object eighth mapped object

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Index, Name Subindex 1A05 1A05, 0 1A05, 1 1A05, 2 1A05, 3 1A05, 4 1A05, 5 1A05, 6 1A05, 7 1A05, 8 1A06 1A06, 0 1A06, 1 TxPDO6 mapping parameters Number of mapped objects unused Mapped output data state 1-8

Data Type PDO mapping UINT8 UINT32 UINT32

Object Access Default Value Description Type Type REC VAR VAR VAR VAR VAR VAR VAR VAR VAR REC VAR VAR ro ro ro ro ro ro ro ro ro ro ro 8 0x20080008 0x20090008 0x200A0008 0x200B0008 0x200C0008 0x200D0008 0x200E0008 0x200F0008 8 0x20100008 PDO mapping for TxPDO6 number of mapped objects first mapped object second mapped object third mapped object fourth mapped object fifth mapped object sixth mapped object seventh mapped object eighth mapped object PDO mapping for TxPDO7 number of mapped objects first mapped object

Mapped input error 1-8 UINT32 Mapped input error 916 UINT32

Mapped input error 17- UINT32 24 Mapped input error 25- UINT32 32 unused UINT32

Mapped output error 1- UINT32 8 TxPDO7 mapping parameters Number of mapped objects Mapped diagnostic information index 1 high PDO mapping UINT8 UINT32

1A06, 2 1A06, 3 1A06, 4

Mapped diagnostic UINT32 information index 1 low Mapped unused Mapped diagnostic information message 1 high Mapped diagnostic information message 1 low UINT32 UINT32

VAR VAR VAR

ro ro ro

0x20110008 0x20120008 0x20130008

second mapped object third mapped object fourth mapped object

1A06, 5

UINT32

VAR

ro

0x20140008

fifth mapped object

1A06, 6 1A06, 7

Mapped diagnostic UINT32 information message 1 Mapped unused UINT32

VAR VAR

ro ro

0x20150008 0x20160008

sixth mapped object seventh mapped object

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Index, Name Subindex 1A06, 8 1A07 1A07, 0 1A07, 1

Data Type

Object Type VAR REC VAR VAR

Access Default Value Description Type ro ro ro 0x20170008 8 0x20180008 eighth mapped object PDO mapping for TxPDO8 number of mapped objects first mapped object

Mapped diagnostic UINT32 information message 2 TxPDO8 mapping parameters Number of mapped objects PDO UINT8

Mapped diagnostic UINT32 information message 3 high Mapped diagnostic UINT32 information message 3 low Mapped unused UINT32

1A07, 2

VAR

ro

0x20190008

second mapped object

1A07, 3 1A07, 4 2000

VAR VAR VAR

ro ro ro

0x201A0008 0x201B0008 -

third mapped object fourth mapped object Status bit 0 RUN 1 CONF 3 INT Error 4 EXT Error 5 STOP 6 STATUS_R_S Mode bit 0 reset button pressed 1 XPSMC alive 4 1 = XPSMC16 0 = XPSMC32 5 1 = after POWER UP or START command and until safety self test has finished 6 config. valid 7 received STOP command reserved reserved input data (input 9-16) input data (input 1-8) input data (input 25-32) input data (input 17-24)
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Mapped diagnostic UINT32 information message 3 Status byte UINT8

2001

Mode byte

UINT8

VAR

ro

2002 2003 2004 2005 2006 2007 104

Reserved Reserved Input data state 9-16 Input data state 1-8 Input data state 25-32 Input data state 17-24

UINT8 UINT8 UINT8 UINT8 UINT8 UINT8

VAR VAR VAR VAR VAR VAR

ro ro ro ro ro ro

XPSMC Description

Index, Name Subindex 2008 2009 200A 200B 200C 200D 200E 200F 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 201A 201B 5FFF 5FFF, 0 5FFF, 1 5FFF, 2 5FFF, 3 Output data state 1-8 Unused Input error 9-16 Input error 1-8 Input error 25-32 Input error 17-24 Output error 1-8 Unused Diagnostic information 1 low Diagnostic information index 1 high Diagnostic information message 1 Unused Diagnostic information index 2 low Diagnostic information index 2 high Diagnostic message 2 Unused Diagnostic information message low Diagnostic information message 3 high Diagnostic information message 3 Unused SE Data Object Number of entries Brand Name Conformance Class Bus off counter

Data Type UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 UINT8 SEinformation UINT8

Object Access Default Value Description Type Type VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR VAR REC VAR ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro ro rw 3 Telemecanique S20 0x0 output error (output 1-8) unused input error (input 9-16) input error (input 1-8) input error (input 25-32) input error (input 17-24) output error (output 1-8) unused device number (low) device number (high) diagnostic hint unused device number (low) device number (high) diagnostic hint unused device number (low) device number (high) diagnostic hint unused Schneider Electric object number of entries brand name intern conformance class bus off counter

STRING 16 VAR STRING 16 VAR UINT8 VAR

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Note: For detailed information about the device number and the diagnostic hints see also Error Code Dialog Box, p. 55 (table of error messages and indication). The following table provides information about transmission types:
Transmission PDO transmission type cyclic acyclic 0 1 - 240 253 254 255 x x -

synchronous x x -

asynchronous RTR only x x x x -

0: Node transmits the PDO synchronously with the SYNC object, but its transmission is event driven. 1-240: Node transmits the PDO once every 1-240 receptions of a SYNC object. 253: Node transmits PDO after a Remote Transmit Request 254: Mode of transmission is fully manufacturer specific. 255. Mode of transmission is defined in the device profile.

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Appendices

At a Glance
Overview Additional information that is not necessarily required to understand the documentation. The appendix contains the following chapters:
Chapter A B C D Chapter Name Brief Description of the Functional Devices Examples of Applications Electrical Life of the Output Contacts Examples for Bus Configuration Page 109 121 129 131

What's in this Appendix?

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Appendices

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At a Glance
Overview This chapter contains brief descriptions of the functional devices. Note: Time ranges given in the following devices have the basis of 20 ms response time. When using a basis of 30 ms the ranges are changing slightly.

What's in this Chapter?

This chapter contains the following topics:


Topic Device Set Monitoring Devices EDM Device Start Devices Enabling Devices Miscellaneous Devices Output Functional Elements Page 110 112 116 117 118 119 120

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Device Set
Basic Devices and Functions The XPSMC Safety Controllers feature the following monitoring devices. Full details of each function are provided in the XPSMCWIN Software manual. emergency stop channel 1 emergency stop channel 2 safety guard 1 channel safety guard 2 channel safety guard with lock light curtains with transistor output light curtains with relay output light curtains with muting: with transistor outputs and monitoring of muting lamp light curtains with muting: with relay outputs and monitoring of muting lamp magnetic switch two hand control type IIIC in accordance with EN 574 safety mat, forming short circuit Zero speed detection injection molding machine hydraulic press valve monitoring eccentric press seat valve monitoring The XPSMC Safety Controllers feature the following EDM devices: external device monitoring start devices automatic start non-monitored start monitored start enabling devices enabling device 2 channel enabling device 3 channel The XPSMC Safety Controllers feature the following miscellaneous devices: timer OR function

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Add-in Devices and Functions

The XPSMC Safety Controllers feature the following add-in devices: hydraulic press with valve monitoring and optional overtravel monitoring enhanced eccentric press shaft/chain break monitoring The XPSMC Safety Controllers feature the following miscellaneous add-in devices: foot switch control selector switch closed tool For details, refer to the XPSMC Software Manual.

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Monitoring Devices
Brief Descriptions of the Monitoring Devices

Monitoring Devices Emergency Stop 1 Channel

Brief Description The short-circuit of the Emergency Stop Button will not be recognized. category 4 with the necessary fault exclusion for the input cabling The Emergency Stop devices that are in use should be tested within the framework of the machine maintenance. For a restart both contacts of the Emergency Stop must been opened before. category 4, in accordance with EN 954-1 The Emergency Stop devices that are in use should be tested within the framework of the machine maintenance. It can be configured with or without a Start interlock. No monitoring or testing of the control switch is required. category 1 in accordance with EN 954-1 It can be configured with or without a Start interlock. Synchronization time can be configured. For the response time of 20 ms, the range is 0.5...2.5 s; for the response time of 30 ms, the range is 0.45...2.4 s category 4 in accordance with EN 954-1 It can be configured with or without a Start interlock. Synchronization time can be configured. For the response time of 20 ms, the range is 0.5...2.5 s; for the response time of 30 ms, the range is 0.45...2.4 s. category 4 in accordance with EN 954-1 The XPSMC does not monitor the cross-connections at the wiring to the OSSDs. The device can be configured with or without a Start interlock. Synchronization time: the OSSDs can be configured within (0.5 to 2.5 s). category 4 in accordance with EN 954-1 The XPSMC monitors the cross-connections at the wiring to the OSSDs. The device can be configured with or without a Start interlock. Synchronization time for the OSSDs can be configured. For the response time of 20 ms, the range is 0.5...2.5 s; for the response time of 30 ms, the range is 0.45...2.4 s. category 4 in accordance with EN 954-1

Emergency Stop 2 Channel

Safety Guard 1 Channel Safety Guard 2 Channel

Safety Guard with Lock

Light Curtains with Transistor Output

Light Curtains with Relay Output

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Monitoring Devices Light Curtains with Muting: with Transistor Outputs and Monitoring of Muting Lamp

Brief Description The XPSMC does not monitor the cross-connections at the wiring to the OSSDs. The device can be configured with or without a Start interlock. Synchronization time for the OSSDs can be configured. For the response time of 20 ms, the range is 0.5...2.5 s; for the response time of 30 ms, the range is 0.45...2.4 s. The device connects four muting sensors and a muting lamp in accordance with EN 61496-1. The device performs monitoring for short circuit or open circuit of the lamp or the LED (24 VDC / of 0.5 to 7 W), see technical data. Synchronization time can be configured (0.5 to 3 s or infinity) for creation of the muting signal in a group The maximum muting duration can be configured (0.5 to 10 min or infinity). override function, with adjustable time (0.5 to 10 min) category 4 in accordance with EN 954-1. The XPSMC monitors the cross-connections at the wiring to the OSSDs. The device can be configured with or without a Start interlock. Synchronization time for the OSSDs can be configured. For the response time of 20 ms, the range is 0.5...2.5 s; for the response time of 30 ms, the range is 0.45...2.4 s. The device connects four muting sensors and a muting lamp in accordance with EN 61496-1. monitoring against short circuit or open circuit of the lamp or the LED (24 VDC / of 0.5 to 7 W) see technical data Synchronization time can be configured (0.5 to 3 s or infinity) to create the muting signal in a group. The maximum muting duration can be configured (0.5 to 10 min or infinity). It is an override function, with adjustable time (0.5 to 10 min). category 4 in accordance with EN 954-1. The device can be configured with or without Start interlock. Synchronization time can be configured. For the response time of 20 ms, the range is 0.5...2.5 s; for the response time of 30 ms, the range is 0.45...2.4 s. category 4 in accordance with EN 954-1. Four inputs for two push buttons with a NO and NC contact. The synchronization time is 500 ms (it cannot be modified). category 4 in accordance with EN 954-1

Light Curtains with Muting: with Relay Outputs and Monitoring of Muting Lamp

Magnetic Switch

Two Hand Control Type IIIC in accordance with EN 574

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Monitoring Devices Safety Mat, Forming Short-Circuit Zero Speed Detection

Brief Description category 3 in accordance with EN 954-1 maximum input capacitor - 120 nF Two sensors detect the movement by monitoring the teeth on a Cog which is connected to a shaft. The output will not be enabled unless the input sensors are within the threshold frequency set by the user. Sensors are connected to safety inputs i01 and i02. The threshold value for detection of non-operation can be configured for a frequency of 0.05 to 20 Hz (tolerance 15%) Frequency calculator: Give in the speed limit in RPM and the numbers of cogs and the result will be a frequency in Hz. In some cases this frequency will be rounded and the result will be the actual speed limit in RPM. The maximum transmitter frequency is 450 Hz. Hysteresis equals +50%. category 4 in accordance with EN 954-1 It monitors the safety guard for tool area (two position switches) and a third position switch for main stop-valve monitoring. Synchronization time can be configured. For the response time of 20 ms, the range is 0.5...2.5 s; for the response time of 30 ms, the range is 0.45...2.4 s. category 4 in accordance with EN 954-1 It performs monitoring of three safety valves using end switches or proximity switches. Reaction time of the three switches can be configured from 0.1 to 1.5 s (synchronization time). category 4 in accordance with EN 954-1. It performs press function for the hydraulic press with valve control and optional overtraveling monitor. It can be used optionally for hydraulic press valve monitoring. It monitors three safety valves with limit switches or proximity switches. You can additionally select either NO or NC for each valve signal. Category 4, according to EN 954-1 This press function must be coupled to a two hand control. Monitoring of the press safety valve, safety stopping at top dead center (TDC) and maintaining during opening. Synchronization time between the two valves can be configured from 0.1 to 1.5 s. category 4 in accordance with EN 954-1

Injection Molding Machine

Hydraulic Press Valve Monitoring

Hydraulic Press 2

Eccentric Press with Optional Valve Control

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Monitoring Devices Eccentric Press 2

Brief Description It works as the eccentric press with optional valve monitoring, combines light curtain, safety guard, foot switch, and selector switch. It has the following operating modes: off, inching, single stroke (one stroke of the press is performed; safety stop at TDC), continuous (several strokes are performed as long as, e.g., a 2hand control station is activated), and continuous automatic (after starting the press, continues running until the safety guard or light curtain is opened/interrupted or the continuos off button is pressed). category 4, according to EN 954-1 It monitors the movement of the shaft or chain, transmission of the mechanical power from the eccentric shaft to the cam. A sensor on the shaft of the cam generates impulses for the safety input. You cannot use this device and Zero Speed Detection at the same time. Performs a valve control Valve contact can be chosen between NO/NC Input for the start of the valve moving Input for the Valve contact Synchronization time between 0.1 to 3.0 s

Shaft/Chain Break Monitoring

Seat Valve Monitoring

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EDM Device
Brief Description of the EDM Device

EDM Device EDM (External Device Monitoring)

Brief Description The device monitors contacts of external equipment, for example NC contacts of subsequently connected relays. The EDM time can be configured (0.1...0.5 seconds). Category 4 in accordance with EN 954-1.

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Start Devices
Brief Descriptions of the Start Devices

Start Devices Automatic Start Non-Monitored Start Monitored Start

Brief Description There is no start input. Start condition is always valid. Starting occurs immediately, once the relevant input conditions have been met. The start condition is alway valid when the input is closed. There are 2 types of monitored starts: negative edge start and positive edge start: negative edge start: Start is initiated following the opening of the input. The start process is monitored so that in the event of a short-circuit on the start input and/or start circuit being closed for longer than 10 s, a new starting does not occur. positive edge start: Start is initiated by activating the input. The start process is monitored so that in the event of a start input short-circuit and/or a start circuit being closed for longer that 10 s, a further start is prevented.

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Brief Description of the Functional Devices

Enabling Devices
Brief Descriptions of the Enabling Devices

Enabling Devices Enabling Device 2 Channel Enabling Device 3 Channel

Brief Description A three-stage enabling switch with two contacts is monitored. A maximum enabling time (0.5 to 10 min or infinity) can be defined. category 1 in accordance with EN 954-1 A three-stage enabling switch with three contacts is monitored. A maximum enabling time (0.5 to 10 min or infinity) can be defined. category 4 in accordance with EN 954-1

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Miscellaneous Devices
Brief Description of Miscellaneous Devices

Miscellaneous Devices Timer

Brief Description Safety outputs are switched as a function of the control signal time. Method of operation and time can be configured. switch on delay switch off delay switch on pulse switch off pulse The device belongs to category 4 in accordance with EN 954-1 The OR function allows multiple devices to activate an output. It contains 2 contacts: NO and NC. It monitors a NO and NC contact from 1 control output. Category 4, according to EN 954-1 The function is used to assign safety and start properties to specific switches. The selector reads the status of a hardware selector switch. The switch has a maximum of 6 positions. It can only be used with a selector switch on the eccentric press 2. You cannot change the properties of the device.

OR Function Foot Switch Control

Selector Switch

Closed Tool

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Brief Description of the Functional Devices

Output Functional Elements


Brief Descriptions of the Output Functional Elements

Output Functional Elements Stop Category 0 (EN 60204-1)

Brief Description Safety outputs are switched off without delay at the end of the release condition. All 4 relay outputs and all six semiconductor outputs can be operated in stop category 0. Safety outputs are switched depending on time delay (which can be configured from 0.1 to 300 s) from the end of the release condition. All 4 relay outputs and all six semiconductor outputs can be operated in stop category 1.

Stop Category 1 (EN 60204-1)

Note: The data for safety categories in accordance with EN 954-1 refers to the maximum achievable categories. The machine control must also be appropriately configured in order to achieve the desired category.

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Examples of Applications

B
At a Glance
Overview What's in this Chapter? This chapter contains application examples. This chapter contains the following topics:
Topic Application Example - Light Curtain With Muting Application Example - Safety Guard with Enabling Device Application Example for Several Functions - Emergency Stop, Two Hand Control, Safety Mat Page 122 124 126

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121

Examples of Applications

Application Example - Light Curtain With Muting


Introduction The following connection example shows an ESPE with muting. The following devices are connected: light curtain with muting a monitored muting indicator a start button relay output (230 VAC)

122

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)a V032( EPSE esaeleR 2 l en n ah C 1 l en na hC V0 2EK 1EK

)c V42( EPSE esaeleR 2 le nn a h C 1 l e nn ah C N 20K 10K

ezis esuf mumixam rof ataD lacinhceT eeS = )1( snoitidnoc trats lanretxE = CSE V0

44 43

42 41

6o

5o 2 lennahC 1 lennahC

4o 2 lennahC 1 lennahC 2 lennahC 1 lennahC

3o

2o 2 lennahC 1 lennahC

1o 2 lennahC 1 lennahC

DNG DNG DNG

2 lennahC 1 lennahC
1 C

3K

1K

RET

subdleiF
11i 01i

61CMSPX rellortnoC ytefaS


8i 7i 6i 5i 4i 2EK 1EK gnituM 2S 20K 10K SE

0K 3i 2i tratS 1S )2( 1i

43 33

1H

32 31

61i

51i

41i

31 i

21i

9i

2B gnituM 5S gnituM 4S

1B gnituM 3S

)1( )*(
1DSSO

2DSSO

pmaL gnituM )1( 2F V 42+ ~ V 0 32

tu pt uo EPSE = EPSE

edir revO 6S

)*(

EPSE

Light Curtain With Muting Example

4K

2K

1 C

CIGOL
V 5 V 42

1c 2c 3c 4c 5c 6c 7c 8c 1A

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The following diagram shows the wiring of an ESPE with muting:

Note: The wiring for the 32 input version is identical for the additional inputs available for configuration.

Failure to follow these instructions will result in death or serious injury.

Disconnect all power before servicing equipment.

HAZARDOUS VOLTAGE

DANGER

Examples of Applications

123

2A

)1( 1F V 4 2+ ~ V 032

Examples of Applications

Application Example - Safety Guard with Enabling Device


Introduction The following connection example shows a Safety Guard with enabling device. The following devices are connected: Emergency Stop Enabling Switch Selector Switch

124

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ffO nO

4-3 6-5 2-1 0

4-3 6-5 2-1 0

:ecived gnilbane eht fo stcatnoC pots ycnegremE 2 l e nn ah C 1 l en n ah C 2EK 1EK d r a u g yt ef a s e s a el e R 2 l en na h C 1 le nn a h C 2 0K 10K

V0

ezis esuf mumixam rof ataD lacinhceT eeS = )1( snoitidnoc trats lanretxE = CSE V0

44 43

42 41

6o

5o 2 lennahC 1 lennahC

4o 2 lennahC 1 lennahC 2 lennahC 1 lennahC

3o 2 lennahC 1 lennahC

2o

1o 2 lennahC 1 lennahC

DNG DNG DNG

2 lennahC 1 lennahC
1 C

3K
-hgih elbanE

1K

RET

subdleiF
11i 01i

61CMSPX rellortnoC ytefaS


8i 7i 6i 5i 4i 3i

0K 2i 1i
2 10

43 33

1H

32 31

61i

51i

41i

31i

21i

9i

drauG -1 FFO - 0 :6S hctiws rotceleS

2EK 1EK

potS ycneg -remE 5S 4 3 6 5

20K ecived 2 gnilbanE 1 4S


2 10

6S tratS

10K

)ON( 1S )CN( 2S 3S

SE

SE

) 1( 2F V 42+

000000000000 00000000000000000n0000e000 00p0000o000 00

Safety Guard with Enabling Device Example

4K

2K

1 C

CIGOL
V 5 V 42

1c 2c 3c 4c 5c 6c 7c 8c 1A

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The following diagram shows the wiring of a Safety Guard with enabling device

Note: The wiring for the 32 input version is identical except for the additional inputs available for configuration.

Examples of Applications

125

2A

) 1( 1F V 4 2+

Examples of Applications

Application Example for Several Functions - Emergency Stop, Two Hand Control, Safety Mat
Introduction The following connection example shows the wiring of several functions. The following devices are connected: Two Hand Control Safety Mat Emergency Stop relay outputs (24 VDC and 230 VAC)

126

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) y al e d emit htiw( p ots yc ne gremE 4EK

) y al e d emit htiw( p ots y c n e gr e m E 3EK N

V0 N

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)yaled emit on( pots y c n e gr e m E 1EK tam ytefaS 2 l en n ah C 1 le nn a h C 4 0K 30K lortnoc dnah owT 2 l en na h C 1 le nn ah C

ezis esuf mumixam rof ataD lacinhceT eeS = )1( snoitidnoc trats lanretxE = CSE V0

44 43

42 41

6o 2 lennahC 1 lennahC

5o 2 lennahC 1 lennahC

4o 2 lennahC 1 lennahC

3o 2 lennahC 1 lennahC

2o 2 lennahC 1 lennahC

1o

DNG DNG DNG

2 lennahC 1 lennahC
1 C

3K

1K

RET

subdleiF
11i 01i

61CMSPX rellortnoC ytefaS


8i 40K tam ytefaS 7i 6i 5i 4i 3i
2

0K 2i 1i

43 33

1H

32 31

61i

51i

41i

31i

21i

9i

not tub -hsup dnaH -2

1 nottub -hsup dnaH-2

pots ycneg -remE 5S

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tratS 4S

3S

2S

1S

SE

)1( 3F V 4 2+ ~ V 03 2

) 1( 2F

Application Example

4K

2K

1 C

CIGOL
V 5 V 42

1c 2c 3c 4c 5c 6c 7c 8c 1A

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The following diagram shows the wiring of several device (see list above):

Note: The wiring for the 32 input version is identical except for the additional inputs available for configuration.
2A

Failure to follow these instructions will result in death or serious injury.

Disconnect all power before servicing equipment.

HAZARDOUS VOLTAGE

DANGER

Examples of Applications

127

) 1( 1F V 42+ ~ V 0 32

Examples of Applications

128

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Electrical Life of the Output Contacts

Diagram of the Electrical Life


Diagram Electrical life of the output contacts determined by EN 60947-5-1 / table C2

Switching x 103

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Nominal operational current A 129

Electrical Life of the Output Contacts

130

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Examples for Bus Configuration

D
At a Glance
Overview This chapter contains a description of the bus configuration for Profibus and CANopen. This chapter contains the following topics:
Topic Connection of the XPSMC with CANopen and Sycon 2.8 Connection of the XPSMC with CANopen and Sycon 2.9 Configuration of Unity Pro for CANopen Connection of the XPSMC with Profibus and Sycon 2.9 Page 132 141 149 152

What's in this Chapter?

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131

Examples for Bus Configuration

Connection of the XPSMC with CANopen and Sycon 2.8


Introduction This example connects the XPSMC Safety Controller via CANopen to the CANopen master (e.g. Premium TSX with a TSX CPP110 CANopen interface from Schneider Electric). The fieldbus is configured using Sycon 2.8 from Schneider Electric and the controller is be configured using Unity Pro from Schneider Electric. Note: The cables, the connectors and the resistors for CANopen must be in accordance with the CiA DRP 303-1 standard.

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Examples for Bus Configuration

Configuration Using Sycon 2.8

The following table shows how to configure CANopen bus using Sycon 2.8:
Step 1 Action Copy the EDS file *.eds into the CANopen EDS directory. The standard installation directory is: c:\programs\Schneider\SyCon\Fieldbus\CANopen\EDS Copy the 3 CANopen pictures (*.dib) into the designated directory, e.g. :\programs\Schneider\SyCON\Fieldbus\CANopen\BMP. You will find this EDS file and the pictures on the supplied CD or you can download it from the Schneider Electric homepage www.telemecanique.com. Start the Sycon System Configurator. Select the CANopen as fieldbus.
Select fieldbus CANopen
InterBus PROFIBUS Cancel OK

2 3

Choose the CANopen master for the configuration. You will get the dialog box by using Insert Master.
Insert Master
Available devices TSX CPP 100 Selected devices OK Cancel

TSX CPP 110 Add >> Add All >>


<< Remove

TSX CPP 110

<< Remove All

Node ID (address) Description

1 Master

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Examples for Bus Configuration

Step 5

Action Select the TSX CPP 110 CANopen module and press Add to adopt it to your configuration. Declare the node address and description. The description is limited to 32 characters. Node ID (address) 1 Description Master The following figure will be displayed.
CI F-

Master
Node ID Master 1 TSX CPP 110

CANopen

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Examples for Bus Configuration

Step 7

Action Open the bus parameter settings under Settings Bus Parameter. The following dialog will be displayed:
Bus Parameter

Master Node ID Bitrate

1 1 Mbit/s

OK Cancel

Master stops in case of Node Guard of Heartbeat Error Disabled Enabled

Synchronization Object (SYNC) COB-ID 128

Communication Cycle Period

100

msec.

Heartbeat Function Enable

Master Producer Heartbeat time

200

msec.

Enable Global Start Node 29 Bit Selection entries Enable 29 Bit Selector

28 ... Acceptance Code 00 00 00

... 0 Bit 00 Hex

Acceptance Mask

00

00

00

00

Hex

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Examples for Bus Configuration

Step 8

Action Configure the following parameters: Master Node ID 1 Bitrate 1 Mbit/s Master stops in case of Node Guard or Heartbeat Error Disabled Synchronization Object (SYNC) COB-ID 128 Communication Cycle Period 100 msec. Heartbeat Function Enable Master Producer Heartbeat Time 200 msec. Enable Global Start Node 29 Bit Selection entries nothing Press OK to confirm the settings.

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Examples for Bus Configuration

Step 9

Action After the selection of the CANopen master, insert the CANopen node. Insert the node by using Insert Node. The following dialog will be displayed:
Insert Node
Node filter Vendor Profile Telemecanique Cancel All OK

Available devices APP-1CCO0 APP-1CCO2 ATV58_E ATV58_F ATV58F_E ATV58F_F LEXIUM 17D << Remove << Remove All Add All >> Add >>

Selected devices

Preventa XPSMC

Preventa XPSMC
STB NCO 2212 Vendor name Product number Product version Product revision EDS file name EDS Revision Telemecanique 0x200417 No entry No entry XPSMC1632ZC.EDS 1 Node ID Description 2 XPSMC32ZC

10 11

Select the Preventa XPSMC Safety Controller from the vendor Telemecanique. After the selection press Add >> to adopt it. Configure the following parameters: Node ID 2 Description XPSMC32ZC Note: The parameters are examples and can be changed. The maximum length of the description is 32 characters.

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Examples for Bus Configuration

Step 12

Action Press OK to confirm the settings. IThe following figure will be displayed:
CI F-

CANopen

Master
Node ID Master 1 TSX CPP 110

CANopen

XPSMC32ZC
Node ID Node
2

Preventa XPSMC

13

Select Settings Node Configuration to configure the node settings. The following dialog will be displayed:
Node Configuration Node Description File name Preventa XPSMCZC XPSMC32ZC TEXPSMC1632.EDS Node ID (address) Configuration Error Control Protocol Emergency COB-ID Nodeguard COB-ID 130 1794 2 OK Cancel Node BootUp OPC Objects Object Configuration

Activate node in actual configuration


Automatic COB-ID allocation in accordance with Profile 301

Device Profile

401

Device type

Digital Input

Predefined Process Data Objects (PDOs) from EDS file Obj.Idx. PDO name 1804 TXPDO5 communication parameter 1805 TXPDO6 communication parameter 1806 TXPDO7 communication parameter 1807 TXPDO8 communication parameter

Actual node 2 / Preventa XPSMCZC PDO Mapping method DS 301 V4

Add to configured PDOs Configured PDOs PDO name


Symbolic Name

COB-ID I Type

I Addr. I Len.

O Type O Addr.

O Len.

PDO Contents Mapping... PDO Characteristics... Define new Receive PDO... Define new Transmit PDO... Delete configured PDO Symbolic Names

Note: Here you can change the Node-ID and Description if necessary.

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Examples for Bus Configuration

Step 14

Action Select a PDO, which transfer the data of the Safety Controller and press Add to configured PDOs. Of each PDO the properties must be confirmed. The PDOs contain the following properties: TXPDO5 Mode and Status-Byte, the Input data 1-32 COB-ID e. g. 1668 TXPDO6 Output data 1-8, Input and Output Error COB-ID e. g. 1669 TXPDO7 Diagnosis Hint 1 and 2 COB-ID e. g. 1670 TXPDO8 Diagnosis Hint 3 COB-ID e. g. 1671 Press Configuration Error Control Protocol to open the Error Control Protocol dialog.

15

The following dialog will be displayed:


Error Control Protocol (Node Id: 2)
Use Node Guarding Protocol OK msec. Cancel

Guard Time Life Time Factor

200 3

Use Heartbeat Protocol Master Consumer Time of Node Node Heartbeat Producer Time Node Heartbeat Consumer List
Node ID Active Description Consumer Time (msec.) Producer Time (msec.) 300 200 msec. msec.

Master

300

200

16

Select the Error Control Protocol Node Guarding Protocol or Heartbeat Protocol.

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Examples for Bus Configuration

Step 17

Action Select the following parameter: For Node Guarding Protocol Guard Time 200 msec Life Time Factor 2 For Heartbeat Protocol Master Consumer Time of Node 220 msec Node Heartbeat Producer Time 200 msec Node Heartbeat Consumer List Activate the specific master.

18 19

Press OK to confirm the Error Control Protocol settings. Press OK to confirm the Node Configuration settings.

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Examples for Bus Configuration

Connection of the XPSMC with CANopen and Sycon 2.9


Introduction This example connects the XPSMC Safety Controller via CANopen to the CANopen master (e.g. Premium TSX with a TSX CPP110 CANopen interface from Schneider Electric). The fieldbus is configured using Sycon 2.9 from Schneider Electric and the controller is be configured using Unity Pro from Schneider Electric. Note: The cables, the connectors and the resistors for CANopen must be in accordance with the CiA DRP 303-1 standard.

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141

Examples for Bus Configuration

Configuration Using Sycon 2.9

The following table shows how to configure CANopen bus using Sycon 2.9:
Step 1 Action Copy the EDS file *.eds into the CANopen EDS directory. The standard installation directory is: c:\programs\Schneider\SyCon\Fieldbus\CANopen\EDS Copy the 3 CANopen pictures (*.dib) into the designated directory, e.g. :\programs\Schneider\SyCON\Fieldbus\CANopen\BMP. You will find this EDS file and the pictures on the supplied CD or you can download it from the Schneider Electric homepage www.telemecanique.com. Start the Sycon System Configurator. Select the CANopen as fieldbus.
Select fieldbus CANopen InterBus PROFIBUS OK Cancel

2 3

Choose the CANopen master for the configuration. You will get the dialog box by using Insert Master.
Replace Master Available devices TSX CPP 110 Add >> Add All >> << Remove << Remove All Selected devices TSX CPP 110 OK Cancel

Node ID (address) Description Master

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Examples for Bus Configuration

Step 5

Action Select the TSX CPP 110 CANopen module and press Add to adopt it to your configuration. Declare the node address and description. The description is limited to 32 characters. Node ID (address) 1 Description Master Open the bus parameter settings under Settings Bus Parameter. The following dialog will be displayed:
Bus Parameter

Master Node ID Bitrate

1 250 kbit/s

OK Cancel

Master stops in case of Node Guard of Heartbeat Error Disabled Synchronization Object (SYNC) COB-ID Communication Cycle Period 128 50 msec. Enabled

Heartbeat Function Enable Master Producer Heartbeat time 200 msec.

Enable Global Start Node 29 Bit Selection entries Enable 29 Bit Selector 28 ... Acceptance Code Acceptance Mask 00 00 00 00 00 00 ... 0 Bit 00 00 Hex Hex

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Examples for Bus Configuration

Step 7

Action Configure the following parameters: Master Node ID 1 Bitrate 250 kbit/s Master stops in case of Node Guard or Heartbeat Error Disabled Synchronization Object (SYNC) COB-ID 128 Communication Cycle Period 50 msec. Heartbeat Function Enable Master Producer Heartbeat Time 200 msec. Enable Global Start Node 29 Bit Selection entries nothing Press OK to confirm the settings.

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Examples for Bus Configuration

Step 8

Action After the selection of the CANopen master, insert the CANopen node. Insert the node by using Insert Node. The following dialog will be displayed:
Insert Node Node filter Vendor Profile All All Selected devices Preventa XPSMC Add >> Add All >> << Remove << Remove All OK Cancel

Available devices NT 30-COS PKV30-COS PMC-COS Preventa XPSMC ZC Profile 401 standard STB NCO 1010 STB NCO 2212 TwinLine CANopen Vendor name Product number Product version Product revision EDS file name EDS Revision

Telemecanique Node ID 0x0 Description No entry No entry TEXPSMC1632.EDS 1

2 XPSMC32ZC

9 10

Select the Preventa XPSMC ZC Safety Controller. After the selection press Add >> to adopt it. Configure the following parameters: Node ID 2 Description XPSMC32ZC Note: The parameters are examples and can be changed. The maximum length of the description is 32 characters.

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Examples for Bus Configuration

Step 11

Action Press OK to confirm the settings. IThe following figure will be displayed:
CI F-

CANopen

Master
Node ID Master 1 TSX CPP 110

CANopen

XPSMC32ZC
Node ID Node 2 Preventa XPSMC

12

Select Settings Node Configuration to configure the node settings. The following dialog will be displayed:
Node Configuration Node Description File name Preventa XPSMCZC XPSMC32ZC TEXPSMC1632.EDS Node ID (address) Configuration Error Control Protocol Emergency COB-ID Nodeguard COB-ID 130 1794 2 OK Cancel Node BootUp OPC Objects Object Configuration

Activate node in actual configuration Automatic COB-ID allocation in accordance with Profile 301 Device Profile 401 Device type Digital Input

Predefined Process Data Objects (PDOs) from EDS file Obj.Idx. 1804 1805 1806 1807 PDO name TXPDO5 communication parameter TXPDO6 communication parameter TXPDO7 communication parameter TXPDO8 communication parameter Enable

Actual node 2 / Preventa XPSMCZC PDO Mapping method DS 301 V4

Add to configured PDOs Configured PDOs PDO name Symbolic Name COB-ID I Type I Addr. I Len. O Type O Addr. O Len. PDO Contents Mapping... PDO Characteristics... Define new Receive PDO... Define new Transmit PDO... Delete configured PDO Symbolic Names

Note: Here you can change the Node-ID and Description if necessary.

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Examples for Bus Configuration

Step 13

Action Select a PDO, which transfer the data of the Safety Controller and press Add to configured PDOs. Of each PDO the properties must be confirmed. The PDOs contain the following properties: TXPDO5 Mode and Status-Byte, the Input data 1-32 COB-ID e. g. 1668 TXPDO6 Output data 1-8, Input and Output Error COB-ID e. g. 1669 TXPDO7 Diagnosis Hint 1 and 2 COB-ID e. g. 1670 TXPDO8 Diagnosis Hint 3 COB-ID e. g. 1671 Press PDO Characteristics to open the dialog. The following dialog will be displayed:
Note Transmit PDO Characteristics, Master Input Process Data Transmission Mode Node shall use a sychronization message as trigger to send the transmit PDO acyclically Node has to send the transmit PDO at every 10 received sychronization massage OK

14 15

Node shall use a synchronization message as trigger to send the transmit PDO when previously remote requested by the master Node shall send the transmit PDO when remote requested Transmission event of transmit PDO fully node manufacturer specific Transmission event of transmit PDO defined in the device profile of the node

Resulting CANopen specific transmission type

255

Communication Time Node Event time Inhibit time ms ms

200 0

Remote Request Condition CANopen Master Every 0 . Master cycle interval (Request slow down)

Set the Event Timer to 200 ms for each PDO. Note: If the Event Timer is up to 0 and the Transmission Mode is 255 (default settings), the PDO will transmit once at the start up, and when a changing of the data (inputs, outputs, errors or diagnositc) occured, with the exception of Remote Transfer Request. If the Event Timer is up to 0, the cycle data traffic is disabled.
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Examples for Bus Configuration

Step 16 17 18

Action Press OK to confirm the settings. Press Configuration Error Control Protocol to open the Error Control Protocol dialog. The following dialog will be displayed:
Error Control Protocol (Node Id: 2) Use Node Guarding Protocol Guard Time Life Time Factor Use Heartbeat Protocol 200 3 msec. OK Cancel

Master Consumer Time of Node Node Heartbeat Producer Time Node Heartbeat Consumer List Node ID 1 Active Description Master

300 200

msec. msec.

Consumer Time (msec.) 300

Producer Time (msec.) 200

19 20

Select the Error Control Protocol Node Guarding Protocol or Heartbeat Protocol. Select the following parameter: For Node Guarding Protocol Guard Time 200 msec Life Time Factor 2 For Heartbeat Protocol Master Consumer Time of Node 300 msec Node Heartbeat Producer Time 200 msec Node Heartbeat Consumer List Activate the specific master.

21 22 148

Press OK to confirm the Error Control Protocol settings. Press OK to confirm the Node Configuration settings.

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Examples for Bus Configuration

Configuration of Unity Pro for CANopen


Introduction This example show to you to configure Unity Pro for (e.g. Premium TSX with a TSX CPP110 CANopen interface). The following table shows how to configure CANopen bus using SYCON 2.9 and Unity Pro.
Step 1 2 3 Action Start the Unity Pro. Define the controller configuration within Unity Pro. Choose the CANopen master TSX CPP110 and double click it. You will get the following dialog box (extract):
0.0 : Slot B : TSX CPP 110 CAN OPEN PCMCIA CARD TSX CPP 110 Channel 1 Config
Bus startup Automatic Semi-Automatic (bus only) By program Configuration load mode Select Database C:\Syscon\configuration\Preventa_XPS_MC3 945 Words SysCon 1 MBit/s 128 SyCo refresh Nb. of words (%MW) 32 Index of 1st %MW 0 Nb. of words (%MW) Index of 1st %MW Watc Ac De Inputs Outputs

Configure Unity Pro

Configuartion size Unity Pro Transmission speed

Function:

SYNC Message COB-ID

Press Select Database and choose the configuration you have made before with the SYCON tool. See also (see Connection of the XPSMC with CANopen and Sycon 2.8, p. 132) or (see Connection of the XPSMC with CANopen and Sycon 2.9, p. 141). Press OK to confirm the settings. Create your entire Unity Pro controller program. Generate the program. Transfer the program and configuration into the controller. Run the controller.

5 6 7 8 9

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149

Examples for Bus Configuration

Step 10

Action Open the CANopen master by double clicking the module. See also step 3. The following figure will be displayed (extract):
0.0 : Slot B : TSX CPP 110 CAN OPEN PCMCIA CARD TSX CPP 110 Channel 1 Config
Adr. 2

Debug

Fault
Act. Life T. 1 300 Data of CANopen slave Inputs Parameter %MW0 %MW1 %MW2 Output Value 16# Output Parameter Symbol Value OK Symbol Value 16#4601 16#0000 16#0000 Base Bin Hex

CANopen Slaves state Device Name Preventa XPSMC Preventa

Function:

Topologic

%MV

All

11

Debug the program and configuration by using the Debug register within the TSX CPP 110 dialog box. The CANopen Slaves state shows you the state of the modules. The following colors will be used. blue When an error was corrected. It will turn into black when you move the cursor above the text. red When a Slave is not working. black In all other cases. The Data of CANopen slave dialog shows the values, which will be received from the CANopen master.

12 13

In case of an error on the bus, the Fault register will be active. Press OK to confirm the settings.

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Examples for Bus Configuration

Step 14

Action Press Configuration Error Control Protocol to open the Error Control Protocol dialog. The following figure (extract) shows that a slave is not running or an error is occurred (abstract). In that case the slave is disconnected:
0.0 : Slot B : TSX CPP 110 CAN OPEN PCMCIA CARD TSX CPP 110 Channel 1 Internal fault External fault - Slave error (one or more slaves not running or in fault condition) Other fault - X0=1 : channel error, OR logic between bits X8 to X15 - Slave fault - New slave diagnostic Config Debug Fault

Function:

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151

Examples for Bus Configuration

Connection of the XPSMC with Profibus and Sycon 2.9


Introduction This example connects the XPSMC Safety Controller via Profibus to the Profibus master (e.g. Premium TSX with a TSX PBY100 Profibus master interface from Schneider Electric). The fieldbus is configured using Sycon 2.9 from Schneider Electric and the controller is be configured using Unity Pro by Schneider Electric. The following table shows how to configure Profibus using Sycon 2.9 and Unity Pro.
Step 1 2 3 4 5 Action Copy the available GSD file into the directory ..\SyCon\Fieldbus\Profibus\GSD. Copy the available DIB file into the directory ..\SyCon\Fieldbus\Profibus\BMP. Start the Sycon System Configurator. Create a new Profibus configuration File New Insert a Profibus master module under Insert Master and select the Profibus as fieldbus. The following figure will be displayed (abstract):

Configuration Using Sycon 2.9

Master1
Station address DP Master 1 TSX PBY 100

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Examples for Bus Configuration

Step 6

Action Insert a Profibus slave module under Insert Slave. The following dialog will be displayed:
Insert Node Slave Filter Vendor Slave Type All Cancel All Selected slaves XPSMC Add >> Add All >> << Remove << Remove All Master TSX PBY 100 OK

Available slaves SIMADYN D SS52 SIMODRIVE sensor STB NDP 2212 STB test Tego Power APP1 CPF.. VS710 Variable WINbloc 16DI WINbloc 32DO XPSMC Vendor name Ident number GSD file name GSD Revision

Telemecanique 0x0967 SCHN0967.GSD 1.0

Station address 2 Description Slave1

Select the XPSMC module and press Add >> to adopt it to your configuration. Declare the node address and description. The description is limited to 32 characters. Node ID (address) 2 Description Slave1

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153

Examples for Bus Configuration

Step 8

Action Open the slave configuration with a double click on the module. The following dialog will be displayed:
Slave Configuration General Device Description XPSMC Slave1 GSD file SCHN0967.GSD 28 Byte 28 Byte 0 Byte 1 Station address 2 OK Cancel Parameter Data... DPV1 Settings... Assigned master Station address 0 Master0 1 / TSX PBY 100 Actual slave Station address 2 Slave 1 2 / XPSMC Slot Idx Module Symbol Type I Addr. I Len. Type O Addr. O Len. Append Module Remove Module Insert Module Predefined Modules Symbolic Names

Activate node in actual configuration Enable watchdog control Max. length of in-/output date Max. length of input date Max. length of output date Max. number of modules Module XPSMC16P XPSMC32P 28 Byte 28 Byte 0 Byte 1

Length of in-/output date Length of input date Length of output date Number of modules Outputs In/Out Identifier 0x4I, 0x4D 0x4I, 0x4D

Inputs 14 14

Select the XPSMC16ZP or XPSMC32ZP. The following figure shows the available dialog:
Slave Configuration General Device Description XPSMC Slave1 GSD file SCHN0967.GSD 28 Byte 28 Byte 0 Byte 1 Station address 2 OK Cancel Parameter Data... DPV1 Settings... Assigned master Station address 0 Master0 1 / TSX PBY 100 Actual slave Station address 2 Slave 1 2 / XPSMC Slot Idx 1 1 Module XPSMC32P Symbol Modulel Type IW I Addr. I Len. 0 14 Type O Addr. O Len. Append Module Remove Module Insert Module Predefined Modules Symbolic Names

Activate node in actual configuration Enable watchdog control Max. length of in-/output date Max. length of input date Max. length of output date Max. number of modules Module XPSMC16P XPSMC32P 28 Byte 28 Byte 0 Byte 1

Length of in-/output date Length of input date Length of output date Number of modules Outputs In/Out Identifier 0x4I, 0x4D 0x4I, 0x4D

Inputs 14 14

10

Press OK to confirm.

154

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Examples for Bus Configuration

Step 11

Action Save your configuration under File Save as.... The following figure will be displayed after the saving:

Master1
Station address DP Master 1 TSX PBY 100

P R O F I B U S

Slave1
Station address DP Slave 2 XPSMC

12 13

Export your configuration under File Export ASCII. Import the configuration into your Profibus master software, e. g. Unity Pro.

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Examples for Bus Configuration

156

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Glossary

C
CAN Stands for controller area network. The CAN protocol (ISO 11898) for serial bus networks is designed for the interconnection of smart devices (from multiple manufacturers) in smart systems for realtime industrial applications. CAN multi-master systems ensure high data integrity through the implementation of broadcast messaging and advanced error mechanisms. Originally developed for use in automobiles, CAN is now used in a variety of industrial automation control environments. An open industry standard protocol used on the internal communication bus. The protocol allows the connection of any standard CANopen device to the island bus. XPSMC functional status during which the configuration is operational, loaded and tested. An output containing a test signal, which serves exclusively to power the safety outputs of the XPSMC. As each control output operates with another test signal, cross-connections between safety inputs connected to different control outputs can be detected. External voltage or ground connections can also be detected.

CANopen Protocol Configuration Mode Control Output

E
ESPE Stands for electro sensible protective equipment.

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Glossary

F
FE Stands for functional earth. Functional earthing serves to establish the electronic equipment reference system to an interference-free earth potential for the discharge of injected noise emissions (EMC) and to improve interference suppression. Protective and functional earthing are centrally joined at the mass of the electronic equipment (EE). However, procedures for functional earthing are never to offset or should never be able to offset protective measures (also not during start-up).

O
OSSD output signal switching device

P
PDO Stands for process data object. In CAN-based networks, PDOs are transmitted as unconfirmed broadcast messages or sent from a producer device to a consumer device. The transmit PDO from the producer device has a specific identifier that corresponds to the receive PDO of the consumer devices. Stands for Profibus decentralized peripheral. It is an open bus system that uses an electrical network based on a shielded twowire line or an optical network based on a fiber-optic cable. DP transmission allows for high-speed, cyclic exchange of data between the controller CPU and the distributed I/O devices.

Profibus DP

158

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Glossary

R
Release Circuit Switches the control voltage for the part of the machine which generates the dangerous movement. XPSMC functional status during which the connected circuit members are monitored and the safety outputs are switched.

RUN Mode

S
Safety Input Monitored input for connection of switching devices. By using various control outputs (c1 ... c8) to power the safety inputs, cross-connections, external voltage and earth connections can be detected on the safety inputs. Relay or solid-state output activated by the XPSMC logic unit, which are able to cut off the subordinate control elements. Following power-up, operation is inhibited until the existing input signals are switched off and then re-energized (for example, the safety guard is opened and closed again). Maximum time difference allowed between the appearance of two input signals.

Safety Output

Start Inhibition

Synchronization Time

T
TER (Connector for Terminal) 8 pin RJ45 connector for the connections of a PC for the configuration or diagnostic (bus system with Modbus protocol) or connections of another Modbus module (controller, terminals, etc....).

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Glossary

160

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Index

B C A
connection CANopen system, 92 Modbus system, 41 Profibus DP system, 86 serial, 39 USB, 40 connection diagram, 46 connectors, 53

A
add-in devices and functions, 111 application, 24 application example emergency stop, 126 light curtain with muting, 122 safety guard with enabling device, 124 safety mat, 126 two hand control, 126 auto-test, 29

D
DIB, 152 dimensions, 19

C
cable, 58 CANopen, 36, 91 communication port, 92 configuration, 133, 142, 149 error status, 94 master, 133, 142, 149 node, 137, 145 parameter, 91 Sycon 2.8, 132 Sycon 2.9, 141 Unity Pro, 149 wiring, 92 CANopen connection, 38 CANopen network and stub length, 95 CANopen parameters, 97 CANopen/Profibus DP LEDs, 38 communication connections TER, 39 communication cycle period, 136, 144

E
EDM device, 116 EDS, 133, 142, 149 electrical life of the output contacts, 129 elements of the display and system diagnostics, 43 enabling devices, 118 error codes, 55 error control protocol, 139, 148 error status, 88, 94 example CANopen, 132, 141, 149 Profibus, 152 Sycon 2.8, 132 Sycon 2.9, 141, 152 Unity Pro, 149

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Index

F
front view of XPSMC, 36 function, 25

node guarding protocol, 139, 148

O
object dictionary of the XPSMC ZC Safety controller, 99 OR function, 119 output functional elements, 120

G
general description XPSMC16/32, 35 GSD, 152

P H
heartbeat, 136, 144 heartbeat protocol, 139, 148 parameter CANopen, 91 Profibus DP, 85 power supply, 50 Premium PLC communication cards, 60 Profibus, 36 configuration, 152 Sycon 2.9, 152 Profibus DP, 85 communication port, 86 error status, 88 parameter, 85 wiring, 86 Profibus DP input data exchange, 89 Profibus DP parameters, 90 Profibus DP connection, 38

I
initial operation, 29 input circuits, 53 Installation, 20

K
keying, 37

L
LED, 44 LEDs for CANopen, 94 LEDs for Profibus DP, 88 LEDs for the operational status, 43 length of networks and stubs CANopen, 95

R
representation, 17

S
safety relay outputs, 51 selector switch, 119 settings CANopen, 91 Profibus DP, 85 single lead connection, 48 start devices, 117 stub length CANopen, 95 Sycon, 133, 142, 152 Sycon 2.8, 132

M
mechanical structure, 50 Modbus parameters, 83 monitoring devices, 112 multiple lead connection, 48

N
network length CANopen, 95
162

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Index

Sycon 2.9, 141, 152 synchronization, 136, 144

T
technical characteristics, 48 TER connection, 38, 39 terminal, 38, 54 terminal connector, 37 terminal description, 46 terminals, 54 timer, 119 TSX SCY 11601, 60 TSX SCY 21601, 60 TSX SCY 21601 specifications, 60

U
Unity, 63 Unity Pro, 149

X
XPSMC models, 14 XPSMC terminals, 48 XPSMC16/32, 35 general description, 35

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Index

164

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