ABB JokabSafety Section02 Pluto

Pluto Safety PLC
Simplify safety system design!

Supervise all types of safety devices!
Inputs for static/dynamic sensors!
Pluto Safety PLC
Programmable Controller............................................. 2:2
Why should I use
the Pluto Safety PLC?.................................................. 2:4
Pluto Safety PLC facilitates
Compact the Design of your Safety Systems.............................. 2:6
Powerful Technical Information................................................ 2:7
Flexible Pluto Manager and IDFIX.......................................... 2:8
Overview................................................................... 2:8
Expandable
Number of Edens that can be used with Pluto............ 2:9
Modular
Number of Tinas that can be used with Pluto............. 2:10
Pluto without a Safety Bus........................................... 2:11
Technical Data........................................................... 2:12
I/O Overview............................................................. 2:13
Input Connection and Reset Button......................... 2:14
Pluto with a Safety Bus................................................ 2:15
Technical Data........................................................... 2:16
I/O Overview............................................................. 2:17
Certificates................................................................... 2:18
Application Example.................................................... 2:19
Pluto Gateway GATE-P2.............................................. 2:27
Pluto Gateway GATE-D2.............................................. 2:29
Pluto Gateway GATE-C2.............................................. 2:31
Pluto Gateway GATE-E2.............................................. 2:33
Pluto Safety Encoders.................................................. 2:35
Pluto Manager.............................................................. 2:38
Connection Examples.................................................. 2:40
Component List and
Ordering Information.................................................... 2:43
888-282-2123 • www.jokabsafetyna.com ABB JOKAB SAFETY
2:1
Pluto Safety PLC Programmable Controller
Networked Pluto Pluto A20/B20 Pluto AS-i
Pluto is an all-supervisor system in which the inputs Up to 4,800 Dynamic Input Up to 2,240 Dynamic Input
and other information are shared via the databus. Devices on Bus with 128 Devices on Bus, 1,024 AS-i
Several safety sensors can be connected to one input Individual Safe Outputs nodes with 128 Individual
while still achieving the highest level of safety. There Safe Outputs
are also combined inputs and outputs that can be used, Pluto B46
for example, for lamp push buttons where the input Up to 12,480 Dynamic Input Pluto B42 AS-i
and output functions are used simultaneously. Pluto has Devices on Bus with 192 Up to 11,200 Dynamic Input
inputs for all safety devices on the market, and the Pluto Individual Safe Outputs Devices on Bus, 1,024 AS-i
Manager software selects how each input shall respond. nodes with 192 Individual
Pluto with a bus connection is available in several sizes: Safe Outputs
safebus
Pluto B20 Machine #1 ■ Modular Design Gateway
• Sealing • Stamping ■ 32 Plutos Pluto Bridge
• Cutting • Pressing on Safe Bus makes it possible to
■ Maximum increase the databus
55ms Overall length, use different
Response Time databus speeds for
each section and filter
Input Devices ■ Hot Swap information from one
(All Supervisor) section to reduce the
No PC Required databus loading on
other sections.
Pluto Manager
HMI Operator Programming is
communicates with Pluto in both performed using
directions. Connection can be made ladder or Boolean
via the bus or direct to the front of algebra with timers,
the Pluto. The interface is RS232
using ASCII commands. auxiliary memory,
registers, sequential
Profibus DP programming and
Gateway TUV-approved
DeviceNet for non-safe two-way function blocks.
databus communication
CANopen between Pluto and other SOFTWARE INCLUDED WITH PURCHASE
control systems
Profinet
Ethernet/IP
Modbus TCP Pluto AS-i +31 AS-I
B42 AS-i Nodes
• AS-i Safety Supervisor
or Safety Monitor
• Up to 360 Input Devices
Input Devices • Up to 6 Independent
Category 4 Safety Outputs
• Up to 4 Analog Inputs
• Up to 4 Digital Outputs
ABB JOKAB SAFETY 888-282-2123 • www.jokabsafetyna.com
2:2
Compact ■ Powerful ■ Flexible ■ Expandable ■ Modular
Approvals Stand-Alone Pluto

EN 954-1, Category 4 A single Pluto can be used as a fully programmable
safety logic controller. Pluto without a bus connection
EN ISO 13849-1, PL e is also available in two sizes:
EN 61496-1, Type 4
EN 61508, SIL 3 C US
Pluto S20
EN ISO 62061, SIL 3 Up to 20 Standard I/Os or 150 Dynamic Devices
EN ISO 60204-1
EN 50178
Pluto S46
EN ISO 574, Type lllc Up to 46 Standard I/Os or 390 Dynamic Devices
Pluto B46 Pluto S20

Machine #2 • Up to 150 Input Devices
• Bottling • 4 Independent Category 4
• Packaging Safety Outputs
• Welding
• Feeding
Input Devices
Input Devices
Safety Encoders HMI

• Monitor • Increase
Operator
Speed, Production
Direction
and Position
Pluto S46
• Up to 390 Input Devices
• 6 Independent Category 4
Safety Outputs
BT51
Expansion Relay
Several expansion relays
can be connected to a single
Pluto safety output while
retaining the safety level.
Robot Machine #3
2:3
Why should I use
the Pluto Safety PLC?
...for simplifying Conventional ABB Jokab Safety Pluto All-Supervisor
the design! Safety PLC Solution 20 I/O + 20 I/O + 20 I/O
Supervisor with All-Supervisor
Pluto is an “All-Supervisor”
Safety PLC concept that Pluto All-Supervisor
simplifies the design of safety
systems and achieves the Pluto All-Supervisor
highest safety (Category 4)
Pluto All-Supervisor 4 + 4 + 4
according to EN 954-1/EN
safe bus
ISO 13849-1 and SIL 3 Subordinate
according to IEC/EN 61508. Pluto AS-i
The key difference between
32 AS-i Safety + 12 I/O
Pluto and conventional Safety PLCs is that there is no “supervisor-subordinate” Nodes
relationship between the control units connected to the Safe Bus. All Plutos are
“supervisor” units and can see each others’ inputs and outputs. Using this con-
cept, each Pluto can make decisions about its own immediate safety environment.
This concept enables simple communication and easy alterations of the safety
system. With the use of a “gateway” device, information from a Pluto network 6 + 4
can be transferred to other bus systems thereby creating even larger systems.
Gateway units are readily available for a number of different bus-systems — i.e.
Profibus DP, DeviceNet, CANopen, Profinet, Ethernet/IP and Modbus TCP.
Pluto offers an economic solution for both a single machine and for large 46 I/O + 20 I/O
integrated machine systems. Of Pluto B20's I/O, 8 can be configured as both
inputs and outputs (sometimes even as inputs and outputs at the same time)
and 4 are failsafe outputs independent of each other. 32 Plutos can be con-
nected to a twisted pair safe bus system. This enables the amount of physical
I/O connections to be expanded from 20 to 150 for the B20 family and 46 to +
6 4
390 for the B46 family.
...to supervise safety devices!

Most safety devices on the market can be connected stop push buttons, safety switches, etc.) can be con-
directly to the Pluto unit. When using dynamic sen- nected in series to one input on the Pluto. Even
sors from ABB Jokab Safety, the number of I/O mechanical switches can be connected to the
points can be significantly reduced. These sensors “dynamic safety circuit using Jokab Safety’s Tina
enable Category 4 in a dynamic pulse system. Up to adapters. Up to 150 safety devices can be connected
10 sensors can be connected in series to one input. to one Pluto B20 and maintain Category 4 per EN
For example, Eden non-contact sensors, SPOT light 954-1 and ISO 13849-1 PL e.
beams and Tina adapters (interfacing to emergency
Light Light Curtains 3-Position Gate Switches Two-Hand Strips, Mats Emergency
Beams and Grids Devices and Sensors Controls and Bumpers Stop Buttons
2:4
...to save on inputs!
Pluto has inputs for static and dynamic sensors.
Several sensors can be connected to one dynamic
input in accordance with Category 4, PL e, SIL 3.
One input...
Dynamic signals: 1 to 10
sensors while maintaining
Category 4, PL e, SIL 3.
Two inputs...
Static inputs: two mechanical
switches per door while still
maintaining Category 4, PL e,
SIL 3.
One input...
Dynamic signals: 1 to 10 doors
with one Eden per door while
maintaining Category 4, PL e, SIL 3.
One input...
I/O connections: can be used in three
ways — inputs, outputs or both input and
output at the same time (e.g. for a reset
button with lamp indication).
2:5
Pluto Safety PLC
facilitates the
Design of your
Safety Systems
Pluto is an All-Supervisor system for
dynamic and static safety circuits
where inputs and other information are
shared over the bus. Multiple safety
sensors can be connected to a single
input and still achieve the highest level
of safety. Pluto has inputs suited for
every safety product on the market,
and each input function is configured in the
accompanying software, Pluto Manager. Control of
Besides failsafe inputs (I) Pluto has a number of ■ Electrically controlled actuators such as
failsafe relay and transistor outputs (Q). On every contactors, valves, motors
Pluto unit there is also a possibility of using a number ■ Indicators and buttons
of terminals as failsafe inputs, non-failsafe outputs
or both in and output simultaneously (IQ). The Applications
characteristics of the terminals are easily configured ■ Emergency Stops
in Pluto Manager. ■ 3-Position Devices
Safety in Large and Small Systems ■ Interlocked Gates/Hatches
■ Safety Mats
Pluto models without bus communication are stand
■ Light Curtains
alone units and are therefore perfectly suited for
smaller systems that do not require communication ■ Light Beams
with other Pluto units or gateways. Pluto models ■ Two-Hand Devices
with bus communication can be connected to the ■ Contact Strips
Pluto bus where up to 32 Pluto units can interact and ■ Foot-Operated Switches
control large, as well as small, safety systems. The ■ Timing Functions
fact that Pluto is an All-Supervisor system means that ■ Logic Functions
each Pluto unit controls their outputs locally, while it is ■ Math Functions
as easy to read other Pluto units' inputs as it is to read ■ Speed Monitoring Functions
their own. ■ Muting (bypassing)
Specifically for Pluto A20 is that it is equipped with
an analog input for current measurement, which can Features
be used for e.g. monitoring of muting lamps. ■ A Safety PLC for each part of a system
Pluto is primarily designed to satisfy the requirements ■ Modular machine design
of EU Machinery Directive (2006/42/EG) regarding ■ Great flexibility
safety in control systems, but the system can also be
■ Up to 10 sensors in series
used in other areas as in the process industry, boiler connected to one input
plants, etc. which have similar requirements.
■ Software Pluto Manager
Regulations and Standards included with purchase
The Pluto PLC is designed and approved in accor- ■ Custom made safety bus
dance with appropriate directives and standards. Approvals
Examples of such are: EN 954-1/EN ISO 13849-1
Category 4, PL e, EN 61496-1 Type 4, EN 61508 SIL 3 TÜV Rheinland
2:6
Pluto Technical Info
Dynamic Signal IQ – Individual Failsafe Inputs
and Non-Failsafe Outputs
+24 V
The IQ terminals can be used either as individual fail-
safe input or non-failsafe output (e.g. for indicator light
0V
or status signal). The terminal blocks can also be used
as both input and output simultaneously, which is use-
A dynamic signal makes it possible to achieve the
ful for example for push buttons (input) with indicator
highest level of safety with only one conductor. By
light (output). This function is designed primarily for
transmitting a square wave and then evaluating the
reset buttons to reduce the number of used terminal
signal when it comes back to the controller you achieve
blocks on the controller.
the redundancy required. The signal is inverted once
at each safety sensor (if the protection is OK) which I - Individual Failsafe Inputs
makes it possible to detect short circuits across a All inputs are individually failsafe as each input is con-
sensor. When the signal switches between high (+24 V) nected separately to both processors in Pluto. In order
and low (0V) it can be evaluated and tested about 200 to maintain the redundancy required for two-channel
times per second. structure and the highest level of safety, the dynamic
Pluto can generate three unique dynamic signals: signal must be used. When using static signals, two
A pulse, B pulse or C pulse. Short circuits between inputs must be used to achieve two-channel structure.
two different dynamic signals are detected whenever The expected signal to the terminals blocks is deter-
the signal that is created is different from the expected mined in Pluto Manager (static or dynamic signal).
signal in Pluto. The kind of signal Pluto expects at the
input terminal is determined in Pluto Manager (A, B Q - Individual Failsafe Outputs
or C pulse and if the signal should be inverted or not). All Q outputs are individually safe and are indepen-
Static Signal dently programmable. There are both relay outputs and
transistor outputs.
Static signals (+24 V) can be connected to all inputs
on Pluto. The kind of signal Pluto expects at the input Transistor Outputs (-24 VDC)
terminal is determined in Pluto Manager. To achieve a The transistor outputs are just like the relay outputs—
two-channel structure according to EN ISO 13849-1 that is, individually safe and independently program-
you need two inputs. mable. However, the transistor outputs are different
OSSD-Signal from the relay outputs as the internal connection
provides the nominal output voltage -24 VDC, which
+24 V
is primarily intended for controlling electromechani-
cal components such as contactors and valves. As
-24 VDC is a unique signal in the majority of electri-
0V
cal cabinets and the fact that the output is monitored
by Pluto, short circuits with other potentials can be
There are safety products with internal monitoring of detected right away.
dual OSSD signals (the device detects its own faults
rather than Pluto doing this). From these devices, at Pluto-Bus
least one of the two signals is connected to an I-input The Pluto-bus is a CAN-bus with its own safety
in Pluto, i.e. both signals must not be connected to the protocol. The bus cable can be up to 600 m long at
IQ-terminals. The terminal blocks are then configured the minimum bus speed, and up to 150 m at 400 kb/s.
in Pluto Manager to expect static inputs (OSSD signals The bus can be both extended and connected to other
are filtered internally in Pluto). types of buses through gateways.
2:7
Pluto Manager and IDFIX
Pluto Manager IDFIX
The Pluto Manager is a freeware for fast, easy and IDFIX is a identification circuit that is unique to each
safe programming of the PLC program for Pluto. device on the Pluto bus. It includes an identification
The programming language used is ladder, which is code and makes it possible to distribute a PLC pro-
supplemented with TÜV-approved function blocks for gram in the network. There are four different versions:
many common features. R, RW, DATA and PROG. In addition to the identifica-
The software can also be used to configure Pluto's tion code, DATA may also include safety codes from
terminal blocks, e.g. to specify the IQ terminals that the AS-i nodes in an AS-i system. PROG includes the
serve as inputs or outputs, and if the controller should current PLC program and is used with
expect a static or dynamic signal. Pluto Manager can single-Pluto for program distribution.
be downloaded from www.abb.com/lowvoltage, IDFIX is connected between
under Control Products – Safety Products – Program- the input terminals ID
mable Safety Controllers – Pluto Manager. and 0V.
Note: If the Pluto PLC module needs to

be replaced, all the information on this
is held in memory at IDFIX.
Overview Pluto Safety-PLC
AS-i
AS-i
B42
B16
B20
B46
A20
S20
S46
Model
Number of I/O 20 46 20 16 20 46 12 42
Failsafe inputs 8 24 8 8 8 24 4 20
Failsafe inputs or non-failsafe outputs 8 8 8 8 8 8 4 16
Analog inputs 1 3 1 1 1 3 4 3
Failsafe relay outputs 2 4 2 - 2 4 2 4
Failsafe transistor outputs 2 2 2 - 2 2 2 2
Pluto bus - - • • • • • •
Current monitoring - - 2 - - - - -
Dimensions (w x h x d) mm 45 x 84 90 x 84 45 x 84 45 x 84 45 x 84 90 x 84 45 x 84 90 x 84
x 118 x 118 x 118 x 118 x 118 x 118 x 118 x 118
Supply voltage 24VDC 24VDC 24VDC 24VDC 24VDC 24VDC 24VDC 24VDC
2:8
Number of Edens that can be used with Pluto
The table below shows the number of Edens that can ABB Jokab Safety recommends a maximum of
be connected to Pluto with the maximum voltage vari- 10 Edens per Pluto input. The table was prepared
ation. The values have been established in a laboratory according to measurements with connection
environment. The actual possible number of connected example A. If connection example B and 0.34 mm2
Edens may therefore differ from those given in the cable is used (with feed voltage from two directions),
table. The values should be regarded as guidelines; the values for 0.75 mm2 in the tables are used.
Apparatus Enclosure Apparatus Enclosure

X number of X number of
Terminals meters of cable Terminals meters of cable
sensor sensor
Y number of sensors Y number of sensors
Pluto Pluto
sensor X number of sensor
meters of cable
Number of
2 2 2 2
Eden Sensors Even 0.34 mm Odd 0.34 mm Even 0.75 mm Odd 0.75 mm
Meters
Cable
2:9
Number of Tinas that can be used with Pluto
The following table shows the numbers of Tina-3A, The values should be regarded as guidelines; ABB
Tina-6A, Tina-7A and SmileTina that can be connect- Jokab Safety recommends a maximum of 10 Tinas
ed to Pluto with the maximum voltage variation. The per Pluto input. The table was prepared according to
values have been established in a laboratory environ- measurements with connection example A. If connec-
ment. The actual possible number of connected Tinas tion example B and 0.34 mm2 is used, the values for
may therefore differ from those given in the table. 0.75 mm2 in the tables are used.
Apparatus Enclosure Apparatus Enclosure

X number of X number of
Terminals meters of cable Terminals meters of cable
sensor sensor
Y number of sensors Y number of sensors
Pluto Pluto
sensor X number of sensor
meters of cable
Number of
2
Tina Devices Even 0.34 mm Odd 0.34 mm2 Even 0.75 mm2 Odd 0.75 mm2
Meters
Cable
2:10
Pluto without a Safety Bus
The Pluto S20 and Pluto S46 versions are safety PLCs Using an expansion relay, such as BT50, the number
that are designed for safety and protection products of safe outputs in Pluto can be expanded. The con-
installed locally on a machine. With a wide range of nection will then be made as shown in the figure.
connectivity options, a lot of protection is integrated If IDFIX PROG is used for single-Pluto, there is the
into a PLC which in turn controls, for example, one or option of copying a PLC program via the identifica-
more safe outputs in a qualified manner without risk- tion circuit over to Pluto without having to connect a
ing a dangerous situation. computer.
Single Pluto controls

and monitors safety
for local systems — large
systems, as well as
small systems.
20/46 I/O
Pluto S20 Pluto S46 BT51
Patented Patented
Solution Solution
Contactor
HMI Expansion
A HMI-terminal is Several expansion
easy to connect to relays can be con-
the Pluto through the nected to a single
programming port. Pluto safety output
while retaining
the safety level.
Pluto Manager
A free-of-charge
software is available
on our website.
See page 2:38 for
more information.
2:11
Pluto without a Safety Bus General Technical Data
Manufacturer ABB AB/Jokab Safety, Sweden Non-failsafe outputs Q
Color Grey Type Transistor +24V, PNP "open
collector" also configurable as
Operating voltage 24V DC ±15% failsafe inputs
Installation 35 mm DIN rail Max. current/output 800 mA
Electrical insulation Category II in accordance with Temperature
IEC 61010-1 Ambient temperature –10˚C to +50˚C
Level of safety Storage and transport –25˚C to +55˚C
EN 954-1 Cat. 4 Response times
EN ISO 13849-1 PL e/cat. 4 Dyn. A or static input to relay output <20.5 ms + program exec. time
EN 61508 SIL 3 Dyn. A or static input to <16.5 ms + program exec. time
EN 62061 SIL 3 transistor output
PFHd Dyn. B or Dyn. C input to <23 ms + program exec. time
Relay output 2.00×10 -9 relay output
Transistor output 1.50×10 -9 Dyn. B or Dyn. C input to <19 ms + program exec. time
transistor output
Type +24 V (for PNP sensors), Software setting "NoFilt" 5 ms shorter response time on
IQ also configurable as I & IQ inputs
non-failsafe outputs
Current at 24 V 5.1 mA Additional response times
Databus between Pluto units 10 ms
Max. overvoltage 27 V continuous
Databus between Pluto units on
Safe outputs Q error 10–40 ms
Q2–Q3 Transistor, –24VDC, 800 mA
Classification
Output voltage tolerance Supply voltage - 1.5 V at Enclosure IP 40, IEC 60 529
800 mA
Connection terminals IP 20, IEC 60 529
Q0, Q1, (Q4, 5) Relay outputs
AC-1: 250 V/1.5 A
AC-15: 250 V/1.5 A
DC-1: 50 V/1.5 A
DC-13: 24 V/1.5 A
Pluto without a Safety Bus Type-Specific Technical Data
The terminal blocks

are detachable without
needing to disconnect
the wiring. The units are
assembled with a gap of
at least 5 mm.
Pluto S20 Pluto S46

20 I/O 46 I/O
Non-Pluto Safety bus Non-Pluto Safety bus
Ordering information see page 2:43 see page 2:43
Failsafe inputs 8 (I0..I7) 24 (I0..I7, I30..37, I40..I47)
Failsafe inputs or non-failsafe outputs 8 (IQ10..IQ17) 16 (IQ10..IQ17)
Max total load 2.5 A (IQ20..IQ27)
Max. total load 2A (per bank)
Analog inputs 1 (I5) 0..27V 3 (I5) 0..27 V
Failsafe relay outputs 2 (Q0..Q1) 4 (Q0..Q1 & Q4..Q5)
Failsafe transistor outputs 2 (Q2..Q3) 2 (Q2..Q3)
Current monitoring – –
Pluto Safety bus – –
Own current consumption 100...300 mA 100...500 mA
Recommended external fuse 6A 10A
Dimensions (w x h x d) 45 x 84 x 118 mm 90 x 84 x 118 mm
2:12
I/O Overview - Pluto without a Safety Bus
IDFIX
ID: Connection for identifier, which has a unique ID number that can be read by the system.
I.. Safety inputs (24 VDC) that are individually secure. This means that the highest level of safety can
be achieved with only one input if ABB Jokab Safety dynamic safety components are used.
Otherwise two inputs are required for each safety function.
IQ.. I/O that can be used for safety inputs or signal outputs, e.g. to indicate or control functions that
are not safety-related. For IQ.. as safety inputs, refer to I..
Q0, Q1: Failsafe relay outputs that are individually failsafe and individually programmable.
Q2, Q3: Failsafe transistor outputs (-24 VDC) that are individually failsafe and individually programmable.
Intended for electro-mechanical components such as contactors and valves.
Q4, Q5: Failsafe relay outputs with common potential that are individually failsafe and individually
programmable.
2:13
Input Connection
The system offers solutions for both single and two- In a single channel system the dynamic signal is
channel safety devices. In order to monitor wiring modified at each sensor. A short-circuit between the
short-circuits it is possible to use up to three different input and the output of the sensor will be detected at
dynamic signals and static voltage (+24 V) to supply the Pluto input. PL e according to EN ISO 13849-1
the inputs. The inputs are then programmed to only can thus be achieved by using only one channel and
accept one of the signal types. one input.
In a two-channel system both channels will be
measured, using two different signals. The system will
therefore be able to detect a short-circuit between
the channels.
Emergency
stop with Eden sensor
Tina
Spot light
beam
Emergency
stop with
Tina
Two-channel system Single channel dynamic system
Input connection alternative in accordance with PL e EN ISO 13849-1.
Reset Button that uses the combined Input and Output Facility
Both a lamp and a pushbutton can be connected to
the same terminal. This function is for resetting safety
devices and to reduce the number of I/Os used.
2:14
Pluto with a Safety Bus
Pluto versions with a safety bus have the same prop- All-Supervisor system means that each Pluto device
erties as single-Plutos without bus communication. controls its outputs locally, while it is as easy to read
With the help of the Pluto-bus, networks can be cre- other Pluto units’ inputs as it is to read their own. It
ated with multiple Plutos in interaction. Gateways can is also easy to both read and write to global memory
be connected to the Pluto bus for communication with locations available across the Pluto bus. The PLC
other systems. The gateway models GATE D2 and C2 program is created using the Pluto Manager freeware
can also be used as an extension of the bus cable to and is distributed to all Pluto units. You can also con-
extend the Pluto network. The fact that Pluto is an nect speed and position sensors via the Pluto bus.
Pluto models with a

safety bus control and
monitor safety for dis-
persed systems — large
systems, as well as
small systems. 20/46 I/O
Profibus DP
DeviceNet
CANopen
Profinet
Ethernet/IP
Modbus TCP
Gateway
For two-way bus
communication between Pluto HMI
and other control systems. A HMI-terminal is easy
to connect to one or
more Plutos through
the programming port.
Current Monitoring
(Pluto A20 only)
Pluto A20 can monitor the
current through the IQ16 and
IQ17 outputs. The function is
designed for, but not limited
to, ensuring that the muting
lamps are working. The hard-
ware for current monitoring
is not designed with individual Pluto Manager
redundancy, which means A free-of-charge
that the function must be software is available
used dynamically if it is to be on our website.
used in a safety function. See page 2:38 for
This means that the current more information.
must be read and evaluated
both when the output is
enabled and disabled.
2:15
Pluto with a Safety Bus General Technical Data
Manufacturer ABB AB/Jokab Safety, Sweden Temperature
Color Grey Ambient temperature –10˚C to +50˚C
Storage and transport –25˚C to +55˚C
Operating voltage 24V DC ±15%
Pluto Safety bus
Installation 35 mm DIN rail Max number of Pluto units on the
Electrical insulation Category II in accordance with databus 32
IEC 61010-1 Databus type CAN
Safety level Databus speeds 100, 125, 200, 250, 400, 500,
EN 954-1 Cat. 4 800, 1000 kb/s
EN ISO 13849-1 PL e/cat. 4 Databus cable length Up to 600 m, 150 m at 400 kb/s
EN 61508 SIL 3 Response times
EN 62061 SIL 3 Dyn. A or static input to relay output <20.5 ms + program exec. time
PFHd Dyn. A or static input to <16.5 ms + program exec. time
Relay output 2.00×10 -9 transistor output
Transistor output 1.50×10 -9 Dyn. B or Dyn. C input to relay <23 ms + program exec. time
output
Failsafe inputs I & IQ
Type +24 V (for PNP sensors), IQ also Dyn. B or Dyn. C input to <19 ms + program exec. time
configurable as non-failsafe transistor output
outputs Software setting "NoFilt" 5 ms shorter response time on
Current at 24 V 5.1 mA I & IQ inputs
Max. overvoltage 27 V continuous Additional Response times
Databus between Pluto units 10 ms
Safe outputs Q
Q2–Q3 Transistor, –24VDC, 800 mA Databus between Pluto units on
error 10–40 ms
Output voltage tolerance Supply voltage - 1.5 V at
800 mA Classification
Q0, Q1, (Q4, 5) Relay outputs Enclosure IP 40, IEC 60 529
AC-1: 250 V/1.5 A Connection terminals IP 20, IEC 60 529
AC-15: 250 V/1.5 A
DC-1: 50 V/1.5 A
DC-13: 24 V/1.5 A
Non-failsafe outputs Q
Type Transistor +24V, PNP "open
collector" also configurable as
failsafe inputs
Max. current/output 800 mA
Pluto with a Safety Bus Type-Specific Technical Data
The terminal blocks

are detachable
without needing to
disconnect the
wiring. The units are
assembled with a
gap of at least 5 mm.
Pluto A20 Pluto B16 Pluto B20 Pluto B46

20 I/O 16 I/O 20 I/O 46 I/O
Current monitoring Non-failsafe outputs
Ordering information see page 2:43 see page 2:43 see page 2:43 see page 2:43
Failsafe inputs 8 (I0..I7) 8 (I0..I7) 8 (I0..I7) 24 (I0..I7, I30..37, I40..I47)
Failsafe inputs or 8 (IQ10..IQ17) 8 (IQ10..IQ17) 8 (IQ10..IQ17) 16 (IQ10..IQ17) (IQ20..IQ27)
non-failsafe outputs Max total load 2.5 A Max total load 2.5 A Max total load 2.5 A Max. total load 2A (per bank)
Analog inputs 1 (I5) 0..27V 1 (I5) 0..27V 1 (I5) 0..27V 3 (I5) 0..27 V
Failsafe relay outputs 2 (Q0..Q1) – 2 (Q0..Q1) 4 (Q0..Q1 & Q4..Q5)
Failsafe transistor outputs 2 (Q2..Q3) – 2 (Q2..Q3) 2 (Q2..Q3)
Current monitoring 2 (IQ16, IQ17) 0-1.0 A ±10% – – –
Pluto Safety bus • • • •
Own current consumption 100...300 mA 100...300 mA 100...300 mA 100...500 mA
Recommended external fuse 6A 6A 6A 10A
Dimensions (w x h x d) 45 x 84 x 118 mm 45 x 84 x 118 mm 45 x 84 x 118 mm 90 x 84 x 118 mm
2:16
I/O Overview - Pluto with a Safety Bus
IDFIX
ID: Connection for identifier, which has a unique ID number that can be read by the system.
I.. : Safety inputs (24 VDC) that are individually secure. This means that the highest level of safety can be
achieved with only one input if ABB Jokab Safety dynamic safety components are used.
Otherwise two inputs are required for each safety function.
IQ.. : I/O that can be used for safety inputs or signal outputs, e.g. to indicate or control functions that are not
safety-related. For IQ.. as safety inputs, refer to I..
Q0, Q1: Failsafe relay outputs that are individually failsafe and individually programmable.
Q2, Q3: Failsafe transistor outputs (-24 VDC) that are individually failsafe and individually programmable.
Intended for electro-mechanical components such as contactors and valves.
Q4, Q5: Failsafe relay outputs with common potential that are individually failsafe and individually programmable.
2:17
Certificates
2:18
Application Example
Robot Cell with Pluto
Description Function
The example describes a processing machine served Emergency stop takes priority and will stop both the
by a robot. The machine safety system consists of one machine and the robot. The machine hatch acts as the
(Pluto 1) to which all protection has been connected. zone divider, when the hatch is closed the machine
The robot has been equipped with a (Pluto 0) to which forms one zone and the robot another zone. When
the cell protection has been connected. The Pluto for the machine hatch is open, both the machine and the
the machine has been connected via a databus cable robot belong to the same zone. If the door is opened
to the robot's Pluto so that common functions, such as when the machine hatch is open, the machine and the
emergency stop, can be used by the whole cell. robot will both stop, but if the machine hatch is closed,
only the robot will be stopped.
After the door has been opened, the system must be
reset by means of the reset button on the outside of
the door.
Note: The cell operating cycle must not start
immediately on resetting the emergency stop
or the door.
2:19
Electrical Connections
SEE DISCLAIMER ON PAGE 2:45
2:20
Pluto 0 Settings – Robot Cabinet
Pluto 0
I0.0=P0_ES1_Ch1: Emergency stop 1 channel 1 - Static
I0.1=P0_ES1_Ch2: Emergency stop 1 channel 2 - Dynamic A non-inverted
I0.2=P0_Eden1: Door Eden sensor - Dynamic A
I0.15=P0_LB1_In: Reset Door - Light button input - Dynamic A
Q0.2=P0_AS_OK: Robot auto stop - Expansion BT50 relay
Q0.3=P0_ES: Robot emergency stop - Expansion BT50 relay
GM0.0=P0_ES_OK: Emergency stop OK in Pluto 0
2:21
Pluto 1 Settings – Machine Cabinet
Pluto 1
I1.1=P2_ES1_Ch1: Emergency stop 1 channel 1 - Dynamic A non-inverted
I1.2=P2_ES1_Ch2: Emergency stop 1 channel 2 -Static
I1.3=P2_IS1_Ch1: Interlocking switch channel 1 - Dynamic A non-inverted
I1.4=P2_IS1_Ch2: Interlocking switch channel 2 - Static
I1.15=P2_LB1_In: Reset Hatch - Light button input - Dynamic A
Q1.0=P2_ES: Machine Emergency stop
Q1.1=P2_PS: Machine protective stop
GM1.0=P2_ES_OK: Emergency stop OK in Pluto 1
GM1.1=P2_Hatch_OK: Hatch closed
2:22
PLC Code Pluto 0 Settings – Robot Cabinet
1
Start
2 Two channel monitoring with manual reset of emergency stop at the door.
P0_ES1_Ch1 TC1S P0_ES_OK

I0.0 GM0.0
In1 Q
P0_ES1_Ch2
I0.1
In2
P0_LR1_In
I0.15
N Start
GM0.0=P0_ES_OK Emergency stop OK in Pluto 0

I0.0=P0_ES1_Ch1 Emergency stop 1 channel 1 - Static
I0.1=P0_ES1_Ch2 Emergency stop 1 channel 2 - Dynamic A non-inverted
3 Emergency stop of robot.
When the emergency stop is actuated the robot will make an emergency stop.
In order to restore safety requires the emergency stop button needs to be reset.
An emergency stop from the machine panel will also emergency stop the robot.
P0_ES_OK P1_ES_OK P0_ES

GM0.0 GM1.0 Q0.3

Q0.3=P0_ES Robot emergency stop - Expansion BT50 relay
4 Auto stop of robot.
When the door to the robot cell is opened the robot is auto stopped.
To reset the safety the door needs to be closed and the reset button pressed and released.
Note that IQ15 of the Pluto is used both as a button in and to indicate diffirent reset states.
Constant light means reset is not possible, safety not ok.
Flash 0.4 s high, 0.6 s low means reset is possible but not performed.
No light means reset has been performed and the safety is ok.
P0_Eden1 ResetT P0_AS_OK

I0.2 Q0.2
In1 Q
P0_LB1_In P0_LB1_Out
I0.15 Q0.15
N Reset
IndReset
Test
I0.15=P0_LB1_In Reset Door - Light button input - Dynamic A

I0.2=P0_Eden1 Door Eden sensor - Dynamic A
Q0.15=P0_LB1_Out Reset Door - Light button output - Static
Q0.2=P0_AS_OK Robot auto stop - Expansion BT50 relay
2:23
PLC Code Pluto 0 Settings – Robot Cabinet (continued)
5 Alarm 03 - Machine hatch open.
To generate User Errors (UE) a value of 200 - 299 can be written to the display of the Pluto.
A check of System Register 11 (SR11) in the Pluto prioritises errors from the Pluto itself over User Errors.
P1_Hatch_OK P0_AS_OK SR_ErrorCode=0 SR_PlutoDisplay=203

GM1.1 Q0.2 SR0.11=0 SR0.10=203
GM1.1=P1_Hatch_OK Hatch closed

SR0.10=SR_PlutoDisplay Pluto display figure. For user error: 200+no
SR0.11=SR_ErrorCode Error code
6 Alarm 02 - Door open.
P0_Eden1 SR_ErrorCode=0 SR_PlutoDisplay=202

I0.2 SR0.11=0 SR0.10=202

7 Alarm 01 - Emergency stop actuated.
P0_ES_OK SR_ErrorCode=0 SR_PlutoDisplay=201

GM0.0 SR0.11=0 SR0.10=201

2:24
PLC Code Pluto 1 Settings – Machine Cabinet
1
Start
2 Two channel monitoring with automatic reset of emergency stop at the machine hatch.
P1_ES1_Ch1 TC1S P1_ES_OK

I1.1 GM1.0
In1 Q
P1_ES1_Ch2
I1.2
In2
P0_LR1_In
I0.15
N Start

I1.1=P1_ES1_Ch1 Emergency stop 1 channel 1- Dynamic A non-inverted
I1.2=P1_ES1_Ch2 Emergency stop 1 channel 2 - Static
3 Two channel monitoring with automatic reset of interlocking switch of the machine hatch.
P1_IS1_Ch1 TC1S P1_Hatch_OK

I1.3 GM1.1
In1 Q
P1_IS1_Ch2
I1.4
In2
Start

I1.3=P1_IS1_Ch1 Interlocking switch channel 1 - Dynamic A non-inverted
I1.4=P1_IS1_Ch2 Interlocking switch channel 2 - Static
4 Emergency stop of machine.
When the emergency stop is actuated the machine will make an emergency stop.
In order to restore safety requires the emergency stop button needs to be reset.
An emergency stop from the robot will also emergency stop the machine.
P1_ES_OK P0_ES_OK P1_ES

GM1.0 GM0.0 Q1.0

Q1.0=P1_ES Machine Emergency Stop
5 Monitoring of the hatch.
When the hatch is opened the monitoring of the hatch is inactive.

To reset the safety the hatch needs to be closed and the reset button pressed and released.
Note that IQ15 of the Pluto is used both as a button in and to indicate different reset states.
P1_Hatch_OK ResetT HB_Hatch_OK

GM1.1 M1.0
In1 Q
P1_LB1_In HB_Ind_Hatch_OK
I1.15 M1.1
N Reset
IndReset
Test

I1.15=P1_LB1_In Reset Hatch - Light button input - Dynamic A
M1.0=HB_Hatch_OK Help Bit - Hatch closed
M1.1=HB_Ind_Hatch_OK Help Bit - Indication Reset Hatch
888-282-2123
6 • www.jokabsafetyna.com
Light button indication of the reset of the hatch. ABB JOKAB SAFETY
If the robot cell's door is closed and reset no light indication is needed inside the cell.
HB_Ind_Hatch_OK P0_AS_OK P1_LB1_Out 2:25

M1.1 Q0.2 Q1.15

Q1.15=P1_LB1_Out Reset Hatch - Light button output - Static
To reset the safety the hatch needs to be closed and the reset button pressed and released.
Note that IQ15 of the Pluto is used both as a button in and to indicate different reset states.
P1_Hatch_OK ResetT HB_Hatch_OK

GM1.1 M1.0
In1 Q
P1_LB1_In HB_Ind_Hatch_OK
I1.15 M1.1
N Reset
IndReset
PLC Code Pluto 1 Settings – Machine Cabinet (continued) Test

I1.15=P1_LB1_In Reset Hatch - Light button input - Dynamic A
6 Light button indication of the reset of the hatch.
If the robot cell's door is closed and reset no light indication is needed inside the cell.
HB_Ind_Hatch_OK P0_AS_OK P1_LB1_Out

M1.1 Q0.2 Q1.15

Q1.15=P1_LB1_Out Reset Hatch - Light button output - Static
7 Protective stop of the machine.
Either the hatch is closed and reset or the door to the robot cell is closed and reset.
This means the cell can work with the hatch both open or closed as long as the cell's door is closed and reset.
HB_Hatch_OK P1_PS
M1.0 Q1.1
P0_AS_OK
Q0.2

Q1.1=P1_PS Machine Protective Stop
8 Alarm 03 - Machine hatch open.
P1_Hatch_OK P0_AS_OK SR_ErrorCode=0 SR_PlutoDisplay=203

GM1.1 Q0.2 SR1.11=0 SR1.10=203

9 Alarm 02 - Door open.
P0_Eden1 SR_ErrorCode=0 SR_PlutoDisplay=202

I0.2 SR1.11=0 SR1.10=202

10 Alarm 01 - Emergency stop actuated.
P1_ES_OK SR_ErrorCode=0 SR_PlutoDisplay=201

GM1.0 SR1.11=0 SR1.10=201

2:26
Pluto Gateway
GATE-P2
Pluto Gateway is a unit providing two-way commu-
nication between a Pluto Safety PLC and other field Profibus DP
buses.
It is a compact unit mounted on a DIN rail and can
be connected anywhere in a Pluto Safety bus. The Pluto Safety Bus LED
unit has a common interface with Pluto, i.e. the same
cabling, and the Pluto Manager PC program can “K” Button
be used for servicing and — where necessary — for
programming. Normally, however, all the settings PC Port
are made via a DIP switches, which means that
programming tools are not required to put the Profibus LED
gateway itself into operation.
For programming Pluto there are ready-made Profibus Connector
function blocks which, via a Pluto gateway, send and
receive data from the supervisory system.
Data from Pluto
Via PROFIBUS, a supervisory PLC system can have
access to the I/O and other variables in a Pluto Safety
PLC. Global I/O in a Pluto Safety PLC are accessible Applications
via PROFIBUS modules in the gateway — one module
for each Pluto unit. Local data in Pluto units can be ■ Bi-directional status information
read by a "local data” module together with the PLC from the Pluto Safety PLC
codes in the supervisory system. ■ For Profibus
Data to Pluto Features

Via PROFIBUS, a supervisory PLC system can trans- ■ Two-way communication
mit non-safety-related information to a Pluto Safety ■ Built-in filter function, shared network
PLC. A total of 64 Boolean values and 8 different ■ Only 22.5 mm wide
16-bit registers can be transmitted. Function blocks ■ Can be located anywhere in the databus
for these functions are available in Pluto Manager. ■ Common interface with Pluto
■ Ready-made function blocks
PLC Function Blocks
To simplify the integration of a Pluto gateway
PROFIBUS into the supervisory PLC system, ABB
Jokab Safety provides ready-made function blocks for
several popular brands of PLC. The function blocks
make it easier to receive and send information to the
Pluto system.
2:27
GATE-P2 Technical Data
Manufacturer ABB AB/Jokab Safety, Sweden Status indication Pluto Safety bus status indication
Ordering information see page 2:43 via LED
PROFIBUS status indication via
Databuses Pluto Safety bus CAN (isolated) LED
PROFIBUS RS485 (isolated)
Operating voltage 24 V DC, -15% till +20%
Pluto Safety bus speeds 100, 200, 250, 400, 500, 800 and
1000 kbit/s Current at 24 V < 100 mA
(automatic speed detection) (recommended fuse ≤6 A)
PROFIBUS speed Up to 12 Mbit/s Dimensions (w x h x d) 22.5 x 101 x 119 mm
(automatic speed detection) Installation 35 mm DIN rail
PROFIBUS address Setting via DIP switches (0-99) Temperature
PROFIBUS version DP slave, DP-V0 Ambient temperature -10°C to + 55ºC
Storage and transport -25°C to + 55ºC
Connections
Top 3-pole terminal for Pluto Safety bus Humidity EN 60 204-1 50% at 40ºC
(included) (ambient 90% at 20ºC)
Front standard 9-pole PROFIBUS Classification
connection Enclosure IP 20 - IEC 60 529
Bottom 2-pole terminal for 24 V DC Terminals IP 20 - IEC 60 529
(included)
119 mm
101 mm
22.5 mm
2:28
Pluto Gateway
GATE-D2
nication between a Pluto Safety PLC and other field DeviceNet
buses.
be connected anywhere in a Pluto Safety bus. The Pluto Safety Bus LED
unit has a common interface with Pluto, i.e. the same
cabling, and the Pluto Manager PC program can “K” Button
be used for servicing and — where necessary — for
programming. Normally, however, all the settings are PC Port
made via a DIP switches, which means that program-
ming tools are not required to put the gateway itself DeviceNet LED
into operation.
For programming Pluto there are ready-made func- DeviceNet Connector
tion blocks which, via a Pluto gateway, send and
Data from Pluto
Via DeviceNet, a supervisory PLC system can have
PLC. Global and local data in a PLC to Safety PLC is Applications
accessible via DeviceNet "implicit" or "explicit" mes- ■ Bi-directional status information
sages with a maximum of 64 words per gateway. from the Pluto Safety PLC
■ For DeviceNet and Pluto bridge
Data to Pluto
Via DeviceNet, a supervisory PLC system can transmit Features
non-safety-related information to a Pluto Safety PLC. ■ Two-way communication
A total of 64 Boolean values and 8 different 16-bit ■ Built-in filter function, shared network
registers can be transmitted (via DeviceNet ”implicit” ■ Only 22.5 mm wide
or ”explicit” messages). Function blocks for these ■ Can be located anywhere in the databus
commands are available in Pluto Manager. ■ Common interface with Pluto
Pluto Bridge ■ Ready-made function blocks
A GATE-D2 can also be used to advantage as a CAN
bridge when it is required to divide a Pluto Safety bus
into several sections. This is particularly useful when
long databus cables are needed.
There is also a built-in filter function which makes
it possible to block any data that is not required for
use on the other side of the bridge, which reduces the
databus loading in the other sections and therefore
permits longer databus cables.
ABB Robotics IRC5
PLUTO GATE-D2 has support for integration into an
ABB Robotics IRC5-system. The documentation that
describes this integration can be obtained via
www.abb.com/lowvoltage, under Control Products -
Safety Products - Programmable Safety Controllers
- Gateways - Data.
2:29
GATE-D2 Technical Data
Manufacturer ABB AB/Jokab Safety, Sweden Status indications Pluto Safety bus status indication
DeviceNet MNS status indication
Databuses Pluto Safety bus CAN (isolated) via LED
DeviceNet CAN (isolated)
DeviceNet speeds 125, 250 and 500 kbit/s Dimensions (w x h x d) 22.5 x 101 x 119 mm
(set via DIP switch) Installation 35 mm DIN rail
DeviceNet address Setting via DIP switches (1-63) Temperature
DeviceNet Version ODVA version 2.0 Ambient operating temperature -10°C to + 55ºC
Connections Transport and storage -25°C to + 55ºC
Top 3-pole terminal for Pluto Safety bus Humidity EN 60 204-1 50% at 40ºC
(included) (ambient 90% at 20ºC)
Front 5-pole terminal for DeviceNet Classification
(included) Enclosure IP 20 - IEC 60 529
Bottom 2-pole terminal for 24 V DC Terminals IP 20 - IEC 60 529
(included)
119 mm
101 mm
22.5 mm
2:30
Pluto Gateway
GATE-C2
nication between a Pluto Safety PLC and other field CANopen
buses.
be connected anywhere in a Pluto Safety bus. The unit Pluto Safety Bus LED
has a common interface with Pluto, i.e. the same ca-
bling, and the Pluto Manager PC program can be used “K” Button
for servicing and — where necessary — programming.
Normally, however, all the settings are made via a DIP PC Port
switches, which means that programming tools are not
required to put the gateway itself into operation. CANopen LED
For programming Pluto there are ready-made
function blocks which, via a Pluto gateway, send and CANopen Connector
Data from Pluto
Via CANopen, a supervisory PLC system can have
PLC. Global I/Os in a Pluto Safety PLC are accessi-
ble via CANopen PDO messages. Local data in Pluto Applications
units can be read via CANopen SDO messages to- ■ Bi-directional status information
gether with the PLC codes in the supervisory system. from the Pluto Safety PLC
■ For CANopen and Pluto bridge
Data to Pluto
Via CANopen, a supervisory PLC system can send Features
non-safety-related information to a Pluto Safety PLC. ■ Two-way communication
A total of 64 Boolean values and 8 different 16-bit ■ Built-in filter function, shared network
registers can be transmitted (CANopen PDO or SDO ■ Only 22.5 mm wide
messages). Function blocks for these commands are ■ Can be located anywhere in the databus
available in Pluto Manager. ■ Common interface with Pluto
Pluto Bridge
A GATE-C2 can also be used to advantage as a CAN
bridge when it is required to divide a Pluto Safety bus
into several sections. This is particularly useful when
long databus cables are needed.
There is also a built-in filter function which makes
it possible to block any data that is not required for
use on the other side of the bridge, which reduces the
databus loading in the other sections and therefore
permits longer databus cables.
2:31
GATE-C2 Technical Data
Manufacturer ABB AB/Jokab Safety, Sweden Status indications Pluto Safety bus status indication
CANopen status indication via
Databuses Pluto Safety bus CAN (isolated) LED
CANopen CAN (isolated)
CANopen speeds 125, 250 and 500 kbit/s Dimensions (w x h x d) 22.5 x 101 x 119 mm
(set via DIP switch) Installation 35 mm DIN rail
10, 20, 50, 100, 125, 250, 500, 800 Temperature
and 1000 kbit/s (via software) Ambient operating temperature -10°C to + 55ºC
CANopen address Setting via DIP switches or Transport and storage -25°C to + 55ºC
software (1-63)
Humidity EN 60 204-1 50% at 40ºC
CANopen version ”Version 4.02 of the CiA Draft (ambient 90% at 20ºC)
Standard 301”
Classification
Connections Enclosure IP 20 - IEC 60 529
Top 3-pole terminal for Pluto Safety bus Terminals IP 20 - IEC 60 529
(included)
Front 5-pole terminal for CANopen
(included)
Bottom 2-pole terminal for 24 V DC
(included)
119 mm
101 mm
22.5 mm
2:32
Pluto Gateway
GATE-E2
Profinet
nication between a Pluto Safety PLC and other field
buses. Ethernet/IP
It is a compact unit mounted on a DIN rail and can Modbus TCP
be connected anywhere in a Pluto Safety bus. The unit
has a common interface with Pluto, i.e. the same ca- Pluto Safety Bus LED
bling, and the Pluto Manager PC program can be used
for servicing and — where necessary — programming. “K” Button
Normally, however, all the settings are made via a DIP
switches, which means that programming tools are not PC Port
required to put the gateway itself into operation.
Ethernet
For programming Pluto there are ready-made mod status
function blocks which, via a Pluto gateway, send and
receive data from the supervisory system. Ethernet Connector
network status
Protocol Ethernet Connector
PLUTO Gateway GATE-E2 handles the status from
and to Pluto Safety PLCs via Ethernet protocols
Ethernet/IP, PROFINET, Modbus TCP and a simple
binary protocol that uses TCP/IP. Applications
For IP-address configuration, etc. there is a simple ■ Bi-directional status information
web server and a terminal server. from the Pluto Safety PLC
■ Profinet, Ethernet/IP, Modbus TCP
Data from Pluto
Via one of the Ethernet protocols, a supervisory Features
PLC system can have access to the I/O and other ■ Two-way communication
variables in a Pluto Safety PLC. Global I/Os in a Pluto ■ Built-in filter function, shared network
Safety PLC are accessible via the usual I/O transfer ■ Can be located anywhere in the databus
in the respective protocol. Local data in Pluto units ■ Common interface with Pluto
can be read by special commands together with the ■ Ready-made function blocks
PLC codes in the supervisory system.
Data to Pluto
Via the Ethernet protocol, a supervisory PLC system
can transmit non-safety-related information to a
Pluto Safety PLC. A total of 64 Boolean values and
8 different 16-bit registers can be transmitted.
Function blocks for these functions are available in
Pluto Manager.
2:33
GATE-E2 Technical Data
Manufacturer ABB AB/Jokab Safety, Sweden Terminal server (TCP/IP) Simple server with the same
Ordering information see page 2:43 commands as via the serial
programming port in the unit
Databuses Pluto-bus CAN (isolated)
Profinet (isolated) IP address Static sharing via web server or via
Ethernet/IP (isolated) programming port
Modbus TCP (isolated) Gateway configuration Takes place via EtherNet/IP,
Pluto Safety bus speeds 100, 200, 250, 400, 500, 800 and PROFINET, Modbus TCP or
1000 kbit/s via the binary TCP/IP server
(automatic speed detection) Connections
Ethernet 10/100 Mbit/s Top 3-pole terminal for Pluto Safety bus
Half and full duplex (included)
Front Ethernet connection via RJ-45
Ethernet protocol Status from and to Pluto Safety PLC
- EtherNet/IP (screened cable cat. 5e FTP)
- PROFINET (in development) Bottom 2-pole terminal for 24 V DC
- Modbus TCP (included)
- Binary server (TCP/IP) Status indications Pluto Safety bus status indication via
Note that certain combinations of LED (Pluto Safety bus)
server protocols cannot be used Ethernet module status indication via
simultaneously. LED (Mod Status)
Gateway status and IP address Ethernet network status indication
configuration via LED (Net Status)
- Web server Operating voltage 24 V DC, -15 % till +20 %
- Terminal server (TCP/IP) Current at 24 V < 150 mA (recommended fuse ≤6 A)
EtherNet/IP According to ODVA “CIP Edition 3.2” Dimensions (w x h x d): 35 x 101 x 120 mm
and “EtherNet/IP Adaption of CIP
Edition 1.3” Installation 35 mm DIN rail
Minimum RPI of 50 ms Temperature
PROFINET PROFINET Ambient operating temperature -10°C to + 55ºC
Transport and storage -25°C to + 55ºC
Modbus TCP According to the Modbus Humidity EN 60 204-1 50 % at 40ºC (ambient
organization, version 1.0b 90 % at 20ºC)
(approx. 20 messages per second)
Enclosure classification
Binary server (TCP/IP) Simple TCP/IP protocol to send Enclosure IP 20 - IEC 60 529
status from/to the Pluto system Terminals IP 20 - IEC 60 529
Web server For simple sharing of IP addresses
PLC
119 mm
Ethernet, non safety
GATE-E1
PLUTO
BUS
101 mm
PR
Mod
Status
Net
Status
Modbus TCP
EtherNet/IP
PROFINET
Gateway
Pluto CAN bus, safety
35 mm
CH I1 I3 I6 IQ10 Q2 CH I1 I3 I6 IQ10 Q2 CH I1 I3 I6 IQ10 Q2
CL I0 I2 I4 I5 I7 IQ11 Q3 CL I0 I2 I4 I5 I7 IQ11 Q3 CL I0 I2 I4 I5 I7 IQ11 Q3
IQ12 IQ14 IQ16 Q0 Q1 IQ12 IQ14 IQ16 Q0 Q1 IQ12 IQ14 IQ16 Q0 Q1
IQ13 IQ15 IQ17 ID 0V +24V IQ13 IQ15 IQ17 ID 0V +24V IQ13 IQ15 IQ17 ID 0V +24V
Pluto Pluto Pluto
2:34
Pluto Safety Encoders
Rotational Absolute Value
Sensor for Safe Positioning
This rotational absolute encoder, together with a Pluto
Safety PLC, can be used for safe position determi-
nation. This is particularly useful in the case of such
equipment as gantry robots, industrial robots, etc.
Also in eccentric shaft presses, existing cam mecha-
nisms can be replaced by absolute value position sen-
sors for safe positioning. The sensors are configurable
for single and multi-turn applications.
Up to 16 absolute encoders can be connected to
a Pluto CAN databus. A Pluto on the databus reads Safety Encoders
the sensor values, which are evaluated. With a special RSA 698
function block in the PLC code, it is possible to design
two-channel solutions with the sensors. The user can
obtain safe values for position and speed from these
values. This enables supervision of stationary and
overspeed conditions.
The absolute value sensors are standard sensors Applications
with modified software to meet the safety requirements. ■ Safe position and speed
determination of machine movements
Features
■ High resolution
■ Selectable resolution
■ Connected directly to the Pluto Safety bus
Example of an
application where
2 sensors provide
safe position
determination in
a gantry robot.
2:35
Safe Encoder RSA 698 Technical Data
Manufacturer ABB AB/Jokab Safety, Sweden
Ordering information see page 2:44
Temperature
Ambient temperature -40°C .. +70°C
Transport and storage -30°C .. +70°C
Ingress protection class IP-67 in accordance with
IEC 60529
At shaft inlet IP-66 in accordance with
IEC 60529
Vibration (55 to 2000 Hz) < 100 m/s2 in accordance with
IEC 60068-2-6
Shock (6ms) < 2,000 m/s2 in accordance with
IEC 60068-2-27
Material, enclosure Aluminium
Surface treatment Anodized
Weight Approx. 400g
Resolution, total 25 bit
13 bits, 8192 positions per
rotation
12 bits, 4096 rotations
Accuracy ± 1 LSB (Least Significant Bit)
Operating voltage 9-36 V dc
Polarity-protected Yes
Short-circuit protected Yes
Databus speed 10 kbit/s - 1 Mbit/s
Code type Binary
Programmable functions Resolution, 0 position
Current consumption 50 mA at 24V dc
Max current consumption 100 mA
2:36
Safety Encoder Descriptions of Inputs and Outputs
Safe Encoder Descriptions of Inputs and Outputs
Function block for a single-turn ■ AdrEncoderA: Encoder A node address
encoder that generates safe position ■ AdrEncoderB: Encoder B node address
and speed values from two absolute ■ MaxDiff: Max allowed deviation between the encoders
encoders. (max 2% of Range)
Function ■ Range: Number of increments per revolution
■ OK: Set when encoders are working OK and the
The block reads and evaluates one position values are within the margin set by 'MaxDiff'
absolute encoders. The position value
■ Position: Position value
is sent to the 'Position' output. The
'Speed' output is the average value for ■ Speed: Speed value as increments/10ms
the speed, at the rate of pulses/10 ms. ■ A: Encoder A position. Must not be used in PLC program!
If an error occurs, the 'OK' output is set ■ B: Encoder B position. Must not be used in PLC program!
to zero. In certain applications the values Notes: Position values from single encoders are only available
of 'Position' and 'Speed' are used in for adjustment purposes and must NOT be used for safety.
conjunction with the 'OK' output.
When error occurs 'Position' = -1, 'Speed' = -32768 and the
OK output will be reset.
Safe Encoder Multiturn Descriptions of Inputs and Outputs

Function block for a multi-turn encoder ■ AdrEncoderA: Encoder A node address
that generates safe position and speed ■ AdrEncoderB: Encoder B node address
values from two absolute encoders. Oper- ■ MaxDiff: Max allowed deviation between the encoders
ating system 2.4.4 or higher is required. (max 2% of IncrPerRev)
Function ■ IncrPerRev: Number of increments per revolution
■ OK: Set when encoders are working OK and
The block reads and evaluates two the position values are within the margin set by 'MaxDiff'
absolute encoders. The average value for
■ Position: Position value
the two sensors is calculated and sent to
the 'Position' output. The 'Speed' output ■ Speed: Speed value as increments/10ms
is the average value for the speed, at the ■ A: Encoder A position. Must not be used in PLC program!
rate of pulses/10 ms. The block monitors ■ B: Encoder B position. Must not be used in PLC program!
that the encoder position values do not Notes: Position values from single encoders are only available
differ by more than the input value set by for adjustment purposes and must NOT be used for safety.
'MaxDiff'. If an error occurs, the 'OK' out-
put is set to zero. In certain applications When error occurs 'Position' = -1, 'Speed' = -32768 and the
the values of 'Position' and 'Speed' are OK output will be reset.
used in conjunction with the 'OK' output.
Encoder Cam Descriptions of Inputs and Outputs

Function block for electronic cam gear. ■ PosReg: Input for the position value
■ MinPos: Minimum limit value
Function
■ MaxPos: Maximum limit value
Output Q is activated if the value of the
input register 'PosReg' is within the limits Note: It is possible to specify a value that defines the
for ’MinPos’ and ’MaxPos’. sensor's zero position. Position <0 is not permitted.
Example: If MinPos = 3000 and MaxPos = 200, Q is
activated when the position is greater than 2999 or less
than 201.
2:37
Pluto Manager
A Programming Tool for your Safety Functions
Pluto Manager is a software tailored for the Pluto Safety
PLC. Programming is done in ladder, and together
with the function block, creates the structure of your
safety functions. The software comes with predefined
function blocks approved by TÜV to
facilitate the work on designing the safety
functions. Pluto Manager gives you a
structured overview of Plutos, gateways
and peripheral components in large and
small projects. It gives you an overview and
control of the sensors and actuators, and
the reactions between them. Pluto Manager
also contains manuals for the software and
hardware that are connected and need to
be handled through the program.
The interface gives the option to get the
status directly from Pluto’s two bus options,
AS-i and Pluto bus. There are also diagnostic
functions and the option to export data.
Systematic Working Method
through Project Management Applications
Step 1 - Configuration of I/O ■ Software for the Pluto Safety PLC
In every started project, each Pluto is defined individu- ■ A tool to structure the safety functions
ally. Its inputs and outputs are configured as desired
and depending on what they connect to. Pluto’s IQ Features
ports are also configured here as inputs or outputs, ■ Software included with purchase
dynamic or static signals. ■ Downloaded from www.abb.com/lowvoltage
Step 2 - Naming of Variables ■ Ready to use function blocks for your
After configuration the system’s variables are deter- safety components
mined. Inputs (I), outputs (Q), remanent memories (M), ■ Contains TÜV-approved function blocks
global auxiliary memories for bus communication (GM) ■ Provides an overview of the current projects
and registers (R) are given names that can be used and your Plutos
in place of the actual variable designation in the PLC ■ Easy programming through ladder language
program.
Step 3 - Ladder Programming
The program is built using the named variables con-
nected to inputs and outputs. The programming
language has a full range of instructions, similar to
standard PLCs on the market—with timers, arithmetic,
sequence programming etc.
The project is then downloaded to Pluto via a pro-
gramming cable. This program is distributed simultane-
ously through bus communication to the other Plutos in
the project. In this way, you need only access a single
Pluto where each Pluto gets the right information speci-
fied in your project.
Pluto Manager is included when purchasing the Pluto
Safety PLC. The software is Windows based and can
be downloaded free from www.abb.com/lowvoltage.
2:38
Pluto Manager Standards and Special Function Blocks
The safety designer has complete freedom to
program the safety functions or to use TÜV-approved TC1RTI Block 3 Example
pre-defined safety function blocks. Two-channel function with test and reset in-
Blocks in the Standard Library (func05): puts, and reset indication
1. Two-channel function with input for start ■ In1 and In2 are safety inputs, to
2. Two-channel function with test input which the safety device outputs are TC1RTI
3. Two-channel function with test and reset inputs, connected.
In1 Q
and reset indication. See example. ■ Test is a condition that must be
4. Two-channel function with simultaneous true at the moment of switching
requirement. on, and can be used for monitoring
external components. Test must be In2 IndReset
5. Single channel function with input for start. true before the Reset input closes,
6. Single channel function with start and test inputs. i.e. the function block cannot be
7. Single channel function with reset and test inputs. initiated by Test.
Reset TCfault
8. Two-channel function with max. time limitation ■ Reset is a supervised reset input
(equivalent to JSHT2). Time begins to count down and must be activated (positive
when both inputs are activated. flank) after the other inputs have
9. Two-channel function with max. time limitation activated for the function output to Test
(equivalent to JSHT2). Time begins to count down be activated.
when one of the inputs is activated. ■ The IndReset output is activated
10. Single channel pulse function, e.g. for timed reset. when the function block is 0 and flashes when the
11. Two-channel pulse function, e.g. for timed reset. function block is ready for resetting.
12. Two single channel bypass connection functions ■ The TCfault output is activated in the case of a two-
with max. time limiting. channel fault, i.e. if the function block is activated and
13. Single channel bypass connection function with only one of In1 and In2 opens and closes.
max. time limiting. Description
14. Two-channel bypass connection function with The function block acts as a conventional two-channel
max. time limiting and simultaneous requirement. safety relay with dual and supervised inputs (In1, In2).
15. Two-channel safety function with max. time
limited bypass connection.
16. Two-hand control. See example. Block 16 Example
17. Counter which counts up to preset value. Two-hand control for devices with
18. Counter which counts down from preset value to 0. NO/NC + NO/NC
19. Off delay. ■ Right_NO is right handed NO Twohand1
20. Muting lamp_Q16. contact
Right_NO Q
21. Muting lamp_Q17. ■ Right_NC is right handed NC
22. Muting lamp W_Q16. With possibility to set the contact, etc.
power level in Watts. ■ The test is a condition that must be
23. Muting lamp W_Q17. With possibility to set the met before any of the other inputs Right_NC
power level in Watts. are actuated and can be used for
24. Light curtain with single cycle operation. monitoring external components.
25. Light curtain with single cycle operation and reset Function Left_NO
selection. In stand-by, Right_NO must be 0,
26. Multiplication. Right_NC 1, Left_NO 0 and Left_NC
27. Division. 1. In order to start, these four inputs Left_NC
switch the condition within 0.5
Other Function Blocks seconds and then retain their con-
1. Safety absolute encoder. ditions. After shut-down, all inputs
must return to stand-by before any Test
2. Electronic cam. restart can be made.
3. External communication.
Special Function Blocks
1. Program library with program block for eccentric
shaft presses.
2. Custom special function blocks can be made
available.
2:39
Connection Example Contents
HB0001A
Pluto with Smile Emergency
Stop Unit + Reset via M12-3E and
Adam via Tina 4A................................................... 2:41
HB0002A
Pluto with 5 Eden Units
for 2 Zones via M12-3E and Tina 4A..................... 2:41
HB0003A
Pluto with 5 Smile Emergency
Stop Units via Tina 11A and Tina 4A..................... 2:42
HB0004A
Pluto with Different Zones
for Eden + Reset and 2 Eden Units
via M12-3E ............................................................. 2:42
2:40
HB0001A Connection Example
Pluto with Smile Emergency Stop Unit + Reset via M12-3E and Adam via Tina 4A
It is the user's responsibilty to ensure that all control devices are correctly installed, cared for and operated to meet European, nationel and local codes/regulations. Subject to change without notice.

Pluto with 5 Eden Units for 2 Zones via M12-3E and Tina 4A
2:41
Pluto with 5 Smile Emergency Stop Units via Tina 11A and Tina 4A

Pluto with Different Zones for Eden + Reset and 2 Eden Units via M12-3E
2:42
Component List - Pluto Safety PLC
Designation Ordering Information Description
Pluto A20 2TLA020070R0300 Safety PLC with 8 failsafe inputs + 8 non-failsafe outputs/failsafe inputs
+ 2 individual failsafe relay outputs + 2 individually failsafe transistor
outputs. For use with Pluto safe bus.
Pluto S20 2TLA020070R0500 Same as A20 except without Pluto safe bus and without current
monitoring on Q16 + Q17.
Pluto B16 2TLA020070R0700 Same as B20 except without safety outputs Q0 - Q3.
Pluto B20 2TLA020070R0600 Same as A20 except without current monitoring on Q16 + Q17.
Pluto B46-6 2TLA020070R1700 Safety PLC with 24 failsafe inputs + 16 non-failsafe outputs/failsafe
inputs + 4 individual failsafe relay outputs + 2 individually failsafe
transistor outputs. For use with Pluto safe bus and/or a Pluto Safety
databus.
Pluto S46-6 2TLA020070R1800 Same as B46-6 except without a databus.
GATE-P2 2TLA020071R8000 Gateway for 2-way communication between the Pluto bus and Profibus.
Gateway Pluto
Profibus DP
GATE-D2 2TLA020071R8200 Gateway for 2-way communication between the Pluto bus and DeviceNet.
Gateway Pluto
DeviceNet
GATE-C2 2TLA020071R8100 Gateway for 2-way communication between the Pluto bus and CANopen.
Gateway Pluto
CANopen
GATE-E2 2TLA020071R8300 Gateway for 2-way communication between Pluto databus and Profinet,
Gateway Pluto Ethernet/IP, Modbus TCP.
Ethernet
2:43
IDFIX-R 2TLA0200070R2000 Identifier - assigns Pluto a specific address.
IDFIX-RW 2TLA0200070R2100 Identifier - assigns Pluto an address. This version is programmable.
IDFIX-DATA 2TLA0200070R2300 Identifier - to give Pluto AS-i a specific address.
IDFIX-PROG 2TLA0200070R2400 Identifier - for single Plutos, assigns Pluto a specific address. Allows
program storage and retrieval.
R-120 2TLA0200070R2200 Terminating resistance for Pluto databus.
Safe Encoder 2TLA0200070R3700 Rotational absolute encoder used for safe postion determination,
Model RSA 698 and/or speed.
HMI Display 2TLA850015R1100 3.5" TFT-LCD touch screen display, 320x240pixels and 64k colors.
RS422/RS485, RS232, Ethernet and USB communication.
HMI Display 2TLA850015R1300 5.7" TFT-LCD touch screen display, 320x240pixels and 64k colors.
HMI Display 2TLA850015R1500 3.5" TFT-LCD touch screen display, 320x240pixels and 16 grayscales.
HMI Display 2TLA850015R1600 5.7" TFT-LCD touch screen display, 320x240pixels and 16 grayscales.
HMI Display 2TLA850015R1700 6.5" TFT-LCD touch screen display, 640x480 pixels. 64k colors.
Compact Flash Slot.
HMI Software 2TLA850015R2300 For Exter and Cimrex terminals For use with Windows XP/Vista.
Information
Designer
2:44
Bus Cable 2TLA020070R3000 CAN-Bus cable - yellow 2 x 0.50 mm2.
2TLJ020070R3100 CAN-Bus halogen-free cable - yellow 2 x 0.50 mm2.
Terminal Block 2TLA020070R3200 Modular terminal block with a 12nF radio interference suppression
with 12nf capacitor between clamping connector and DIN rail, separate ground
Capacitor connection, for mounting on Din Rail, terminal width: 6.2 mm, terminal
height: 69 mm, Includes pre installed end barrier.
Ceramic 2TLA850015R2100 12nf, X1 440VAC, Y2 250VAC, 20 percent tolerance.

Capacitor
Programming 2TLA020070R5600 RS232 Programming Cable.

Cable
Programming 2TLA020070R5800 USB Programming Cable.

Cable
Programming 2TLA850015R2200 HMI Programming Cable 3m.

Cable
This document and any attachments may include suggested specifications, drawings, schematics and similar materials from ABB Inc.
Use of such information and/or documentation by the recipient is subject to and conditioned upon your acceptance of the terms of the
General Document Disclaimer which can be found at www.jokabsafetyna.com. Your acceptance of the terms of such General Document
Disclaimer is conclusively presumed unless you notify ABB in writing of your disagreement with the terms of such Disclaimer immediately
upon receipt of this document and you return to ABB all specifications, drawings, schematics and similar materials provided to you by ABB.
2:45
Notes
2:46

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Pluto Safety PLC

Simplify safety system design!

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Approvals Stand-Alone Pluto

Pluto B46 Pluto S20

Safety Encoders HMI

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...to supervise safety devices!

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Note: If the Pluto PLC module needs to

Overview Pluto Safety-PLC

Failsafe inputs or non-failsafe outputs 8 8 8 8 8 8 4 16

Failsafe relay outputs 2 4 2 - 2 4 2 4

Failsafe transistor outputs 2 2 2 - 2 2 2 2

ABB JOKAB SAFETY 888-282-2123 • www.jokabsafetyna.com

Apparatus Enclosure Apparatus Enclosure

Y number of sensors Y number of sensors

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Apparatus Enclosure Apparatus Enclosure

Y number of sensors Y number of sensors

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Single Pluto controls

Pluto S20 Pluto S46 BT51

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Pluto without a Safety Bus Type-Specific Technical Data

The terminal blocks

Pluto S20 Pluto S46

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Two-channel system Single channel dynamic system

Input connection alternative in accordance with PL e EN ISO 13849-1.

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Pluto models with a

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Pluto with a Safety Bus Type-Specific Technical Data

The terminal blocks

Pluto A20 Pluto B16 Pluto B20 Pluto B46

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SEE DISCLAIMER ON PAGE 2:45

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P0_ES1_Ch1 TC1S P0_ES_OK

GM0.0=P0_ES_OK Emergency stop OK in Pluto 0

3 Emergency stop of robot.

P0_ES_OK P1_ES_OK P0_ES

GM0.0=P0_ES_OK Emergency stop OK in Pluto 0

4 Auto stop of robot.

P0_Eden1 ResetT P0_AS_OK

I0.15=P0_LB1_In Reset Door - Light button input - Dynamic A

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P1_Hatch_OK P0_AS_OK SR_ErrorCode=0 SR_PlutoDisplay=203

GM1.1=P1_Hatch_OK Hatch closed

6 Alarm 02 - Door open.

P0_Eden1 SR_ErrorCode=0 SR_PlutoDisplay=202

I0.2=P0_Eden1 Door Eden sensor - Dynamic A

7 Alarm 01 - Emergency stop actuated.

Input connection alternative in accordance with PL e EN ISO 13849-1.