Pilz PNOZmulti system extension

t ReactionMax=t Max input delay+t Max processing time+t Max switch-off delay at output 

t ReactionMax=t Max input delay+t Max processing time+t Max switch-off delay at output

Maximum input delay: The detection delay of signal changes by the input module, including hardware filtering, signal smoothing, pulse suppression, etc.

Maximum processing time: the time for the base CPU to execute the user program (if the I/O is in the same module, or the module program is involved in exchanging data with the main program, it will be increased additionally).

Maximum turn off delay: the action time of internal relays or semiconductor turn off time of the output module.

The "maximum shutdown delay" for each module provided in the manual already includes the processing time of the base, so there is no need to repeatedly add processing time when using the standard formula. But when it comes to module programs (such as speed monitoring module internal processing) or when the main program repeatedly transmits signals through program connectors, the corresponding time needs to be accumulated.

3.1 Default Input Delay and Shutdown Delay Quick Check on Each Platform

PNOZmulti Classic：

Maximum input delay and maximum shutdown delay of the module (output including processing time)

PNOZ m0p~m3p (base itself) 4 ms 30 ms (semiconductor)/50 ms (relay)

PNOZ mi1p / mi2p 4 ms -

PNOZ mo1p / mo3p - 30 ms

PNOZ mo2p / mo4p / mo5p - 50 ms

PNOZ ml1p (link module) 0 ms (from partner) 35 ms (transmission delay)

PNOZ ml2p+PDP67 15 ms+input module delay 35 ms

PNOZ ma1p (analog) 100 ms-

PNOZ ms1p~ms4p (speed) 10 ms+1/f depending on configuration

PNOZmulti Mini：

Maximum input delay and maximum shutdown delay of the module

PNOZ mm0p~mm0.2p 4 ms 30 ms (semiconductor)/35 ms (virtual output)

PNOZ s7 and other Sigma modules -30 ms+module delay (30 ms) → total 60 ms

PNOZmulti 2：

Maximum input delay, maximum processing time, and maximum shutdown delay of the module

PNOZ m B0 / B0.1 2 ms 30 ms 1 ms

PNOZ m B1 (FS Security Section) -30 ms-

PNOZ m EF 16DI 8 ms - -

PNOZ m EF 8DI4DO 8 ms - 3 ms

PNOZ m EF 4DI4DOR 8 ms - 22 ms

PNOZ m EF 2DOR 8 ms - 22 ms

PNOZ m EF 1MM (main program configuration) 1/f+16 ms --

PNOZ m EF Multi Link 0 ms -5 ms (transmission)

PNOZ m ES 14DO (standard output) -1 ms

3.2 Key influencing factors

Signal smoothing: It can be set on the analog module PNOZ m EF 4AI (default 2 ms), which will add additional input delay.

Pulse suppression: It can be set on modules such as PNOZ m EF 8DI2DOT (default 0.8 ms) to filter out sensor self-test pulses, but it will increase input delay.

Test pulse suppression: Some safety switches (such as outputs with self-test pulses) require activation of "test pulse suppression", which increases the response time by up to 15 ms.

Program connector: When a signal is transmitted multiple times between the module program and the main program, the corresponding processing time (e.g. 8 ms) must be accumulated for each pass.

Frequency measurement (motion monitoring): The input delay is related to the current actual frequency: delay=1/f_actual+fixed value (such as 16 ms).

Practical case study of reaction time calculation

Case 1: PNOZmulti Classic - Input from PNOZ mi2p, output from PNOZ mo3p

Input delay: PNOZ mi2p=4 ms

Output shutdown delay: PNOZ mo3p=30 ms

tmax=four+thirty=thirty-fourms t max=4+30=34 ms

Case 2: PNOZmulti Mini - Input from base mm0.1p, output from PNOZ s7

Base input delay: 4 ms

PNOZ s7 shutdown delay: 30 ms (module itself)+30 ms (Sigma module additional delay)=60 ms

tmax=four+sixty=sixty-four ms t max=4+60=64 ms

Case 3: PNOZmulti 2 – input from PNOZ m EF 8DI4DO, output from the same module

Input delay: 8 ms

Main program processing time: 30 ms (base)

Output shutdown delay: 3 ms

tma x=eight+thirty+three=forty-one ms 

t max=8+30+3=41 ms

Case 4: PNOZmulti 2- Analog Input to Semiconductor Output

Input delay (PNOZ m EF 4AI): 8 ms+signal smoothing 2 ms=10 ms

Module program processing time: 5 ms

Main program processing time: 30 ms

Output shutdown delay (PNOZ m EF 8DI4DO): 3 ms

t max=ten+five+thirty+three=forty-eight ms 

t max=10+5+30+3=48 ms

Case 5: Speed monitoring configuration in the main program (frequency 100 Hz)

Input delay (PNOZ m EF 1MM): 1/f+16 ms=10+16=26 ms

Main program processing: 30 ms

Base output shutdown: 1 ms

t max=twenty-six+thirty+one=fifty-seven ms 

t max=26+30+1=57 ms

Multi Controller Cascade: PNOZ Multi Link and SafetyNET p

When the output of one controller needs to respond based on the input of another controller (such as multiple machine safety interlocks), the transmission delay across controllers must be considered.

5.1 PNOZmulti Link Connection

Each Link module will increase the transmission delay by approximately 35 ms (data from one Link module to the other). Reaction time calculation formula:

t ReactionMax=Input base input delay+(Transmission delay of sender link)+Intermediate base input delay (0)+Intermediate Link Transmission Delay+Final pedestal output shutdown delay

t ReactionMax=Input base input delay+(sender link transmission delay)+intermediate base input delay (0)+intermediate link transmission delay)+final base output shutdown delay