Probus DP

DeviceNet
Ethernet
CANopen
+
AS-i
Pluto Manager
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Pluto Safety PLC
Including dynamic signals, the new safety principle.
20 I/O
31 AS-i safety nodes
46 I/O
12 I/O
(A/D)
Pluto/Gateway/Encoder
HMI
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Contents Page
Descriptions and examples in this book show how the products work and can be used. This does not mean that they can meet the requirements for
all types of machines and processes. The purchaser/user is responsible for ensuring that the product is installed and used in accordance with the
applicable regulations and standards. We reserve the right to make changes in products and product sheets without previous notice. For the latest
updates, refer to www.jokabsafety.com. 2008.
Why you should use the Pluto safety PLC _______________________________2:2
Pluto with and without a databus ______________________________________2:4
l/O overview _________________________________________________________2:6
Pluto Technical data ____________________________________________________2:8
Pluto accessories ____________________________________________________ 2:10
Pluto certihcation ____________________________________________________ 2:11
Pluto Manager ____________________________________________________ 2:12
Pluto Gateway _____________________________________________________ 2:14
Prohbus __________________________________________________________ 2:16
Devicenet _________________________________________________________ 2:18
CANopen _________________________________________________________ 2:20
Ethernet __________________________________________________________ 2:22
Safe encoder ______________________________________________________ 2:24
Example Robot cell with Pluto _____________________________________ 2:28
Electrical connections ______________________________________________ 2:29
Pluto settings _____________________________________________________ 2:30
PLC code Pluto ____________________________________________________ 2:32
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+ +
4 4 4 + +
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Pluto AS-i
Pluto All Master
Why you should
have Pluto safety
PLC's.
Pluto is an All-Master safety PLC concept, that simplies
the design of safety systems and achieves the highest safety
level (category 4) according to EN 9541/EN lSO 138491
and SlL 3 according to lEC/EN 61508. The key dillerence
between Pluto and conventional safety PLCs is that there
is no "Master-Slave" relationship between the control units
connected to the safety bus. Each Pluto is a 'Master' unit and
can see the other Plutos' inputs and outputs, and can thereby
make decisions about its own safety environment.
Approval:
for simplifying the design of and changes to safety systems!
Master
Slaves
Traditional safety PLC
Pluto All-Master
Our solution with All-Master
Pluto All-Master
Pluto All-Master
S
a
f
e

b
u
s
12 l/O
46 l/O 20 l/O
31 ASi salety
nodes
This concept enables simple communication, programming
and changes to the safety system. With the use of a 'Gateway'
device, a Pluto can communicate with other bus systems
and thereby form part of a larger network. Gateway units are
available for several different bus systems, such as Probus,
CanOpen, DeviceNet and Ethernet. With a Pluto ASi, both
safety slaves and standard slaves can be handled.
Pluto offers an economic solution for both single machines
and for major machine systems.
20 l/O 20 l/O 20 l/O
EN 954-1, Category 4
EN 61496-1, Type 4
EN 61508, SlL 3
Master
Slaves
Traditional safety PLC
Pluto All-Master
Our solution with All-Master
Pluto All-Master
Pluto All-Master
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Light beams Light grids/curtains 3position
devices
Sensors/
switches
Two-hand
controls
Emergency
stops
Strips Mats
to supervise safety devices!
Most safety devices on the market can be connected di-
rectly to Pluto units. By using dynamic signals with sensors
from Jokab Safety only one input is needed for category 4,
compared to two inputs lor other manulacturers' PLCs. lt
is also possible to connect up to 10 sensors in series to a
single input on Pluto according to category 4.
For example non-contact Eden sensors, Spot light beams
and Tina emergency stop buttons can all be connected in
series to a single Pluto input. Even mechanical switches can
be connected to the 'dynamic' safety circuit using Jokab
Salety's various Tina adapters. Pluto also has lO connections
that can be used as both inputs and outputs.
to save on inputs!
O
n
e

i
n
p
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O
n
e

i
n
p
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O
n
e

c
o
n
n
e
c
t
i
o
n
T
w
o

i
n
p
u
t
s
Pluto
has inputs for static and
dynamic sensors. Several
sensors can be connected
to one dynamic input in
accordance with category 4.
IO connections
Pluto has lO connections that can be used in three ways:
input
output
both input and output at the same time (e.g. for a reset button with lamp
indication)
Dynamic signals
110 doors with one Eden per door
category 4
Dynamic signals
1-10 sensors
category 4
Static inputs (mechanical switches)
2 for each door = category 4
input/output
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Pluto B20
Ethernet
CANopen
DeviceNet
Probus DP
Sale bus lor connection ol up to 32 Pluto units
HMI
4 independent
failsafe safety outputs
Pluto with databus - an overview
Pluto without a databus A single Pluto can be used as a
fully programmable safety logic controller.
Pluto S20 Pluto S46
Gateway for two-way databus
communication between Pluto and
other control systems.
HMI, An HMl operator
panel can communicate
with Pluto in both direc-
tions. Connection can be
made via the bus or direct
to the front of the Pluto.
The interlace is PS232.
Pluto without a bus connection is available in two sizes, with 20 and 46 l/O , the S20 and S466 respectively. ln other
words, they are similar to the equivalent versions with bus connections, the B20 and B46-6.
Connector expansion
Several expansion relays can be con-
nected to a single Pluto safety output
while retaining the safety level.
Pluto is an All-Master-System for dynamic and static safety circuits
where the inputs and other information are shared on a databus.
Several safety sensors can be connected to one input while still
achieving the highest level of safety. There are also combined in-
puts and outputs that can be used, for example, for lamp pushbut-
tons where the input and output functions are used simultaneously.
Pluto has inputs for all safety devices on the market, and the Pluto
Manager software selects how each input shall respond.
Patented
Pluto bridge
With a Gateway set up
as a Pluto bridge, it is
possible to:
increase the databus
length
use different databus
speeds for each section
lter information from
one section to reduce
the databus loading on
other sections.
20 I/O
Patented Patented Patented
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Pluto B46 Pluto AS-i
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Safe bus
Absolute encoder.
8 single turn or multi
turn absolute encoders
can be connected di-
rectly to the safety bus.
Free software is available via our website, at
www.jokabsafety.com!
6 independent
failsafe safety outputs
Pluto AS-i is an AS-i module which can be con-
nected to a ASi bus. lt can either be ASi master
on the bus or work together with an AS-i master
as monitor. lt includes ASi nodes, analogue and
digital outputs, as well as safety outputs.
Programming is performed using ladder or
Boolean algebra with timers, auxiliary mem-
ory, registers, sequential programming and
TV-approved function blocks. The program
can be downloaded cost-free from the web
site. Programs can be loaded via one Pluto to
all the other Pluto units on the databus.
4 independent
failsafe safety outputs
Pluto Manager
Patented Patented
+ 31 AS-i safety slaves
46 I/O
12 I/O
(A/D)
Approvals
EN 954-1, Category 4
EN ISO 13849-1, PL e
EN 61496-1, Type 4
EN 61508, SIL 3
EN ISO 62061, SIL 3
EN ISO 60204-1
EN 50178
EN ISO 574, Type lllc
EN ISO 50295 (Only Pluto AS-i)
Safety Monitor/Master
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I/O Overview - Pluto
lD: Connection lor identiher, which has a unique lD number that can be read by the system.
l.. Salety inputs (24 vDC) that are individually secure. This means that complete salety can be achieved with
only one input if Jokab Safety dynamic safety components are used.
Otherwise two inputs are required lor each salety lunction.
lO.. l/O that can be used lor salety inputs or signal outputs, e.g. to indicate or control lunctions that are not
saletyrelated. For lO.. as salety inputs, reler to l..
O0, O1: Failsale relay outputs that are individually lailsale and individually programmable.
O2, O3: Failsale transistor outputs (24 vDC) that are individually lailsale and individually programmable. lntended
for electro-mechanical components such as contactors and valves.
O4, O5 Failsafe relay outputs that are individually failsafe and individually programmable.
IDFIX
IDFIX
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Type: BT50
A1 X4
24VDC
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Both a lamp and a pushbutton can be connected to the same terminal. This function
is lor resetting salety devices and to reduce the number ol l/Os used.
The Pluto A20 has a current monitoring lunction. lO16 and1? can monitor that a lamp
is intact. The lamp is only considered to be intact if sufcient current is being drawn from
the output.. One application is muting lamps (salety device bypass). However, according
to EN 614961:2004 there is no longer a requirement to monitor muting lamps.
Examples of connector expan-
sion
Reset button that uses the combined input and output facility
Resetting with a lamp
Input connection
The system ollers solutions lor both single and twochannel salety devices. ln order to monitor wiring
short-circuits it is possible to use up to three different dynamic signals and static voltage (+24 V) to
supply the inputs. The inputs are then programmed to only accept one of the signal types.
ln a twochannel system both channels will be measured, using two dillerent signals. The system will
thereby be able to detect a short-circuit between the channels.
ln a single channel system the dynamic signal is modihed at each sensor. A shortcircuit between the input
and the output of the sensor will be detected at the Pluto input. Category 4 can thus be achieved by using
only one channel and one input.
Two-channel system Single channel dynamic system, category 4
lnput connection alternative in accordance with category 4 EN 9541/EN lSO 138491.
Emergency
stop with
Tina
Emergency
stop with
Tina
Spot light
beam
Eden sensor
input/output
(Current monitoring)
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2:8
Technical data - general
Manulacturer: 1OKAB SAFETY AB, Sweden
Colour: Black and beige
Operating voltage: 24V DC 15%
lnstallation: 35 mm DlN rail
Electrical insulation: Category ll in accordance with
lEC 610101
Salety category: Cat. 4 in accordance with
EN 954-1
SlL 3 in accordance with
EN 61508/EN 62061
Failsafe inputs I & IQ
Type:
Current at 24 V
Max. overvoltage
+24 v (lor PNP sensors), lO
also congurable as non-failsafe
outputs
5.1 mA
2? v continuous
Failsafe transistor outputs Q
Output voltage:
Output voltage tolerance:
Max. current:
24 VDC
Supply voltage - 1.5 V at 800 mA
800 mA
Failsafe relay outputs Q
Max. voltage
Max current
250 V AC
1.5 A
Non-failsafe outputs Q
Type:
Max. current/output:
Transistor +24V, PNP "open
collector" also congurable as
failsafe inputs
800 mA
Indication
input/output LED
Display:
1 per l/O (green)
?segments, 2 characters
Pluto databus
Max number of Pluto units on
the databus:
Databus type:
Databus speeds:
Databus cable length:
32
CAN
100, 125, 200, 250, 400, 500,
800, 1000 kb/s
Up to 600 m
150 m at 400 kb/s
AS-i databus
Master prohle:
Number ol slave units:
Databus operation:
M2
31/62
Master
Safety monitor
Safety monitor & slave
Temperature
Ambient temperature:
Storage and transport:
10C to +50C
25C to +55C
Response times
Dyn. A or static input to relay
output:
Dyn. A or static input to
transistor output:
Dyn. B or Dyn. C input to
relay output:
Dyn. B or Dyn. C input to
transistor output:
Software setting "NoFilt".
ASi databus to relay output:
ASi databus to transistor output:
<20.5 ms + program exec. time
<16.5 ms + program exec. time
<23 ms + program exec. time
<19 ms + program exec. time
5 ms shorter response time on
l & lO inputs
<33 ms + program exec. time
<29 ms + program exec. time
Additional Response times
Databus between Pluto units
Databus between Pluto units
on error
10 ms
1040 ms
Enclosure classication
Enclosure:
Connection terminals:
lP 40, lEC 60 529
lP 20, lEC 60 529
Technical data - type-specic

Pluto A20
20 I/O
Current monitoring
Pluto B16
16 I/O
Non-failsafe outputs
Pluto B20
20 I/O
Article number/ordering data: 200?003 200?00? 200?006
Failsafe inputs 8 (l0..l?) 8 (l0..l?) 8 (l0..l?)
Failsafe inputs or non-failsafe outputs 8 (lO10..lO1?)
Max total load 2.5 A
8 (lO10..lO1?)
Max total load 2.5 A
8 (lO10..lO1?)
Max total load 2.5 A
Analogue inputs 1 (l5) 0..2?v 1 (l5) 0..2?v 1 (l5) 0..2?v
Failsafe relay outputs 2 (O0..O1) 2 (O0..O1)
Failsafe transistor outputs 2 (O2..O3) 2 (O2..O3)
Current monitoring 2 (lO16, lO1?) 01.0 A
10%

Pluto databus

AS-i databus
Own current consumption 100 mA 100 mA 100 mA
Pecommended external luse: 6 A 6 A 6 A
Dimensions (w x h x d) 45 x 84 x 118 mm 45 x 84 x 118 mm 45 x 84 x 118 mm
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Pluto S20
20 I/O
Non-Pluto databus
Pluto B46-6
46 I/O
Pluto S46-6
46 I/O
Non-Pluto databus
Pluto AS-i
AS-i databus
200?005 200?015 200?016 200?010
8 (l0..l?) 24 (l0..l?, l30..3?, l40..l4?) 24 (l0..l?, l30..3?, l40..l4?) 4 (l0..l3)
8 (lO10..lO1?)
Max total load 2.5 A
8 (lO10..lO1?)
Max total load 2 A
8 (lO20..lO2?)
Max total load 2 A
8 (lO10..lO1?)
Max total load 2 A
8 (lO20..lO2?)
Max total load 2 A
4 (lO10..lO13)
Max total load 2 A
1 (l5) 0..2?v 3 (l5) 0..2? v 3 (l5) 0..2? v 4 (lO10..lO13) 0..2? v
2 (O0..O1) 4 (O0..O1 & O4..O5) 4 (O0..O1 & O4..O5) 2 (O0..O1)
2 (O2..O3) 2 (O2..O3) 2 (O2..O3) 2 (O2..O3)

100 mA 150 mA 150 mA 100 mA

6 A 10A 10A 6 A
45 x 84 x 118 mm 90 x 84 x 118 mm 90 x 84 x 118 mm 45 x 84 x 118 mm
The terminal blocks are detachable without needing to disconnect the wiring.
The units are assembled with a gap of at least 5 mm.
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2:10
PLUTO ACCESSORIES
Name Article no. Explanation
Gate-P1
Pluto Gateway
Probus
Gate-C1
Pluto Gateway
CANopen
Gate-D1
Pluto Gateway
DeviceNet
200?0?0
200?0?1
200?0?2
Gateway for two-way communication between Pluto databus
and Probus.
Gateway for two-way communication between Pluto databus
and CANopen.
Gateway for two-way communication between Pluto databus
and DeviceNet.
Gate-E1
Pluto Gateway
Ethernet
200?0?3 Gateway for two-way communication between Pluto databus
and Ethernet.
IDFIX-R
IDFIX-RW
IDFIX-DATA
200?020
200?021
200?023
ldentihers - to give Pluto an address. Pead only.
ldentihers - to give Pluto an address. Programmable. Pead/write.
ldentihers - lor Pluto ASi (storage ol salety codes)
R-120 200?022 Terminating resistor for Pluto databus.
Operator's panel 200?025 HMl display 4x20 LCD Graphic. NlOP (Exor)
200?028 HMl soltware Designer 6
200?029 HMl programming cable
Pluto Manager 200?040 Programming tool for Pluto including function blocks.
Can be downloaded from www.jokabsafety.com
Pluto program-
ming cable
200?056 For loading PLC programs and monitoring.
Databus cable 20?030
20?031
CAN-Bus cable yellow 2 x 0.50 mm

CAN-Bus cable purple 2 x 0.50 mm

halogen-free
Absolute
encoder
200?036 Absolute encoder model PSA 59? (single turn)
Absolute
encoder
200?03? Absolute encoder model RSA 698 (multi turn)
200?038 Cable lor absolute encoder nitronic LiYCY 12 x 0.25
200?039 Connector lor absolute encoder PSA 59?
200?05? Pluto communications cable for operator's panel
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Step by step
Step 1
I/O conguration
The inputs and outputs are congured depending on what they are connected to, static or dynamic signals,
inputs and/or outputs, etc.
Step 2
Dening variables
The variables in the system are: inputs (l), outputs (O), auxiliary memories (M), global auxiliary memories lor
databus communication (GM) and registers (R). The names of the variables can be changed as required
instead of the default variable names used in the PLC program.
Step 3
Ladder programming
The programming language used in Pluto contains function blocks, certied by TV Rheinland, with solutions
for the most common safety functions. The function blocks can be used in conjunction with standard ladder
instructions. The programming language has a full instruction repertoire, similar to standard PLCs on the
market, including timers, arithmetic functions, sequential programming set, etc.
Pluto Manager
Programming a project
Step 1
Step 2
Step 3
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2:13
TC1RTI
Q In1
In2
Reset
Test
IndReset
TCfault
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Internet support - Pluto
List of standards and special function blocks for Pluto Manager
Blocks in the standard library (func05):
1. Two-channel function with input for start
2. Two-channel function with test input
3. Twochannel lunction with test and reset inputs, and
reset indication.
4. Two-channel function with simultaneous requirement.
5. Single channel function with input for start.
6. Single channel function with start and test inputs.
?. Single channel lunction with reset and test inputs.
8. Two-channel function with max. time limitation
(equivalent to JSHT2). Time begins to count down
when both inputs are activated.
9. Two-channel function with max. time limitation
(equivalent to JSHT2). Time begins to count down
when one of the inputs is activated.
10. Single channel pulse function, e.g. for timed reset.
11. Two-channel pulse function, e.g. for timed reset.
12. Two single channel bypass connection functions with
max. time limiting.
13. Single channel bypass connection lunction with max.
time limiting.
14. Two-channel bypass connection function with max.
time limiting and simultaneous requirement.
15. Two-channel safety function with max. time
limited bypass connection.
16. Two-hand control.
1?. Counter which counts up to preset value.
18. Counter which counts down from preset value to 0.
19. Oll delay.
20. Muting lamp_O16.
21. Muting lamp_O1?.
22. Muting lamp W_O16. With possibility to set the
power level in Watts.
23. Muting lamp W_O1?. With possibility to set the
power level in Watts.
24. Light curtain with single cycle operation.
25. Light curtain with single cycle operation and reset
selection.
26. Multiplication.
2?. Division.
Other function blocks
1. Safety absolute encoder.
2. Electronic cam.
3. External communication.
Special function blocks:
1. Program library with program block for eccentric
shaft presses.
2. Custom special blocks can be made available.
Our web site has a section dedicated to Pluto custom-
ers, offering continuously updated product support. The
Pluto customer site ollers:
Email support directly linked to our Pluto specialists
Hardware manuals
The Salety Manual, with the most important salety
requirements
Programming manual
Gateway manual
Function block descriptions
Common questions and answers
Pluto Manager installation hle, programming tools
Pluto OS, hles to update system soltware
Conhrmation ol compliance
The safety designer has complete freedom to program the safety functions or to use TV-approved pre-dened safety
function blocks.
Function block example
TC1RTI
Two-channel function with test and reset
inputs, and reset indication.
ln1 and ln2 are salety inputs, to which the
safety device outputs are connected.
Test is a condition that must be true at the
moment of switching on, and can be used
for monitoring external components. Test
must be true before the Reset input closes,
i.e. the function block cannot be initiated
by Test.
Reset is a supervised reset input and
must be activated (positive ank) after the other inputs have
activated for the function output to be activated.
The lndPeset output is activated when the lunction block is 0
and ashes when the function block is ready for resetting.
The TCfault output is activated in the case of a two-channel
lault, i.e. il the lunction block is activated and only one ol ln1
and ln2 opens and closes.
Description
The function block acts as a conventional two-channel safety
relay with dual and supervised inputs (ln1, ln2).
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Ethernet
Probus DP
DeviceNet
CANopen
2:14
Pluto Gateway is a unit providing two-way communication
between a Pluto safety PLC and other eld buses. There
are lour dillerent types available:
GATE-P1 Probus-DP
GATE-D1 DeviceNet
GATE-C1 CANopen
GATE-E1 - EtherNet/lP, PPOFlNET and Modbus TCP
The Pluto Gateway is a compact unit mounted on a DlN
rail, and can be connected anywhere in a Pluto databus.
The unit has a common interface with Pluto, i.e. the same
cabling, and the Pluto Manager PC program can be used
for servicing and where necessary programming. Normal-
ly, however, all the settings are made via a DlP switches,
which means that programming tools are not required to
put the gateway itself into operation.
Gateway
Pluto
Use:
Bi-directional status information
from the Pluto safety PLC
Features:
Two-way communication
Built-in lter function, shared
network
Only 22.5 mm wide
Can be located anywhere in
the databus
Common interface with Pluto
Ready-made function blocks
For programming Pluto there are ready-made function
blocks which, via a Pluto Gateway, send and receive data
from the supervisory system.
The GATE-D1 and GATE-C1 types, which use a CAN
databus on both sides, can also usefully be used as CAN
bridges where it is required to split a Pluto databus into
several sections. This is particularly useful when long data-
bus cables are needed. There is also a built-in lter function
which makes it possible to block data that is not required
for use on the other side of the bridge, which reduces the
databus loading in the other sections and thereby permits
longer databus cables.
2:15
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Gateway block schematic diagram - Pluto Gateway
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Probus DP
PLTO Gateway Prohbus lor twoway communication with
Pluto safety PLC.
Data from Pluto
via PPOFlBS a supervisory PLC system can have ac-
cess to the l/O and other variables in a Pluto salety PLC.
Global l/O in a Pluto salety PLC are accessible via PPOFl-
BUS modules in the gateway, one module for each Pluto
unit. Local data in Pluto units can be read by a "local data
module together with the PLC codes in the supervisory
system.
Data to Pluto
via PPOFlBS a supervisory PLC system can transmit
non-safety-related information to a Pluto safety PLC. A to-
tal of 64 Boolean values and 8 different 16-bit registers
can be transmitted. Function blocks for these functions are
available in Pluto Manager.
Probus
Pluto Gateway
PLC function blocks
To simplily the integration ol a Pluto Gateway PPOFlBS
into the supervisory PLC system, 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. The function blocks
are supplied as open units with full access for the custom-
er to change and add functions. These function blocks can
be obtained via the Jokab Safety web site.
Pluto databus LED
"K" button
PC port
Probus LED
Probus connector
2:17 2:17
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22,5 mm
101 mm
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Gateway block schematic diagram - Pluto Probus
Technical data - Gateway Probus
Manufacturer: 1OKAB SAFETY AB, Sweden
Article number/ordering data: 200?0?0 GATE-P1
Databuses: -Pluto databus CAN (isolated)
PPOFlBS PS485 (isolated)
Pluto databus speeds: 100, 200, 250, 400, 500, 800 and
1000 kbit/s
(automatic speed detection)
PROFIBUS speed: Up to 12 Mbit/s (automatic speed
detection)
PROFIBUS address: Setting via DlP switches (099)
PROFIBUS version: DP slave, DP-V0
Connections: Top, 3pole terminal lor Pluto databus
(included)
Front, standard 9pole PPOFlBS con-
nection.
Bottom, 2-pole terminal for 24 V DC
(included)
Status indication: Pluto databus status indication via LED
PPOFlBS status indication via LED
Operating voltage: 24 V DC, -15% till +20%
Current at 24 V: < 100 mA (recommended fuse 6 A)
Dimensions (w x h x d): 22.5 x 101 x 119 mm
Installation: 35 mm DlN rail
Operating temperature (ambient): -10C to + 55C
Temperature, transport and storage: -25C to + 55C
Humidity: EN 60 204-1 50% at 40C (ambient
90% at 20C)
Enclosure classication: Enclosure lP 20 lEC 60 529
Terminals lP 20 lEC 60 529
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DeviceNet
PLTO Gateway DeviceNet lor twoway communication
with Pluto safety PLC.
Data from Pluto
Via DeviceNet a supervisory PLC system can have access
to the l/O and other variables in a Pluto salety PLC. Global
l/Os in a Pluto salety PLC are accessible via DeviceNet
implicit messages. Local data in Pluto units can be read
via DeviceNet explicit messages.
Data to Pluto
Via DeviceNet 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 (via DeviceNet implicit or explicit messag-
es). Function blocks for these commands are available in
Pluto Manager.
Pluto bridge
A GATE-D1 can also be used to advantage as a CAN
bridge when it is required to divide a Pluto databus into
several sections. This is particularly useful when long data-
bus cables are needed.
DeviceNet
Pluto Gateway
There is also a built-in lter function which makes it pos- There is also a built-in lter function which makes it pos-
sible to block any data that is not required for use on the
other side of the bridge, which reduces the databus load-
ing in the other sections and thereby permits longer data-
bus cables.
ABB Robotics IRC5
PLTO Gateway DeviceNet has support lor integration
into an ABB Pobotics lPC5system. The documentation
that describes this integration can be obtained via the Jok-
ab Safety web site.
Pluto databus LED
"K" button
PC port
DeviceNet LED
DeviceNet connector
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2:19
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Gateway block schematic diagram - Pluto DeviceNet
Technical data - DeviceNet
Manufacturer 1OKAB SAFETY AB, Sweden
Article number/ordering data: 200?0?2 GATE-D1
Databuses: -Pluto databus CAN (isolated)
-DeviceNet CAN (isolated)
Pluto databus speeds: 100, 200, 250, 400, 500, 800 and
1000 kbit/s
(automatic speed detection)
DeviceNet speeds: 125, 250 and 500 kbit/s (set via DlP
switch)
DeviceNet address: Setting via DlP switches (163)
DeviceNet Version: ODvA version 2.0
Connections: Top, 3pole terminal lor Pluto databus
(included)
Front, 5-pole terminal for DeviceNet
(included)
Bottom, 2-pole terminal for 24 V DC
(included)
Status indications: Pluto databus status indication via LED
DeviceNet MNS status indication via
LED
Operating voltage: 24 V DC, -15% till +20%
Current at 24 V: < 100 mA (recommended fuse 6 A)
Dimensions (w x h x d): 22.5 x 101 x 119 mm
Installation: 35 mm DlN rail
Operating temperature (ambient): -10C to + 55C
Temperature,
transport and storage: -25C to + 55C
Humidity: EN 60 204-1 50% at 40C (ambient
90% at 20C)
Enclosure classication: Enclosure lP 20 lEC 60 529
Terminals lP 20 lEC 60 529
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2:20
CANopen
PLTO Gateway CANopen lor twoway communication
with Pluto safety PLC.
Data from Pluto
Via CANopen a supervisory PLC system can have access
to the l/O and other variables in a Pluto salety PLC. Global
l/Os in a Pluto salety PLC are accessible via CANopen
PDO messages. Local data in Pluto units can be read via
CANopen SDO messages together with the PLC codes in
the supervisory system.
Data to Pluto
Via CANopen a supervisory PLC system can send non-
safety-related information to a Pluto safety PLC. A total of
64 Boolean values and 8 different 16-bit registers can be
transmitted (CANopen PDO or SDO messages). Function
blocks for these commands are available in Pluto Manager.
CANopen
Pluto Gateway
Pluto bridge
A GATE-C1 can also be used to advantage as a CAN
bridge when it is required to divide a Pluto databus into
several sections. This is particularly useful when long data-
bus cables are needed.
There is also a built-in lter function which makes it pos-
sible to block any data that is not required for use on the
other side of the bridge, which reduces the databus load-
ing in the other sections and thereby permits longer data-
bus cables.
Pluto databus LED
"K" button
PC port
CANopen LED
CANopen connector:
2:21
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Gateway block schematic diagram - Pluto CANopen
Technical data - Gateway CANopen
Manufacturer 1OKAB SAFETY AB, Sweden
Article number/ordering data: 200?0?1 GATE-C1
Databuses: -Pluto databus CAN (isolated)
-CANopen CAN (isolated)
Pluto databus speeds: 100, 200, 250, 400, 500, 800 and
1000 kbit/s
(automatic speed detection)
CANopen speeds: 125, 250 and 500 kbit/s (set via DlP
switch)
10, 20, 50, 100, 125, 250, 500, 800
and 1000 kbit/s (via software)
CANopen address: Setting via DlP switches or soltware (163)
CANopen version: Version 4.02 of the CiA Draft Standard
301"
Connections: Top, 3pole terminal lor Pluto databus
(included)
Front, 5-pole terminal for CANopen
(included)
Bottom, 2-pole terminal for 24 V DC
(included)
Status indications: Pluto databus status indication via LED
CANopen status indication via LED
Operating voltage: 24 V DC, -15% till +20%
Current at 24 V: < 100 mA (recommended fuse 6 A)
Dimensions (w x h x d): 22.5 x 101 x 119 mm
Installation: 35 mm DlN rail
Operating temperature (ambient): -10C to + 55C
Temperature, transport and storage: -25C to + 55C
Humidity: EN 60 204-1 50% at 40C (ambient
90% at 20C)
Enclosure classication: Enclosure lP 20 lEC 60 529
Terminals lP 20 lEC 60 529
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2:22
Ethernet
PLTO Gateway Ethernet GATEE1 lor twoway communi-
cation with Pluto safety PLC.
Protocol
PLTO Gateway Ethernet GATEE1 handles the status
from and to Pluto safety PLCs via Ethernet protocols Eth-
erNet/lP, PPOFlNET (in luture), Modbus TCP and a simple
binary protocol that uses TCP/lP.
For lPaddress conhguration, etc. there is a simple web
server and a terminal server.
Data from Pluto
Via one of the Ethernet protocols a supervisory PLC system
can have access to the l/O and other variables in a Pluto
salety PLC. Global l/Os in a Pluto salety PLC are acces-
sible via the usual l/O transler in the respective protocol.
Local data in Pluto units can be read by special commands
together with the PLC codes in the supervisory system.
Ethernet
Pluto Gateway
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.
Pluto databus LED
"K" button
PC port
Ethernet LED
Ethernet connector
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Gateway
Ethernet, non safety
PLC
Pluto Pluto Pluto
Q1 Q0 IQ16 IQ14 IQ12
IQ13 IQ15 IQ17 0V ID +24V
I4 I0 C L I2
C H I1 I3
I5 I7 IQ11 Q3
IQ10 I6 Q2
Q1 Q0 IQ16 IQ14 IQ12
IQ13 IQ15 IQ17 0V ID +24V
I4 I0 C L I2
C H I1 I3
I5 I7 IQ11 Q3
IQ10 I6 Q2
Q1 Q0 IQ16 IQ14 IQ12
IQ13 IQ15 IQ17 0V ID +24V
I4 I0 C L I2
C H I1 I3
I5 I7 IQ11 Q3
IQ10 I6 Q2
Pluto CAN bus, safety
M
odbus TC
P
PR
O
FIN
ET
EtherN
et/IP
BUS
PLUTO
GATE-E1
PR
K
Status
Net
Status
Mod
Gateway block schematic diagram - Pluto Ethernet
Technical data - Ethernet
Manufacturer 1OKAB SAFETY AB, Sweden
Article number/
ordering data: 200?0?3 GATE-E1
Pluto databus CAN (isolated)
Pluto databus speeds 100, 200, 250, 400, 500, 800
and 1000 kbit/s
(automatic speed detection)
Ethernet 10/100 Mbit/s
Half and full duplex
Ethernet protocol Status from and to Pluto safety
PLC
EtherNet/lP
PPOFlNET (in development)
- Modbus TCP
Binary server (TCP/lP)
Note that certain combinations
of server protocols cannot be
used simultaneously.
Gateway status and lP address
conguration
- Web server
Terminal server (TCP/lP)
EtherNet/IP According to ODvA "ClP Edition
3.2" and "EtherNet/lP Adaption
ol ClP Edition 1.3".
Minimum PPl ol 50 ms
PROFINET ln development.
Modbus TCP According to the Modbus organi-
sation, version 1.0b (approx. 20
messages per second).
Binary server (TCP/IP) Simple TCP/lP protocol to send
status from/to the Pluto system.
Web server For simple sharing ol lP
addresses.
Terminal server (TCP/IP) Simple server with the same
commands as via the serial pro-
gramming port in the unit.
IP address Static sharing via web server or
via programming port.
Gateway conguration Takes place via EtherNet/lP,
PPOFlNET, Modbus TCP or
via the binary TCP/lP server.
Connections Top, 3pole terminal lor Pluto
databus (included)
Front, Ethernet connection via
RJ-45 (screened cable cat. 5e
FTP)
Bottom, 2-pole terminal for 24 V
DC (included)
Status indications Pluto databus status indication
via LED (Pluto databus)
Ethernet module status indica-
tion via LED (Mod Status)
Ethernet network status indica-
tion via LED (Net Status)
Operating voltage 24 V DC, -15 % till +20 %
Current at 24 V < 150 mA (recommended fuse
6 A)
Dimensions (w x h x d): 35 x 101 x 120 mm
Installation 35 mm DlN rail
Operating temperature
(ambient) -10C to + 55C
Temperature,
transport and storage -25C to + 55C
Humidity EN 60 204-1 50 % at 40C
(ambient 90 % at 20C)
Enclosure classication Enclosure lP 20 lEC 60 529
Terminals lP 20 lEC 60 529
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2:24
Safe Encoder
Pluto
Rotational absolute value sensor for safe
positioning
Together with a Pluto safety PLC, this rotational absolute
encoder can be used for safe position determination. This
is particularly useful in the case of such equipment as gan-
try robots, industrial robots, etc. Also in eccentric shaft
presses, existing cam mechanisms can be replaced by ab-
solute value position sensors for safe positioning. The sen-
sors are available in single and multi-turn versions.
Up to 16 absolute encoders can be connected to a Pluto
CAN databus. A Pluto on the databus reads the sensor
values, which are evaluated. With a special function block
in the PLC code, it is possible to design two-channel solu-
tions with the sensors. The user can obtain safe values for
position and speed from these values. This enables super-
vision of stationary and overspeed conditions.
The absolute value sensors are standard sensors with
modied software to meet the safety requirements.
Example of an application where 2 sensors provide safe position determination in a gantry robot.
Use:
Safe position and speed deter-
mination of machine movements.
Features:
High resolution
Selectable resolution
Connected directly to the Pluto
databus
Ready-made function blocks
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Technical data Safe Encoder RSA 597
Manufacturer 1OKAB SAFETY AB, Sweden
Article number/ordering data: 200?036 PSA 59?
Ambient temperature 40C .. +?0C
Temperature, transport and storage 30C .. +?0C
Ingress protection class lP6? in accordance with lEC 60529
At shaft inlet lP66 in accordance with lEC 60529
Vibration (55 to 2000 Hz) < 300 m/s
2
in accordance with lEC
60068-2-6
Shock (6ms) < 2,000 m/s
2
in accordance with lEC
6006822?
Material, enclosure Aluminium
Surface treatment Painted and chromed or anodised
Weight Approx. 300 g
Accuracy and resolution
Resolution 13 bits, 8192 positions per rotation
Accuracy LSB (Least Signicant Bit)
Operating voltage 936 v dc
Polarity-protected Yes
Short-circuit protected Yes
Databus speed 5 kbit/s - 1 Mbit/s, preset at 500kbit/s
Address input Active low
Code type Binary
Programmable functions

Resolution, 0 position
Direction, Databus speed
Current consumption 50 mA at 24V dc
Max current consumption 100 mA
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2:26
Technical data Safe Encoder RSA 698
Manufacturer 1OKAB SAFETY AB, Sweden
Article number/ordering data: 200?03? PSA 698
Ambient temperature 40C .. +?0C
Temperature, transport and storage 30C .. +?0C
Ingress protection class lP6? in accordance with lEC 60529
At shaft inlet lP66 in accordance with lEC 60529
Vibration (55 to 2000 Hz) < 100 m/s
2
in accordance with lEC
60068-2-6
Shock (6ms) < 2,000 m/s
2
in accordance with lEC
6006822?
Material, enclosure Aluminium
Surface treatment Anodised
Weight Approx. 400g
Accuracy and resolution
Resolution, total

25 bit
13 bits, 8192 positions per rotation
12 bits, 4096 rotations
Accuracy 1 LSB (Least Signicant Bit)
Operating voltage 936 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
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2:27
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Encoder Cam
Function block for electronic cam gear.
Function
Output O is activated il the value ol the
input register 'PosReg' is within the limits
for MinPos and MaxPos.
NOTE! lt is possible to specily a value
that denes the sensor's zero position.
Position <0 is not permitted.
Example: ll MinPos = 3000 and
MaxPos = 200, O is activated when
the position is greater than 2999 or less
than 201.
Safe Encoder
Function block for a single-turn encoder
that generates safe position and speed
values from two absolute encoders.
Function
The block reads and evaluates one absolute
encoders. The position value is sent to
the 'Position' output. The 'Speed' output
is the average value for the speed, at the
rate ol pulses/10 ms. ll an error occurs,
the 'OK' output is set to zero. ln certain
applications the values of 'Position' and
'Speed' are used in conjunction with the
'OK' output.
Safe Encoder
Multiturn
Function block for a multi-turn encoder
that generates safe position and speed
values from two absolute encoders.
Operative system 2.4.4 or higher is
required.
Function
The block reads and evaluates two
absolute encoders. The average value for
the two sensors is calculated and sent to
the 'Position' output. The 'Speed' output
is the average value for the speed, at the
rate of pulses/10 ms. The block monitors
that the encoder position values do not
differ by more than the input value set by
'MaxDill'. ll an error occurs, the 'OK' out-
put is set to zero. ln certain applications
the values of 'Position' and 'Speed' are
used in conjunction with the 'OK' output.
Descriptions of inputs and outputs
PosPeg: lnput lor the position value
MinPos: Minimum limit value
MaxPos: Maximum limit value
Descriptions of inputs and outputs
AdrEncoderA: Encoder A node address
AdrEncoderB: Encoder B node address
MaxDill: Max allowed deviation between the encoders
(max 2% of Range)
Pange: Number ol increments per revolution
OK: Set when encoders are working OK and
the position values are within the margin set by 'MaxDiff'
Position: Position value
Speed: Speed value as increments/10ms
A: Encoder A position. Must not be used in PLC program!
B: Encoder B position. Must not be used in PLC program!
NOTE! Position values from single encoders are only available
lor adjustment purposes and must NOT be used lor salety.
NOTE! When error occurs 'Position' = 1, 'Speed' = 32?68
and the OK output will be reset.
Descriptions of inputs and outputs
AdrEncoderA: Encoder A node address
AdrEncoderB: Encoder B node address
MaxDill: Max allowed deviation between the encoders (max
2% ol lncrPerPev)
lncrPerPev: Number ol increments per revolution
OK: Set when encoders are working OK and
the position values are within the margin set by 'MaxDiff'
Position: Position value
Speed: Speed value as increments/10ms
A: Encoder A position. Must not be used in PLC program!
B: Encoder B position. Must not be used in PLC program!
NOTE! Position values from single encoders are only available
lor adjustment purposes and must NOT be used lor salety.
NOTE! When error occurs 'Position' = 1, 'Speed' = 32?68
and the OK output will be reset.
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2:28
Example Robot cell with Pluto
Description:
The example describes a processing machine served by
a robot. The machine safety system consists of one Pluto
to which all protection has been connected. The robot has
been equipped with a Pluto to which the cell protection
has been connected. The Pluto for the machine has been
connected via a databus cable to the robot's Pluto so that
common functions, such as emergency stop, can be used
by the whole cell.
Function:
Emergency stop takes priority and will stop both the ma-
chine and the robot. The machine hatch acts as the zone
divider, when the hatch is closed the machine forms one
zone and the robot another zone. When the machine hatch
is open, both the machine and the robot belong to the
same zone. ll the door is opened when the machine hatch
is open, the machine and the 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.
Emergency stop is reset when the pressed-in button is
pulled out. NOTE. The cell operating cycle must not how-
ever start immediately on resetting the emergency stop or
the door.
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2:29
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Project created by: 1ohan Torstensson, 1okab Salety AB
Project checked by:
Project approved by:
History:
31 August 200? Project created
Electrical connections
Apparatus
enclosure
Robot
enclosure
Electrical equipment
enclosure for machinery
Emergency stop
Emergency stop Safety interlock switch
Machine
emergency
stop
Machine
protective
stop
Robot
Autostop
Robot
Emergency stop
Door
Supply Matning
Pluto databus
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2:30
Pluto 0 settings
Pluto 0
l0.0 = Emergency stop_channel_1 ;Channel 1 lrom the emergency stop button
l0.0 = Emergency stop_channel_2 ;Channel 2 lrom the emergency stop button
l0.2 = Door ;Signal lrom the door sensor
O0.2 = Pobot_Autostopp_OK ;Automatic stop lor the robot
O0.3 = Pobot_Emergencystop_OK ;Emergency stop lor the robot
O0.10 = ;Output that generates a dynamic signal
GM0.0=Peset_ind_mem ;Collective memory lor indication in the reset button
GM0.1=Emergencystop_OK_mem ;Auxiliary memory lor emergency stop OK
M0.0=Peset_lnd_1_mem ;Auxiliary memory 1 lor indication in the reset button
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2:31
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Pluto 1 settings
Pluto 1
l1.1=Estop_machine_channel_1 ;Channel 1 lrom the emergency stop button on the machine
l1.2=Estop_machine_channel_2 ;Channel 2 lrom the emergency stop button on the machine
l1.11=Machine hatch_NC ;Channel 1 lrom the salety interlock switch
l1.12=Machine hatch_NO ;Channel 2 lrom the salety interlock switch
l1.15=Peset ;Peset button Peset.
O1.0=Estop_machine_OK ;Emergency machine stop.
O1.1=Machine_prot.stop_OK ;Protective machine stop.
O1.10= ;Output that generates a dynamic signal.
O1.15=Peset_lnd ;lndication lamp in the reset button.
GM1.0=Machine hatch_OK_mem ;Global auxiliary memory lrom twochannel supervision ol the salety interlock switch in
the machine hatch.
GM1.1=Estop_machine_OK_mem ;Global auxiliary memory lrom twochannel supervision ol the emergency stop on the machine.
M1.0=Peset_lnd_2_mem ;Auxiliary memory 2 lor indication in the reset button
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2:32
Start
TC1S
Q In1
In2
Start
ResetT
Q In1
Reset
Test
IndReset
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PLC code Pluto 0
Two-channel supervision with automatic reset emergency stop at the door.
Estop_kanal_1 Estop_OK_mem
l0.0 GM0.1
E-stop_kanal_2
l0.1
GM0.1 = E-stop_OK_mem Auxiliary memory for emergency stop OK
I0.0 = E-stop_kanal_1 Channel 1 from the emergency stop button
I0.1 = E-stop_kanal_2 Channel 2 from the emergency stop button
Emergency stop for the robot
When the emergency stop is activated, the robot will perform an emergency stop.
To reset the safety features, the emergency stop button must be reset.
Estop_OK_mem Estop_machine_OK_mem Pobot_NS_OK
GM1.1 O0.3
GM0.1 = E-stop_OK_mem Auxiliary memory for emergency stop OK
GM1.1 = E-stop_machine_OK_mem Global auxiliary memory from two-channel supervision of the emergency stop on the machine.
Q0.3 = Robot_NS_OK Emergency stop for the robot
Automatic stop for the robot
When the door of the cell opens the robot is set to automatically stop.
To reset the safety features, the door must be closed and then the reset signal given.
Door Pobot_Autostopp_OK
l0.2 O0.2
Reset Reset_ind_1_mem
l1.15 M0.0
l0.2 = Door Signal from the door sensor
I1.15 = Reset Reset button Reset
M0.0 = Reset_ind_1_mem Auxiliary memory for indication in the reset button
Q0.2 = Robot_Autostopp_OK Automatic stop for the robot
lndication lamp in the reset button.
Summary of local memories that shall generate the signal in the reset lamp.
The global memory is then used in the Pluto where the output is.
Reset_ind_1_mem Reset_ind_1_mem
M0.0 GM0.0
GM0.0 = Reset_ind_mem Collective memory for indication in the reset button
M0.0 = Reset_ind_1_mem Auxiliary memory 1 for indication in the reset button
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lndication on the display.
Alarm 03 - Machine hatch open.
To generate an alarm, a UE code (UE = User Error) can be shown on the Pluto's display.
This alarm code is selected by a value of between 200 and 299 being written into the Pluto's display register.
SR_ErrorCode = 0 is used as a condition to prioritise an internal alarm from the unit.
Machine hatch_OK_mem SP_ErrorCode = 0 SP_PlutoDisplay = 203
GM1.0 SP0.11 = 0 SP0.10 = 203
GM1.0 = Machine hatch_OK_mem Global auxiliary memory from two-channel supervision of the safety interlock switch in the machine hatch.
SR0.10 = SR_PlutoDisplay Pluto display gure
SR0.11 = SR_ErrorCode Error code. For user error 200 + no
lndication on the display.
Alarm 02 Door open.
To generate an alarm, a UE code (UE = User Error) can be shown on the Pluto's display.
This alarm code is selected by a value of between 200 and 299 being written into the Pluto's display register.
SR_ErrorCode = 0 is used as a condition to prioritise an internal alarm from the unit.
Door SR_ErrorCode = 0 SR_PlutoDisplay = 202
l0.2 SP0.11 = 0 SP0.10 = 202
10.2 = Door Signal from the door sensor
SR0.10 = SR_PlutoDisplay Pluto display gure
SR0.11 = SR_Errorcode Error code. For user error 200 + no
lndication on the display.
Alarm 01 - Emergency stop activated
To generate an alarm, a UE code (UE = User Error) can be shown on the Pluto's display.
This alarm code is selected by a value of between 200 and 299 being written into the Pluto's display register.
SR_ErrorCode = 0 is used as a condition to prioritise an internal alarm from the unit.
Estop_OK_mem SP_ErrorCode = 0 SP_PlutoDisplay = 201
SR0.11 = 0 SR0.10 = 201
GM0.1 = E-stop_OK_mem Auxiliary memory for emergency stop OK
SR0.10 = SR_PlutoDisplay Pluto display gure
SR0.11 = SR_ErrorCode Error code. For user error 200 + no
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2:34
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Start
2
TC1S
In1
In2
Start
3
TC1S
Q In1
In2
Start
4
ResetT
Q In1
Reset
Test
IndReset
5
PLC code Pluto 1
Two-channel supervision with automatic reset of the emergency stop on the machine.
Estop_machine_kanal_1 Estop_OK_mem
l1.1 GM1.1
E-stop_machine_kanal_2
l1.2
GM1.1 = E-stop_machine_OK_mem Global auxiliary memory from two-channel supervision of the emergency stop on the machine.
I0.0 = E-stop_machine_kanal_1 Channel 1 from the emergency stop button on the machine
I0.1 = E-stop_machine_kanal_2 Channel 2 from the emergency stop button on the machine
Two-channel supervision of the machine hatch switch.
The switch has alternating contacts and the variable name shows the contact arrangement for the respect signals when the key is in the sensor.
- Machine hatch_NC gives a signal
Machine hatch_NO gives a signal.
Machine hatch_NC Machine hatch_OK_mem
l1.11 GM1.0
Machine hatch_NO
l1.12
GM1.0 = Machine hatch_OK_mem Global auxiliary memory from two-channel supervision of the safety interlock switch in the machine hatch.
I1.11 = Machine hatch_NC Channel 1 from the safety interlock switch
I1.12 = Machine hatch_NO Channel 2 from the safety interlock switch
Emergency machine stop.
When the emergency stop is activated, the machine will perform an emergency stop.
To reset the safety features, the emergency stop button must be reset.
Estop_OK_mem Estop_machine_OK_mem Maskin_Estop_OK
GM1.1 O1.0
GM0.1 = E-stop_OK_mem Auxiliary memory for emergency stop OK
GM1.1 = E-stop_machine_OK_mem Global auxiliary memory from two-channel supervision of the emergency stop on the machine.
Q1.0 = Maskin_E-stop_OK Emergency machine stop.
Protective machine stop.
When the protective stop is activated, the machine will stop.
ll the door in to the robot area is opened at the same time as the machine hatch is closed, the machine will continue with its work cycle.
To reset the safety features, the door or the machine hatch must be closed and then the reset signal given.
Machine hatch_OK_mem Maskin_skyddstopp_OK
GM1.0 O1.1
Door Reset_ind_2_mem
l0.2 M1.0
Reset
l1.15
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GM1.0 = Machine hatch_OK_mem Global auxiliary memory from two-channel supervision of the safety interlock switch in the machine hatch.
I0.2 = Door Signal from the door sensor
I1.15 = Reset Reset button Reset
M1.0 = Reset_Ind_2_mem Auxiliary memory 2 for indication in the reset button
Q1.1 = Maskin_skyddstop_OK Protective machine stop.
lndication lamp in the reset button
Summary of memories that shall generate the signal in the reset lamp.
Peset_ind_mem Peset_lnd
GM0.0 O1.15
Peset_lnd_2_mem
M1.0
GM0.0 = Reset_Ind_mem Collective memory for indication in the reset button
M1.0 = Reset_Ind_2_mem Auxiliary memory 2 for indication in the reset button
Q1.15 = Reset_Ind Indication lamp in the reset button.
lndication on the display
Alarm 03 - Machine hatch open.
To generate an alarm, a UE code (UE = User Error) can be shown on the Pluto's display.
This alarm code is selected by a value of between 200 and 299 being written into the Pluto's display register.
SR_ErrorCode = 0 is used as a condition to prioritise an internal alarm from the unit.
Machine hatch_OK_mem SP_ErrorCode = 0 SP_PlutoDisplay = 203
GM1.0 SP1.11 = 0 SP1.10 = 203
GM1.0 = Machine hatch_OK_mem Global auxiliary memory from two-channel supervision of the safety interlock switch in the machine hatch.
SR1.10 = SR_PlutoDisplay Pluto display gure
SR1.11 = SR_ErrorCode Error code. For user error 200 + no
lndication on the display
Alarm 02 Door open.
To generate an alarm, a UE code (UE = User Error) can be shown on the Pluto's display.
This alarm code is selected by a value of between 200 and 299 being written into the Pluto's display register.
SR_ErrorCode = 0 is used as a condition to prioritise an internal alarm from the unit.
Door SR_ErrorCode = 0 SR_PlutoDisplay = 202
l0.2 SP1.11 = 0 SP1.10 = 202
I0.1 = Door Signal from the door sensor
SR1.10 = SR_PlutoDisplay Pluto display gure
SR1.11 = SR_ErrorCode Error code. For user error 200 + no
lndication on the display
Alarm 01 - Emergency stop activated.
To generate an alarm, a UE code (UE = User Error) can be shown on the Pluto's display.
This alarm code is selected by a value of between 200 and 299 being written into the Pluto's display register.
SR_ErrorCode = 0 is used as a condition to prioritise an internal alarm from the unit.
Estop_OK_mem SP_ErrorCode = 0 SP_PlutoDisplay = 201
SR1.11 = 0 SR1.10 = 201
GM0.1 = E-stop_OK_mem Auxiliary memory for emergency stop OK
SR1.10 = SR_PlutoDisplay Pluto display gure
SR1.11 = SR_ErrorCode Error code. For user error 200 + no