Pluto Safety PLC details - Products For Industry

Pluto Safety PLC
Including dynamic signals, the new safety principle.
Pluto/Gateway/Encoder
Profibus DP
DeviceNet
CANopen
Ethernet
AS-i
12 I/O
20 I/O 46 I/O
+ 31 AS-i safety nodes
(A/D)
HMI
Pluto Manager
www.jokabsafety.com

Contents
Page
Why you should use the Pluto safety PLC _______________________________2:2
Pluto with and without a databus ______________________________________2:4
_________________________________________________________2:6
____________________________________________________2:8
____________________________________________________ 2:10
____________________________________________________ 2:11
Pluto Manager ____________________________________________________ 2:12
Pluto Gateway _____________________________________________________ 2:14
__________________________________________________________ 2:16
_________________________________________________________ 2:18
_________________________________________________________ 2:20
__________________________________________________________ 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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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.
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Why you should
have Pluto safety
PLC's.
– for simplifying the design of and changes to safety systems!
Approval:
EN 954-1, Category 4
EN 61496-1, Type 4
Pluto is an ”All-Master” safety PLC concept, that simplifies
the design of safety systems and achieves the highest safety
between Pluto and conventional safety PLC´s 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.
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 Profibus,
safety slaves and standard slaves can be handled.
Pluto offers an economic solution for both single machines
and for major machine systems.
Our solution with All-Master
Pluto All-Master
Pluto – All Master
+ +
Pluto All-Master
Pluto All-Master
4 + 4 + 4
Traditional safety PLC
+
nodes
Master
Safe bus
4
Pluto AS-i
Slaves
+
6 + 4
2:2
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– to supervise safety devices!
1
Light beams Light grids/curtains
devices
Sensors/
switches
Two-hand
controls
Emergency
stops
Strips
Mats
2
Most safety devices on the market can be connected directly
to Pluto units. By using dynamic signals with sensors
from Jokab Safety only one input is needed for category 4,
is also possible to connect up to 10 sensors in series to a
single input on Pluto according to category 4.
– to save on inputs!
Dynamic signals
1–10 doors with one Eden per door
category 4
Pluto
has inputs for static and
dynamic sensors. Several
sensors can be connected
to one dynamic input in
accordance with 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
that can be used as both inputs and outputs.
Dynamic signals
1-10 sensors
category 4
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4
5
6
7
8
9
IO connections
both input and output at the same time (e.g. for a reset button with lamp
indication)
input/output
Two inputs
Static inputs (mechanical switches)
2 for each door = category 4
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Pluto with databus - an overview
Profibus DP
DeviceNet
CANopen
Ethernet
Pluto B20
20 I/O
Patented
HMI
Gateway for two-way databus
communication between Pluto and
other control systems.
4 independent
failsafe safety outputs
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 inputs
and outputs that can be used, for example, for lamp pushbuttons
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.
HMI
panel can communicate
with Pluto in both directions.
Connection can be
made via the bus or direct
to the front of the Pluto.
Pluto bridge
With a Gateway set up
as a Pluto bridge, it is
increase the databus
length
use different databus
speeds for each section
filter information from
one section to reduce
the databus loading on
other sections.
Pluto without a databus – A single Pluto can be used as a
fully programmable safety logic controller.
Pluto S20
Pluto S46
Connector expansion
Patented Patented Patented
Several expansion relays can be connected
to a single Pluto safety output
while retaining the safety level.
words, they are similar to the equivalent versions with bus connections, the B20 and B46-6.
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1
Pluto B46
Pluto AS-i
2
46 I/O
Safety Monitor/Master
Safe bus
12 I/O
(A/D)
+ 31 AS-i safety slaves
3
6 independent
failsafe safety outputs
Patented
Patented
4 independent
failsafe safety outputs
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)
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5
Absolute encoder.
8 single turn or multi
turn absolute encoders
can be connected directly
to the safety bus.
Pluto AS-i is an AS-i module which can be con-
on the bus or work together with an AS-i master
digital outputs, as well as safety outputs.
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Free software is available via our website, at
www.jokabsafety.com!
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Pluto Manager
Programming is performed using ladder or
Boolean algebra – with timers, auxiliary memory,
registers, sequential programming and
TÜV-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.
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I/O Overview - Pluto
IDFIX
IDFIX
only one input if Jokab Safety dynamic safety components are used.
for electro-mechanical components such as contactors and valves.
Failsafe relay outputs that are individually failsafe and individually programmable.
2:6
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Input connection
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.
thereby be able to detect a short-circuit between the channels.
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.
1
2
3
Emergency
stop with
Tina
Emergency
stop with
Tina
Spot light
beam
Eden sensor
4
5
6
Two-channel system Single channel dynamic system, category 4
Reset button that uses the combined input and output facility
Resetting with a lamp
input/output
7
8
9
(Current monitoring)
24VDC
A1
X4
10
Both a lamp and a pushbutton can be connected to the same terminal. This function
is intact. The lamp is only considered to be intact if sufficient current is being drawn from
Examples of connector expansion
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Technical data - general
Black and beige
24V DC ±15%
Cat. 4 in accordance with
EN 954-1
EN 61508/EN 62061
Failsafe inputs I & IQ
Current at 24 V
Max. overvoltage
Failsafe transistor outputs Q
Failsafe relay outputs Q
Max. voltage
Max current
Non-failsafe outputs Q
Indication
input/output LED
also configurable as non-failsafe
outputs
5.1 mA
–24 VDC
Supply voltage - 1.5 V at 800 mA
800 mA
250 V AC
1.5 A
Transistor +24V, PNP "open
collector" also configurable as
failsafe inputs
800 mA
Pluto databus
Max number of Pluto units on
AS-i databus
Temperature
Response times
Dyn. A or static input to relay
Dyn. A or static input to
Dyn. B or Dyn. C input to
Dyn. B or Dyn. C input to
Software setting "NoFilt".
Additional Response times
Databus between Pluto units
Databus between Pluto units
on error
Enclosure classification
CAN
100, 125, 200, 250, 400, 500,
800, 1000 kb/s
Up to 600 m
150 m at 400 kb/s
M2
Master
Safety monitor
Safety monitor & slave
–10˚C to +50˚C
–25˚C to +55˚C

1
2
3
The units are assembled with a gap of at least 5 mm.
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5
6
The terminal blocks are detachable without needing to disconnect the wiring.
7
8
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
Max total load 2.5 A
Max total load 2 A
Max total load 2 A
Max total load 2 A
Max total load 2 A
Max total load 2 A
– – – –
–
–
– – –
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
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PLUTO ACCESSORIES
Name Article no. Explanation
Gate-P1
Pluto Gateway
Profibus
Gateway for two-way communication between Pluto databus
and Profibus.
Gate-C1
Pluto Gateway
CANopen
Gate-D1
Pluto Gateway
DeviceNet
Gate-E1
Pluto Gateway
Ethernet
Gateway for two-way communication between Pluto databus
and CANopen.
Gateway for two-way communication between Pluto databus
and DeviceNet.
Gateway for two-way communication between Pluto databus
and Ethernet.
IDFIX-R
IDFIX-RW
IDFIX-DATA
R-120 Terminating resistor for Pluto databus.
Operator's panel
Pluto Manager Programming tool for Pluto including function blocks.
Can be downloaded from www.jokabsafety.com
Pluto programming
cable
For loading PLC programs and monitoring.
Databus cable
CAN-Bus cable yellow 2 x 0.50 mm ²
CAN-Bus cable purple 2 x 0.50 mm ² halogen-free
Absolute
encoder
Absolute
encoder
Absolute encoder model RSA 698 (multi turn)
Pluto communications cable for operator's panel
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Pluto Manager
Programming a project
Step 1
Step 2
Step 3
Step by step
Step 1
I/O configuration
The inputs and outputs are configured depending on what they are connected to, static or dynamic signals,
inputs and/or outputs, etc.
Step 2
Defining variables
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, certified by TÜV 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.
2:12
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List of standards and special function blocks for Pluto Manager
The safety designer has complete freedom to program the safety functions or to use TÜV-approved pre-defined safety
function blocks.
Blocks in the standard library (func05):
1. Two-channel function with input for start
2. Two-channel function with test input
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.
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.
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.
18. Counter which counts down from preset value to 0.
power level in Watts.
power level in Watts.
24. Light curtain with single cycle operation.
25. Light curtain with single cycle operation and reset
selection.
Internet support - Pluto
ers,
offering continuously updated product support. The
requirements
26. Multiplication.
Other function blocks
1. Safety absolute encoder.
2. Electronic cam.
Special function blocks:
1. Program library with program block for eccentric
shaft presses.
2. Custom special blocks can be made available.
Function block example
TC1RTI
Two-channel function with test and reset
inputs, and reset indication.
TC1RTI
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In1
In2
Q
IndReset
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
Reset TCfault
must be true before the Reset input closes,
i.e. the function block cannot be initiated Test
by Test.
Reset is a supervised reset input and
must be activated (positive flank) after the other inputs have
activated for the function output to be activated.
and flashes when the function block is ready for resetting.
The TCfault output is activated in the case of a two-channel
Description
The function block acts as a conventional two-channel safety
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Use:
Pluto
Gateway
Bi-directional status information
from the Pluto safety PLC
Profibus DP
DeviceNet
CANopen
Ethernet
Features:
Two-way communication
Built-in filter function, shared
network
Can be located anywhere in
the databus
Common interface with Pluto
Ready-made function blocks
Pluto Gateway is a unit providing two-way communication
between a Pluto safety PLC and other field buses. There
GATE-P1 – Profibus-DP
GATE-D1 – DeviceNet
GATE-C1 – CANopen
GATE-E1
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-
which means that programming tools are not required to
put the gateway itself into operation.
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 databus
cables are needed. There is also a built-in filter 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.
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Gateway block schematic diagram - Pluto Gateway
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Pluto Gateway
Profibus
Profibus DP
Pluto safety PLC.
Data from Pluto
-
-
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
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.
PLC function blocks
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 customer
to change and add functions. These function blocks can
be obtained via the Jokab Safety web site.
Pluto databus LED
PC port
Profibus LED
Profibus connector
2:16
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Technical data - Gateway Profibus
Manufacturer:
1
Article number/ordering data: GATE-P1
Databuses:
Pluto databus speeds:
-Pluto databus CAN (isolated)
100, 200, 250, 400, 500, 800 and
1000 kbit/s
(automatic speed detection)
2
PROFIBUS speed:
PROFIBUS address:
Up to 12 Mbit/s (automatic speed
detection)
3
PROFIBUS version:
DP slave, DP-V0
Connections:
(included)
nection.
Bottom, 2-pole terminal for 24 V DC
(included)
119 mm
4
Status indication:
Pluto databus status indication via LED
Operating voltage: 24 V DC, -15% till +20%
Current at 24 V: < 100 mA (recommended fuse ≤6 A)
5
Dimensions (w x h x d):
22.5 x 101 x 119 mm
Installation:
Operating temperature (ambient): -10°C to + 55ºC
Temperature, transport and storage: -25°C to + 55ºC
101 mm
6
Humidity:
EN 60 204-1 50% at 40ºC (ambient
90% at 20ºC)
Enclosure classification:
22,5 mm
7
Gateway block schematic diagram - Pluto Profibus
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Pluto Gateway
DeviceNet
DeviceNet
with Pluto safety PLC.
Data from Pluto
Via DeviceNet a supervisory PLC system can have access
”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 nonsafety-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” messages).
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 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 thereby permits longer databus
cables.
ABB Robotics IRC5
that describes this integration can be obtained via the Jokab
Safety web site.
Pluto databus LED
PC port
DeviceNet LED
DeviceNet connector
2:18
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Technical data - DeviceNet
Manufacturer
1
Article number/ordering data: GATE-D1
Databuses:
Pluto databus speeds:
-Pluto databus CAN (isolated)
-DeviceNet CAN (isolated)
100, 200, 250, 400, 500, 800 and
1000 kbit/s
(automatic speed detection)
2
DeviceNet speeds:
DeviceNet address:
switch)
3
DeviceNet Version:
Connections:
(included)
Front, 5-pole terminal for DeviceNet
(included)
Bottom, 2-pole terminal for 24 V DC
(included)
119 mm
4
Status indications:
Pluto databus status indication via LED
DeviceNet MNS status indication via
LED
Operating voltage: 24 V DC, -15% till +20%
5
Current at 24 V: < 100 mA (recommended fuse ≤6 A)
Dimensions (w x h x d):
22.5 x 101 x 119 mm
Installation:
Operating temperature (ambient): -10°C to + 55ºC
Temperature,
transport and storage: -25°C to + 55ºC
101 mm
6
Humidity:
Enclosure classification:
EN 60 204-1 50% at 40ºC (ambient
90% at 20ºC)
22,5 mm
7
Gateway block schematic diagram - Pluto DeviceNet
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Pluto Gateway
CANopen
CANopen
with Pluto safety PLC.
Data from Pluto
Via CANopen a supervisory PLC system can have access
the supervisory system.
Data to Pluto
Via CANopen a supervisory PLC system can send nonsafety-related
information to a Pluto safety PLC. A total of
64 Boolean values and 8 different 16-bit registers can be
blocks for these commands are available in Pluto Manager.
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 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 thereby permits longer databus
cables.
Pluto databus LED
PC port
CANopen LED
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Technical data - Gateway CANopen
Manufacturer
1
Article number/ordering data: GATE-C1
Databuses:
Pluto databus speeds:
-Pluto databus CAN (isolated)
-CANopen CAN (isolated)
100, 200, 250, 400, 500, 800 and
1000 kbit/s
(automatic speed detection)
2
CANopen speeds:
switch)
10, 20, 50, 100, 125, 250, 500, 800
and 1000 kbit/s (via software)
3
CANopen address:
CANopen version:
Connections:
Status indications:
”Version 4.02 of the CiA Draft Standard
(included)
Front, 5-pole terminal for CANopen
(included)
Bottom, 2-pole terminal for 24 V DC
(included)
Pluto databus status indication via LED
CANopen status indication via LED
119 mm
4
5
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:
101 mm
6
Operating temperature (ambient): -10°C to + 55ºC
Temperature, transport and storage: -25°C to + 55ºC
Humidity:
EN 60 204-1 50% at 40ºC (ambient
90% at 20ºC)
Enclosure classification:
22,5 mm
7
Gateway block schematic diagram - Pluto CANopen
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Pluto Gateway
Ethernet
Ethernet
cation
with Pluto safety PLC.
Protocol
from and to Pluto safety PLCs via Ethernet protocols Eth-
server and a terminal server.
Data from Pluto
Via one of the Ethernet protocols a supervisory PLC system
-
Local data in Pluto units can be read by special commands
together with the 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.
Pluto databus LED
PC port
Ethernet LED
Ethernet connector
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C L
IQ12
C H I1 I3
I0
IQ14
I2
IQ16
I4
I5 I7 IQ11 Q3
Q0
IQ10
Q1
IQ13 IQ15 IQ17 ID 0V +24V
I6
Q2
C L
IQ12
C H I1 I3
I0
IQ14
I2
IQ16
I4
I5 I7 IQ11 Q3
Q0
IQ10
Q1
IQ13 IQ15 IQ17 ID 0V +24V
I6
Q2
PLUTO
BUS
K
PR
Mod
Status
Net
Status
C L
IQ12
C H I1 I3
I0
IQ14
I2
IQ16
I4
I5 I7 IQ11 Q3
Q0
IQ10
Q1
IQ13 IQ15 IQ17 ID 0V +24V
I6
Q2
Technical data - Ethernet
Manufacturer
Article number/
ordering data: 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
- Modbus TCP
EtherNet/IP
PROFINET
Modbus TCP
Binary server (TCP/IP)
Web server
Note that certain combinations
of server protocols cannot be
used simultaneously.
configuration
- Web server
According to the Modbus organisation,
version 1.0b (approx. 20
messages per second).
status from/to the Pluto system.
addresses.
Terminal server (TCP/IP) Simple server with the same
commands as via the serial programming
port in the unit.
IP address
Static sharing via web server or
via programming port.
Gateway configuration
Connections
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 indication
via LED (Mod Status)
Ethernet network status indication
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):
Installation
Operating temperature
(ambient) -10°C to + 55ºC
Temperature,
transport and storage -25°C to + 55ºC
Humidity EN 60 204-1 50 % at 40ºC
(ambient 90 % at 20ºC)
Enclosure classification
1
2
3
4
5
6
7
8
Gateway block schematic diagram - Pluto Ethernet
PLC
Ethernet, non safety
119 mm
9
GATE-E1
10
Modbus TCP
EtherNet/IP
PROFINET
Pluto CAN bus, safety
Gateway
101 mm
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Pluto Pluto Pluto
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Pluto
Safe Encoder
Use:
Safe position and speed determination
of machine movements.
Features:
High resolution
Selectable resolution
Connected directly to the Pluto
databus
Ready-made function blocks
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 gantry
robots, industrial robots, etc. Also in eccentric shaft
presses, existing cam mechanisms can be replaced by absolute
value position sensors for safe positioning. The sensors
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 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 with
modified software to meet the safety requirements.
Example of an application where 2 sensors provide safe position determination in a gantry robot.
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Technical data – Safe Encoder RSA 597
Manufacturer
Article number/ordering data:
Ambient temperature
Temperature, transport and storage
Ingress protection class
At shaft inlet
Vibration (55 to 2000 Hz)
2
60068-2-6
Shock (6ms)
< 2,000 m/s 2
Material, enclosure
Aluminium
Surface treatment
Painted and chromed or anodised
Weight
Accuracy and resolution
Resolution
Accuracy
± ½ LSB (Least Significant Bit)
Operating voltage
Polarity-protected
Short-circuit protected
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
1
2
3
4
5
6
7
8
9
10
11
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Technical data – Safe Encoder RSA 698
Manufacturer
Article number/ordering data:
Ambient temperature
Temperature, transport and storage
Ingress protection class
At shaft inlet
Vibration (55 to 2000 Hz)
< 100 m/s 2
60068-2-6
Shock (6ms)
< 2,000 m/s 2
Material, enclosure
Aluminium
Surface treatment
Anodised
Weight
Approx. 400g
Accuracy and resolution
Resolution, total
25 bit
12 bits, 4096 rotations
Accuracy
± 1 LSB (Least Significant Bit)
Operating voltage
Polarity-protected
Short-circuit protected
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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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
applications the values of 'Position' and
'Speed' are used in conjunction with the
Descriptions of inputs and outputs
(max 2% of Range)
the position values are within the margin set by 'MaxDiff'
NOTE! Position values from single encoders are only available
NOTE!
1
2
3
4
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
-
the values of 'Position' and 'Speed' are
Encoder Cam
Function block for electronic cam gear.
Function
input register 'PosReg' is within the limits
for ’MinPos’ and ’MaxPos’.
that defines the sensor's zero position.
Position

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 machine
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
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
ever
start immediately on resetting the emergency stop or
the door.
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Electrical connections
1
Apparatus
enclosure
Robot
enclosure
Pluto databus
Electrical equipment
enclosure for machinery
2
Emergency stop
Door
Emergency stop
Machine
emergency
stop
Safety interlock switch
3
Machine
protective
stop
4
Robot
Emergency stop
Robot
Autostop
5
Matning
Supply
6
7
8
9
10
11
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Pluto 0 settings
Pluto 0
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Pluto 1 settings
1
Pluto 1
the machine hatch.
2
3
4
5
6
7
8
9
10
11
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PLC code Pluto 0
1
Start
2
Two-channel supervision with automatic reset emergency stop at the door.
In1
TC1S
Q
E-stop_kanal_2
In2
Start
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
3
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.
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
4
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.
In1
ResetT
Q
Reset
Reset
IndReset
Reset_ind_1_mem
Test
.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
5
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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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.
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 figure
SR0.11 = SR_ErrorCode Error code. For user error 200 + no
1
2
3
7
8
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
10.2 = Door Signal from the door sensor
SR0.10 = SR_PlutoDisplay
Pluto display figure
SR0.11 = SR_Errorcode
Error code. For user error 200 + no
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.
SR0.11 = 0 SR0.10 = 201
4
5
6
7
GM0.1 = E-stop_OK_mem
SR0.10 = SR_PlutoDisplay
SR0.11 = SR_ErrorCode
Auxiliary memory for emergency stop OK
Pluto display figure
Error code. For user error 200 + no
8
9
10
11
12
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PLC code Pluto 1
1
Start
2
Two-channel supervision with automatic reset of the emergency stop on the machine.
In1
TC1S
E-stop_machine_kanal_2
In2
Start
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
3
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
In1
TC1S
Q
In2
Start
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
4
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.
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.
5
Protective machine stop.
When the protective stop is activated, the machine will stop.
To reset the safety features, the door or the machine hatch must be closed and then the reset signal given.
In1
ResetT
Q
Door
IndReset
Reset_ind_2_mem
Reset
Reset
Test
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6
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.
Summary of memories that shall generate the signal in the reset lamp.
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.
1
2
3
4
7
8
9
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.
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 figure
SR1.11 = SR_ErrorCode Error code. For user error 200 + no
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
I0.1 = Door Signal from the door sensor
SR1.10 = SR_PlutoDisplay
Pluto display figure
SR1.11 = SR_ErrorCode
Error code. For user error 200 + no
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.
SR1.11 = 0 SR1.10 = 201
5
6
7
8
9
10
11
GM0.1 = E-stop_OK_mem
SR1.10 = SR_PlutoDisplay
SR1.11 = SR_ErrorCode
Auxiliary memory for emergency stop OK
Pluto display figure
Error code. For user error 200 + no
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