Wago-i/o-system 750 Xtr

Transcript

WAGO-I/O-SYSTEM 750 XTR Pos : 2 /D okumentati on allgemein/Ei nband/Ei nband H andbuch - Fronts eite 2015 - mit Doc Variabl en (Standar d) @ 9\mod_1285229289866_0.doc x @ 64941 @ @ 1 Manual 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR CANopen Programmable Fieldbus Controller, D-Sub, 16-bit CPU /XTR Version 1.2.0 Pos : 3 /Alle Serien (Allgemeine M odul e)/Rec htlic hes, Allgemei nes/Impressum für Standardhandbüc her - allg. Angaben, Ansc hriften, T elefonnummer n und E-Mail-Adres sen @ 3\mod_1219151118203_21.doc x @ 21060 @ @ 1 2 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR © 2016 by WAGO Kontakttechnik GmbH & Co. KG All rights reserved. WAGO Kontakttechnik GmbH & Co. KG Hansastraße 27 D-32423 Minden Phone: Fax: +49 (0) 571/8 87 – 0 +49 (0) 571/8 87 – 1 69 E-Mail: [email protected] Web: http://www.wago.com Technical Support Phone: Fax: +49 (0) 571/8 87 – 5 55 +49 (0) 571/8 87 – 85 55 E-Mail: [email protected] Every conceivable measure has been taken to ensure the accuracy and completeness of this documentation. However, as errors can never be fully excluded, we always appreciate any information or suggestions for improving the documentation. E-Mail: [email protected] We wish to point out that the software and hardware terms as well as the trademarks of companies used and/or mentioned in the present manual are generally protected by trademark or patent. === Ende der Liste für T extmar ke Ei nband_vorne === Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table of Contents 3 Pos : 5 /D okumentati on allgemein/Verzeic hnisse/Inhalts verz eichnis - Ü berschrift oG und Verzei chnis @ 3\mod_1219151230875_21.doc x @ 21063 @ @ 1 Table of Contents 1 1.1 1.2 1.3 1.4 1.5 Notes about this Documentation ............................................................... 10 Validity of this Documentation ............................................................... 10 Copyright................................................................................................. 10 Symbols ................................................................................................... 11 Number Notation ..................................................................................... 13 Font Conventions .................................................................................... 13 2 Important Notes ......................................................................................... 14 2.1 Legal Bases ............................................................................................. 14 2.1.1 Subject to Changes ............................................................................. 14 2.1.2 Personnel Qualifications ..................................................................... 14 2.1.3 Use of the WAGO-I/O-SYSTEM 750 in Compliance with Underlying Provisions ........................................................................ 14 2.1.4 Technical Condition of Specified Devices ......................................... 15 2.2 Safety Advice (Precautions) .................................................................... 16 3 System Description..................................................................................... 18 3.1 Manufacturing Number ........................................................................... 19 3.2 Component Update.................................................................................. 20 3.3 Storage, Assembly and Transport ........................................................... 20 3.4 Assembly Guidelines/Standards.............................................................. 20 3.5 Power Supply .......................................................................................... 21 3.5.1 Isolation .............................................................................................. 21 3.5.2 System Supply .................................................................................... 22 3.5.2.1 Connection ..................................................................................... 22 3.5.2.2 Dimensioning ................................................................................. 23 3.5.3 Field Supply........................................................................................ 26 3.5.3.1 Connection ..................................................................................... 26 3.5.3.2 Fusing ............................................................................................ 27 3.5.4 Supplementary Power Supply Regulations ........................................ 29 3.5.5 Supply Example.................................................................................. 31 3.5.6 Power Supply Units ............................................................................ 33 3.6 Grounding ............................................................................................... 34 3.6.1 Grounding the DIN Rail ..................................................................... 34 3.6.1.1 Framework Assembly .................................................................... 34 3.6.1.2 Insulated Assembly........................................................................ 34 3.6.2 Grounding Function............................................................................ 35 3.7 Shielding ................................................................................................. 36 3.7.1 General ............................................................................................... 36 3.7.2 Bus Cables .......................................................................................... 36 3.7.3 Signal Lines ........................................................................................ 37 3.7.4 WAGO Shield Connecting System .................................................... 37 4 Device Description ..................................................................................... 38 4.1 View ........................................................................................................ 39 4.2 Connectors............................................................................................... 41 4.2.1 Device Supply .................................................................................... 41 4.2.2 Fieldbus Connection ........................................................................... 41 Manual Version 1.2.0 4 Table of Contents 4.3 4.4 4.4.1 4.4.2 4.4.3 4.4.3.1 4.4.3.2 4.5 4.5.1 4.5.2 4.5.3 4.5.4 4.5.5 4.5.6 4.5.7 4.6 4.7 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Display Elements .................................................................................... 43 Operating Elements ................................................................................. 45 Service Interface ................................................................................. 45 Mode Selector Switch......................................................................... 45 Address Selection Switch ................................................................... 48 Baud Rate Setting .......................................................................... 48 Setting the Module ID ................................................................... 49 Technical Data ........................................................................................ 50 Device ................................................................................................. 50 System Data ........................................................................................ 51 Supply ................................................................................................. 52 Accessories ......................................................................................... 52 Connection Type ................................................................................ 53 Mechanical Conditions ....................................................................... 53 Climatic Environmental Conditions ................................................... 53 Approvals ................................................................................................ 54 Standards and Guidelines ........................................................................ 56 5 Mounting..................................................................................................... 60 5.1 Mounting Position ................................................................................... 60 5.2 Overall Configuration ............................................................................. 60 5.3 Mounting onto Carrier Rail ..................................................................... 62 5.3.1 Carrier Rail Properties ........................................................................ 62 5.3.2 WAGO DIN Rail ................................................................................ 63 5.4 Spacing .................................................................................................... 63 5.5 Mounting Sequence ................................................................................. 64 5.6 Inserting and Removing Devices ............................................................ 65 5.6.1 Inserting the Fieldbus Coupler/Controller .......................................... 65 5.6.2 Removing the Fieldbus Coupler/Controller ....................................... 66 5.6.3 Inserting the I/O Module .................................................................... 66 5.6.4 Removing the I/O Module .................................................................. 67 6 6.1 6.2 6.3 Connect Devices ......................................................................................... 68 Data Contacts/Internal Bus ..................................................................... 68 Power Contacts/Field Supply .................................................................. 69 Connecting a Conductor to the CAGE CLAMP® ................................... 70 7 Function Description ................................................................................. 71 7.1 Operating System .................................................................................... 71 7.1.1 Run-up ................................................................................................ 71 7.1.2 PFC Cycle ........................................................................................... 71 7.2 Process Data Architecture ....................................................................... 73 7.3 Data Exchange ........................................................................................ 75 7.3.1 Controller Communication Objects .................................................... 75 7.3.2 Communication Interfaces.................................................................. 75 7.3.3 Memory Space .................................................................................... 76 7.3.4 Addressing .......................................................................................... 77 7.3.4.1 Indexing of the I/O Module Data................................................... 78 7.3.4.2 Indexing the PFC Variables ........................................................... 82 7.3.4.3 Access to the PFC Variable Data from the Fieldbus ..................... 83 7.3.4.3.1 Maximum Indices ..................................................................... 88 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table of Contents 5 7.3.5 Absolute Adressing ............................................................................ 89 7.3.5.1 Calculate Addresses ....................................................................... 89 7.3.5.2 Address Range of the I/O Module Data ........................................ 90 7.3.5.3 Address Range of the Fieldbus Variables ...................................... 90 7.3.5.4 Adress Flags................................................................................... 90 7.3.6 Examples of Absolute Addresses ....................................................... 90 7.4 Programming the PFC with WAGO-I/O-PRO ....................................... 92 7.4.1 CANopen Library for WAGO-I/O-PRO ............................................ 92 7.4.1.1 CIA405.LIB ................................................................................... 93 7.4.2 Transmit IEC-61131-3 Program ......................................................... 94 7.4.2.1 Transmission via the Serial Interface............................................. 94 7.4.2.2 Transmission via the Fieldbus ....................................................... 95 8 8.1 8.2 8.3 8.4 8.5 8.6 Commissioning ........................................................................................... 97 Connecting PC and Fieldbus Nodes ........................................................ 97 Checking and Setting the Baud Rate ....................................................... 97 Setting the Module ID ............................................................................. 98 Switching to the OPERATIONAL State................................................. 99 Enabling Analog Input Data.................................................................... 99 Application-Specific Mapping .............................................................. 100 9 Diagnostics ................................................................................................ 103 9.1 LED Signaling ....................................................................................... 103 9.1.1 Evaluating Fieldbus Status ............................................................... 104 9.1.2 Evaluating Node Status – I/O LED (Blink Code Table) .................. 105 9.1.3 Evaluating Power Supply Status ...................................................... 113 10 Fieldbus Communication ........................................................................ 114 10.1 CANopen............................................................................................... 114 10.1.1 Description ....................................................................................... 114 10.1.2 Network Configuration ..................................................................... 115 10.1.2.1 Transmission Medium ................................................................. 115 10.1.2.1.1 Cable Type .............................................................................. 115 10.1.2.1.2 Maximum Bus Length ............................................................ 115 10.1.2.1.3 Required Cable Cross-Section ................................................ 116 10.1.2.2 Cabling ......................................................................................... 116 10.1.2.3 Topology ...................................................................................... 119 10.1.2.4 Interface Modules ........................................................................ 119 10.1.2.5 Configuration Software ............................................................... 119 10.1.3 Network Communication ................................................................. 121 10.1.3.1 Communication Objects .............................................................. 121 10.1.3.1.1 Process Data Object - PDO ..................................................... 121 10.1.3.1.1.1 PDO Protocol ..................................................................... 122 10.1.3.1.2 Service Data Object ‒ SDO .................................................... 122 10.1.3.1.2.1 SDO Protocol ..................................................................... 122 10.1.3.1.2.1.1 General Structure ........................................................... 123 10.1.3.1.2.1.2 Download SDO Protocol ............................................... 123 10.1.3.1.2.1.2.1 Initiate SDO Download ............................................ 123 10.1.3.1.2.1.3 Download SDO Segment .............................................. 125 10.1.3.1.2.1.4 Upload SDO Protocol .................................................... 125 10.1.3.1.2.1.4.1 Initiate SDO Upload ................................................. 126 Manual Version 1.2.0 6 Table of Contents WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.1.2.1.4.2 10.1.3.1.2.1.5 10.1.3.1.2.2 10.1.3.1.2.2.1 10.1.3.1.2.2.2 10.1.3.1.2.2.3 10.1.3.1.2.2.4 10.1.3.1.3 10.1.3.1.3.1 10.1.3.1.4 10.1.3.1.4.1 10.1.3.2 10.1.3.2.1 10.1.3.2.2 10.1.3.2.3 10.1.3.2.4 10.1.3.2.5 10.1.3.3 10.1.3.3.1 10.1.3.3.1.1 10.1.3.3.1.2 10.1.3.3.1.3 10.1.3.3.1.4 10.1.3.3.2 10.1.3.3.3 10.1.3.3.4 10.1.3.3.5 10.1.3.4 10.1.3.4.1 10.1.3.4.1.1 10.1.3.4.1.1.1 10.1.3.4.2 10.1.3.4.2.1 10.1.3.4.2.2 10.1.3.4.2.3 10.1.3.4.2.4 10.1.3.4.2.5 10.1.3.4.2.6 10.1.3.4.2.7 10.1.3.4.2.8 10.1.3.4.2.9 10.1.3.4.2.10 10.1.3.4.2.11 10.1.3.4.2.12 10.1.3.4.2.13 Upload SDO Segment ............................................... 127 Abort SDO Transfer ...................................................... 128 SDO Examples ................................................................... 129 Example 1: Read Index 0x1000 Sub-Index 0; Device Type ............................................................................... 130 Example 2: Read Index 0x1008 Sub-Index 0; Manufacturer Device Name........................................... 130 Example 3: Read Index 0x6000 Sub-Index 1; First 8-Bit Digital Input Block ............................................... 130 Example 4: Write Index 0x6200 Sub-Index 1; First 8-Bit Digital Output Block ............................................ 131 Synchronization Object ‒ SYNC ............................................ 131 SYNC Protocol ................................................................... 131 Emergency Object ‒ EMCY ................................................... 131 EMCY Protocol .................................................................. 132 Communication States of a CANopen Fieldbus Coupler/ Controller ..................................................................................... 132 CANopen State Diagram ........................................................ 132 INITIALIZATION .................................................................. 133 PRE-OPERATIONAL ............................................................ 133 OPERATIONAL..................................................................... 133 STOPPED ............................................................................... 134 Network Management Objects .................................................... 134 Module Control Protocols ....................................................... 134 Start Remote Node ............................................................. 134 Stop Remote Node ............................................................. 134 Enter Pre-Operational ......................................................... 135 Reset Node ......................................................................... 135 Error Control Protocols ........................................................... 136 Node Guarding Protocol ......................................................... 136 Heartbeat Protocol................................................................... 136 Boot-up Protocol ..................................................................... 137 Object Directory .......................................................................... 137 Initialization ............................................................................ 139 Default Configuration ........................................................ 139 Initialization of the Communication Profile Area ......... 139 Communication Profile Area .................................................. 143 Object 0x1000 – Device Type ............................................ 143 Object 0x1001 – Error Register ......................................... 144 Object 0x1002 – Manufacturer Status Register ................. 144 Object 0x1003 – Predefined Error Field ............................ 145 Object 0x1005 – COB-ID SYNC Message ........................ 145 Object 0x1006 – Communication Cycle Period ................. 146 Object 0x1008 – Manufacturer Device Name.................... 146 Object 0x1009 – Manufacturer Hardware Version ............ 146 Object 0x100A – Manufacturer Software Version ............ 146 Object 0x100C – Guard Time ............................................ 146 Object 0x100D – Life Time Factor .................................... 147 Object 0x1010 – Store Parameters ..................................... 147 Object 0x1011 – Restore Default Parameters .................... 148 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.2.13.1 10.1.3.4.2.13.2 10.1.3.4.2.14 10.1.3.4.2.15 10.1.3.4.2.16 10.1.3.4.2.17 10.1.3.4.2.18 10.1.3.4.2.19 10.1.3.4.2.20 10.1.3.4.2.21 10.1.3.4.2.22 10.1.3.4.2.23 10.1.3.4.3 10.1.3.4.3.1 10.1.3.4.3.2 10.1.3.4.3.3 10.1.3.4.3.4 10.1.3.4.3.5 10.1.3.4.3.6 10.1.3.4.3.7 10.1.3.4.3.8 10.1.3.4.3.9 10.1.3.4.3.10 10.1.3.4.3.11 10.1.3.4.3.12 10.1.3.4.3.13 10.1.3.4.3.14 10.1.3.4.3.15 10.1.3.4.3.16 10.1.3.4.3.17 10.1.3.4.3.18 10.1.3.4.3.19 10.1.3.4.3.20 10.1.3.4.3.21 10.1.3.4.3.22 10.1.3.4.3.23 10.1.3.4.3.24 10.1.3.4.3.25 10.1.3.4.3.26 10.1.3.4.3.27 10.1.3.4.3.28 10.1.3.4.4 10.1.3.4.4.1 Manual Version 1.2.0 Table of Contents 7 Sub-Index 1 ‒ Permanent Entry Default Parameters ..... 148 Sub-Index 4 ‒ One-Time Entry of Default Paramters ... 148 Object 0x1014 – COB-ID Emergency Object.................... 149 Object 0x1015 – Inhibit Time Emergency Object ............. 149 Object 0x1016 – Consumer Heartbeat Time ...................... 149 Object 0x1017 – Producer Heartbeat Time ........................ 150 Object 0x1018 – Identity Object ........................................ 150 Object 0x1200 … 0x1201 – Server SDO ........................... 151 Object 0x1400 … 0x141F – Receive PDO Communication Parameter ................................................. 151 Object 0x1600 … 0x161F – Receive PDO Mapping Parameter ............................................................................ 152 Object 0x1800 … 0x181F – Transmit PDO Communication Parameter ................................................. 153 Object 0x1A00 … 0x1A1F, Transmit PDO Mapping Parameter ............................................................................ 154 Manufacturer Specific Profile Area ........................................ 155 Object 0x2000 – Digital Inputs .......................................... 157 Object 0x2100 – Digital Outputs ....................................... 157 Object 0x2200 – 1-Byte I/O Modules, Inputs .................... 157 Object 0x2300 – 1-Byte I/O Modules, Outputs ................. 157 Object 0x2400 – 2-Byte I/O Modules, Inputs .................... 158 Object 0x2500 – 2-Byte I/O Modules, Outputs ................. 158 Object 0x2600 – 3-Byte I/O Modules, Inputs .................... 158 Object 0x2700 – 3-Byte I/O Modules, Outputs ................. 158 Object 0x2800 – 4-Byte I/O Modules, Inputs .................... 159 Object 0x2900 – 4-Byte I/O Modules, Inputs .................... 159 Object 0x3000 – 5-Byte I/O Modules, Inputs .................... 159 Object 0x3100 – 5-Byte I/O Modules, Outputse................ 159 Object 0x3200 – 6-Byte I/O Modules, Inputs .................... 160 Object 0x3300 – 6-Byte I/O Modules, Outputs ................. 160 Object 0x3400 – 7-Byte I/O Modules, Inputs .................... 160 Object 0x3500 – 7-Byte I/O Modules, Outputs ................. 160 Object 0x3600 – 8-Byte I/O Modules, Inputs .................... 161 Object 0x3700 – 8-Byte I/O Modules, Outputs ................. 161 Object 0x3800 … 0x380F – 9+ Byte I/O Modules – Inputs .................................................................................. 161 Object 0x3900 … 0x390F – 9+ Byte I/O Modules – Outputs ............................................................................... 162 Object 0x4200 … 0x4202 – Gateway Module Input ......... 162 Object 0x4300 … 0x4302 – Gateway Module Output ...... 163 Object 0x4500 – Empty Module Configuration ................. 163 Object 0x5000 – Read Input Process Image ...................... 169 Object 0x5001 – Write Output Process Image ................... 169 Object 0x5200 – Fieldbus Coupler/Controller Configuration ..................................................................... 171 Object 0x5201 – Diagnostic Configuration ....................... 174 Object 0x5202 – Module Configuration ............................ 174 Standard Device Profile Area – DS 401 ................................. 177 Object 0x6000 – Read Digital Input 8-Bit ......................... 179 8 Table of Contents 10.1.3.4.4.2 10.1.3.4.4.3 10.1.3.4.4.4 10.1.3.4.4.5 10.1.3.4.4.6 10.1.3.4.4.7 10.1.3.4.4.8 10.1.3.4.4.9 10.1.3.4.4.10 10.1.3.4.4.11 10.1.3.4.4.12 10.1.3.4.4.13 10.1.3.4.4.14 10.1.3.4.4.15 10.1.3.4.4.16 10.1.3.4.4.17 10.1.3.4.4.18 10.1.3.4.4.19 10.1.3.4.4.20 10.1.3.4.4.21 10.1.3.4.4.22 10.1.3.4.5 10.1.3.4.5.1 10.1.3.4.5.2 10.1.3.4.5.3 10.1.3.4.5.4 10.1.3.4.5.5 10.1.3.5 10.1.3.5.1 10.1.3.5.2 10.1.3.5.3 10.1.3.5.4 10.1.3.5.5 10.1.3.6 10.1.3.7 10.1.3.8 10.1.3.9 10.1.3.9.1 10.1.3.9.2 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Object 0x6005 – Global Interrupt Enable Digital 8-Bit ..... 179 Object 0x6006 – Digital Interrupt Mask Any Change 8-Bit .................................................................................... 179 Object 0x6007 – Digital Interrupt Mask Low-to-High 8-Bit .................................................................................... 180 Object 0x6008 – Digital Interrupt Mask High-to-Low 8-Bit .................................................................................... 180 Object 0x6100 – Read Digital Input 16-Bit ....................... 181 Object 0x6200 – Write Digital Output 8-Bit ...................... 181 Object 0x6206 – Error Mode Digital Output 8-Bit ............ 182 Object 0x6207 – Error Value Digital Output 8-Bit ............ 182 Object 0x6300 – Write Digital Output 16-Bit .................... 183 Object 0x6401 – Read Analog Input 16-Bit....................... 183 Object 0x6411 – Write Analog Output 16-Bit ................... 184 Object 0x6421 – Analog Input Interrupt Trigger Selection 184 Object 0x6423 – Analog Input Global Interrupt Enable .... 184 Object 0x6424 – Analog Input Interrupt Upper Limit Integer................................................................................. 185 Object 0x6425 – Analog Input Interrupt Lower Limit Integer................................................................................. 185 Object 0x6426 – Analog Input Interrupt Delta Unsigned .. 186 Object 0x6427 – Analog Input Interrupt Negative Delta Unsigned............................................................................. 187 Object 0x6428 – Analog Input Interrupt Positive Delta Unsigned............................................................................. 187 Object 0x6443 – Analog Output Error Mode..................... 188 Object 0x6444 – Analog Output Error Value Integer ........ 188 Object 0x67FE – Error Behavior ....................................... 188 Reserved Area ......................................................................... 190 Object 0xA000, Integer8 IEC 61131-1 Input Variables .... 192 Object 0xA040, Unsigned8 IEC 61131-1 Input Variables 192 Object 0xA080, Boolean IEC-61131-1 Input Variables .... 193 Object 0xA0C0, Integer16 IEC-61131-1 Input Variables . 193 Object 0xA101 to 0xA8C0 IEC-61131-1 Input/Output Variables............................................................................. 193 PDO Transmission ....................................................................... 195 Mapping .................................................................................. 195 Transmit PDO1 ....................................................................... 196 Receive PDO1 ......................................................................... 197 Transmit PDO2 ....................................................................... 198 Receive PDO2 ......................................................................... 199 SYNC Monitoring ....................................................................... 200 Node Guarding............................................................................. 200 Heartbeat Monitoring................................................................... 202 Error Messages (Emergency) ...................................................... 203 Diagnostic Messages of the I/O Modules ............................... 205 Layout of the Module-Specific Diagnostic Bits of the Digital Input/Output Modules ................................................. 208 11 I/O Modules .............................................................................................. 210 11.1 Overview ............................................................................................... 210 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 11.2 11.2.1 11.2.2 11.2.3 11.2.4 11.2.5 11.2.6 11.2.7 Table of Contents 9 Structure of Process Data for CANopen ............................................... 211 Digital Input Modules....................................................................... 211 Digital Output Modules .................................................................... 213 Analog Input Modules ...................................................................... 217 Analog Output Modules ................................................................... 218 Specialty Modules ............................................................................ 221 System Modules ............................................................................... 248 Binary Spacer Modules .................................................................... 249 12 Use in Hazardous Environments ............................................................ 250 12.1 Marking Configuration Examples ......................................................... 251 12.1.1 Marking for Europe According to ATEX and IEC-Ex .................... 251 12.1.2 Marking for America According to NEC 500 .................................. 256 12.2 Installation Regulations ......................................................................... 257 12.2.1 Special Conditions for Safe Use (TÜV 14 ATEX 148929 X) .............................................................. 258 12.2.2 Special Conditions for Safe Use (ATEX Certificate TÜV 12 ATEX 106032 X) ................................ 259 12.2.3 Special Conditions for Safe Use (IEC-Ex Certificate TUN 14.0035X) ............................................... 260 12.2.4 Special Conditions for Safe Use (IEC-Ex Certificate IECEx TUN 12.0039 X) .................................. 261 12.2.5 Special Conditions for Safe Use according to ANSI/ISA 12.12.01 . 262 List of Figures .................................................................................................... 263 List of Tables ...................................................................................................... 266 === Ende der Liste für T extmar ke Verzeic hnis_vor ne === Manual Version 1.2.0 10 Notes about this Documentation WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 7 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Neue Übersc hriften/Ebene 1Hinweise z u dies er D okumentation - Ü berschrift 1 @ 4\mod_1237987661750_21.doc x @ 29029 @ 1 @ 1 1 Notes about this Documentation Pos : 8 /Alle Serien (Allgemeine M odul e)/Sic her heits- und s onstige Hinweise/HinweisHinweis: Dokumentation aufbewahr en @ 4\mod_1237987339812_21.doc x @ 29026 @ @ 1 Always retain this documentation! This documentation is part of the product. Therefore, retain the documentation during the entire service life of the product. Pass on the documentation to any subsequent user. In addition, ensure that any supplement to this documentation is included, if necessary. Pos : 9 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Neue Übersc hriften/Ebene 2Gültig keitsbereic h - Ü berschrift 2 @ 12\mod_1338912448776_21.doc x @ 96469 @ 2 @ 1 1.1 Validity of this Documentation Pos : 10 /Serie 750 ( WAGO-I/O-SYST EM)/Hi nweis e z ur D okumentati on/Gültigkeits bereic h/Gültig keits ber eich Dokumentation Koppl er/C ontroller 750- xxxx, ohne Vari antenangabe @ 14\mod_1358944039400_21.doc x @ 109362 @ @ 1 This documentation is only applicable to the “CANopen Contr.640/832KB DSUB /XTR” (750-838/040-000). Pos : 11 /Serie 750 ( WAGO-I/O-SYST EM)/Hi nweis e z ur D okumentati on/Hi nweise/Ac htung: Hinweis z ur D okumentati on Koppl er/Contr oller 750- xxx/040- 000 @ 18\mod_1394111960171_21.doc x @ 147458 @ @ 1 The device CANopen Contr.640/832KB DSUB /XTR 750-838/040-000 shall only be installed and operated according to the instructions in this manual and the system description for the WAGO-I/O-SYSTEM 750 XTR. Consider power layout of the WAGO-I/O-SYSTEM 750 XTR! In addition to these operating instructions, you will also need the system description for the WAGO-I/O-SYSTEM 750 XTR, which can be downloaded at www.wago.com. There, you can obtain important information including information on electrical isolation, system power and supply specifications. Pos : 12.1 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/Ebene 2/Ur hebersc hutz - Ü bersc hrift 2 @ 23\mod_1435647042188_21.doc x @ 184808 @ 2 @ 1 1.2 Copyright Pos : 12.2 /All e Seri en ( Allgemei ne Module)/R ec htliches , Allgemei nes /Urhebersc hutz ausführlich @ 4\mod_1235565145234_21.doc x @ 27691 @ @ 1 This Manual, including all figures and illustrations, is copyright-protected. Any further use of this Manual by third parties that violate pertinent copyright provisions is prohibited. Reproduction, translation, electronic and phototechnical filing/archiving (e.g., photocopying) as well as any amendments require the written consent of WAGO Kontakttechnik GmbH & Co. KG, Minden, Germany. Non-observance will involve the right to assert damage claims. Pos : 12.3 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Notes about this Documentation 11 Pos : 12.4 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 2Symbol e - Ü bersc hrift 2 @ 13\mod_1351068042408_21.doc x @ 105270 @ 2 @ 1 1.3 Symbols Pos : 12.5.1 /All e Serien ( Allgemei ne Module)/Sicherheits- und sons tige Hi nweis e/Gefahr/Gefahr: _War nung vor Pers onenschäden allgemei n_ - Erläuter ung @ 13\mod_1343309450020_21.doc x @ 101029 @ @ 1 Personal Injury! Indicates a high-risk, imminently hazardous situation which, if not avoided, will result in death or serious injury. Pos : 12.5.2 /All e Serien ( Allgemei ne Module)/Sicherheits- und sons tige Hi nweis e/Gefahr/Gefahr: _War nung vor Pers onenschäden durch el ektrisc hen Strom_ - Erläuterung @ 13\mod_1343309694914_21.doc x @ 101030 @ @ 1 Personal Injury Caused by Electric Current! Indicates a high-risk, imminently hazardous situation which, if not avoided, will result in death or serious injury. Pos : 12.5.3 /All e Serien ( Allgemei ne Module)/Sicherheits- und sons tige Hi nweis e/Warnung/Warnung: _Warnung vor Personensc häden allgemei n_ - Erläuterung @ 13\mod_1343309877041_21.doc x @ 101035 @ @ 1 Personal Injury! Indicates a moderate-risk, potentially hazardous situation which, if not avoided, could result in death or serious injury. Pos : 12.5.4 /All e Serien ( Allgemei ne Module)/Sicherheits- und sons tige Hi nweis e/Vorsic ht/Vorsicht: _War nung vor Pers onensc häden allgemein_ - Erläuterung @ 13\mod_1343310028762_21.doc x @ 101038 @ @ 1 Personal Injury! Indicates a low-risk, potentially hazardous situation which, if not avoided, may result in minor or moderate injury. Pos : 12.5.5 /All e Serien ( Allgemei ne Module)/Sicherheits- und sons tige Hi nweis e/Ac htung/Achtung: _War nung vor Sac hsc häden allgemein_ - Erläuterung @ 13\mod_1343310134623_21.doc x @ 101041 @ @ 1 Damage to Property! Indicates a potentially hazardous situation which, if not avoided, may result in damage to property. Pos : 12.5.6 /All e Serien ( Allgemei ne Module)/Sicherheits- und sons tige Hi nweis e/Ac htung/Achtung: _War nung vor Sac hsc häden durc h elektrostatis che Aufladung_ - Erl äuter ung @ 13\mod_1343310227702_21.doc x @ 101044 @ @ 1 Damage to Property Caused by Electrostatic Discharge (ESD)! Indicates a potentially hazardous situation which, if not avoided, may result in damage to property. Pos : 12.5.7 /All e Serien ( Allgemei ne Module)/Sicherheits- und sons tige Hi nweis e/Hi nweis /Hinweis: _Wic htiger Hi nweis allgemein_ - Erläuterung @ 13\mod_1343310326906_21.doc x @ 101047 @ @ 1 Important Note! Indicates a potential malfunction which, if not avoided, however, will not result in damage to property. Pos : 12.5.8 /All e Serien ( Allgemei ne Module)/Sicherheits- und sons tige Hi nweis e/Infor mation/Infor mation: _Weiter e Infor mation allgemei n_ - Erl äuter ung @ 13\mod_1343310439814_21.doc x @ 101051 @ @ 1 Manual Version 1.2.0 12 Notes about this Documentation WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Additional Information: Refers to additional information which is not an integral part of this documentation (e.g., the Internet). Pos : 12.6 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Notes about this Documentation 13 Pos : 12.7 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/Ebene 2/D arstellung der Z ahlens ys teme - Ü bers chrift 2 @ 23\mod_1435647128078_21.doc x @ 184811 @ 2 @ 1 1.4 Number Notation Pos : 12.8 /All e Seri en ( Allgemei ne Module)/R ec htliches , Allgemei nes /Zahlens ysteme @ 3\mod_1221059454015_21.doc x @ 21711 @ @ 1 Table 1: Number Notation Number Code Decimal Hexadecimal Binary Example 100 0x64 '100' '0110.0100' Note Normal notation C notation In quotation marks, nibble separated with dots (.) Pos : 12.9 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/Ebene 2/Sc hriftkonventi onen - Ü bersc hrift 2 @ 23\mod_1435647186005_21.doc x @ 184814 @ 2 @ 1 1.5 Font Conventions Pos : 12.10 /Alle Serien (Allgemeine M odul e)/Rechtliches, Allgemeines/Sc hriftkonventi onen @ 3\mod_1221059521437_21.doc x @ 21714 @ @ 1 Table 2: Font Conventions Font Type Indicates italic Names of paths and data files are marked in italic-type. e.g.: C:\Program Files\WAGO Software Menu items are marked in bold letters. Menu e.g.: Save A greater-than sign between two names means the selection of a > menu item from a menu. e.g.: File > New Designation of input or optional fields are marked in bold letters, Input e.g.: Start of measurement range “Value” Input or selective values are marked in inverted commas. e.g.: Enter the value “4 mA” under Start of measurement range. Pushbuttons in dialog boxes are marked with bold letters in square [Button] brackets. e.g.: [Input] Keys are marked with bold letters in square brackets. [Key] e.g.: [F5] Pos : 13 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 14 Important Notes WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 14 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 1Wic htige Erläuterungen - Ü berschrift 1 @ 4\mod_1241428899156_21.doc x @ 32170 @ 1 @ 1 2 Important Notes Pos : 15.1 /All e Seri en ( Allgemei ne Module)/R ec htliches , Allgemei nes Wic htige Erläuterungen - Einl eitung @ 3\mod_1221059818031_21.doc x @ 21717 @ @ 1 This section includes an overall summary of the most important safety requirements and notes that are mentioned in each individual section. To protect your health and prevent damage to devices as well, it is imperative to read and carefully follow the safety guidelines. Pos : 15.2 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 2R ec htlic he Grundlagen - Ü berschrift 2 @ 3\mod_1221060626343_21.doc x @ 21726 @ 2 @ 1 2.1 Legal Bases Pos : 15.3 /All e Seri en ( Allgemei ne Module)/R ec htliches , Allgemei nes Änderungs vor behalt - Ü berschrift 3 und Inhalt @ 3\mod_1221060036484_21.doc x @ 21720 @ 3 @ 1 2.1.1 Subject to Changes WAGO Kontakttechnik GmbH & Co. KG reserves the right to provide for any alterations or modifications that serve to increase the efficiency of technical progress. WAGO Kontakttechnik GmbH & Co. KG owns all rights arising from the granting of patents or from the legal protection of utility patents. Third-party products are always mentioned without any reference to patent rights. Thus, the existence of such rights cannot be excluded. Pos : 15.4 /Serie 750 (WAGO-I/O-SYST EM)/Wic htige Erläuterungen/Pers onalqualifi kationPers onalqualifi kation 750- xxxx - Ü bersc hrift 3 und Inhalt @ 3\mod_1224061208046_21.doc x @ 24063 @ 3 @ 1 2.1.2 Personnel Qualifications All sequences implemented on WAGO-I/O-SYSTEM 750 devices may only be carried out by electrical specialists with sufficient knowledge in automation. The specialists must be familiar with the current norms and guidelines for the devices and automated environments. All changes to the coupler or controller should always be carried out by qualified personnel with sufficient skills in PLC programming. Pos : 15.5 /Serie 750 (WAGO-I/O-SYST EM)/Wic htige Erläuterungen/Bes timmungsgemäß e Verwendung Bes ti mmungsgemäße Verwendung 750-xxxx - Ü berschrift 3 und Inhal t @ 3\mod_1224064151234_21.doc x @ 24070 @ 3 @ 1 2.1.3 Use of the WAGO-I/O-SYSTEM 750 in Compliance with Underlying Provisions Fieldbus couplers, fieldbus controllers and I/O modules found in the modular WAGO-I/O-SYSTEM 750 receive digital and analog signals from sensors and transmit them to actuators or higher-level control systems. Using programmable controllers, the signals can also be (pre-) processed. The devices have been developed for use in an environment that meets the IP20 protection class criteria. Protection against finger injury and solid impurities up to 12.5 mm diameter is assured; protection against water damage is not ensured. Unless otherwise specified, operation of the devices in wet and dusty environments is prohibited. Operating the WAGO-I/O-SYSTEM 750 devices in home applications without further measures is only permitted if they meet the emission limits (emissions of interference) according to EN 61000-6-3. You will find the relevant information in the section “Device Description” > “Standards and Guidelines” in the manual for the used fieldbus coupler/controller. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Important Notes 15 Appropriate housing (per 2014/34/EU) is required when operating the WAGOI/O-SYSTEM 750 in hazardous environments. Please note that a prototype test certificate must be obtained that confirms the correct installation of the system in a housing or switch cabinet. Pos : 15.6 /All e Seri en ( Allgemei ne Module)/R ec htliches , Allgemei nesT ec hnis cher Z ustand der Geräte - Übersc hrift 3 und Inhalt @ 3\mod_1221060446109_21.doc x @ 21723 @ 3 @ 1 2.1.4 Technical Condition of Specified Devices The devices to be supplied ex works are equipped with hardware and software configurations, which meet the individual application requirements. WAGO Kontakttechnik GmbH & Co. KG will be exempted from any liability in case of changes in hardware or software as well as to non-compliant usage of devices. Please send your request for modified and new hardware or software configurations directly to WAGO Kontakttechnik GmbH & Co. KG. Pos : 15.7 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 16 Important Notes WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 15.8 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 2Sicher heits hi nweis e - Ü berschrift 2 @ 6\mod_1260180299987_21.doc x @ 46724 @ 2 @ 1 2.2 Safety Advice (Precautions) Pos : 15.9 /All e Seri en ( Allgemei ne Module)/Sicherheits- und s ons tige Hi nweis e/Einl eitung Sicherheits hinweis e H ardware @ 6\mod_1260180170493_21.doc x @ 46720 @ @ 1 For installing and operating purposes of the relevant device to your system the following safety precautions shall be observed: Pos : 15.10.1 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Gefahr /Gefahr: Nicht an Geräten unter Spannung ar beiten! @ 6\mod_1260180365327_21.doc x @ 46727 @ @ 1 Do not work on devices while energized! All power sources to the device shall be switched off prior to performing any installation, repair or maintenance work. Pos : 15.10.2 /Serie 750 ( WAGO-I/O- SYST EM)/Wic htig e Erl äuter ung en/Sic her hei ts- und s onstige Hi nweise/Gefahr/Gefahr: Ei nbau 0750- xxxx nur i n Gehäus en, Sc hränken oder el ektrisc hen Betriebsräumen! @ 6\mod_1260180556692_21.doc x @ 46731 @ @ 1 Install the device only in appropriate housings, cabinets or in electrical operation rooms! The WAGO-I/O-SYSTEM 750 and its components are an open system. As such, install the system and its components exclusively in appropriate housings, cabinets or in electrical operation rooms. Allow access to such equipment and fixtures to authorized, qualified staff only by means of specific keys or tools. Pos : 15.10.3 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Gefahr /Gefahr: Unfall verhütungs vorsc hriften beachten! @ 6\mod_1260180657000_21.doc x @ 46735 @ @ 1 Pos : 15.10.4 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Gefahr /Gefahr: Auf normg erec hten Ansc hluss ac hten! @ 6\mod_1260180753479_21.doc x @ 46739 @ @ 1 Pos : 15.11 /Alle Serien (Allgemeine M odul e)/Sic herheits- und sonstige Hinweis e/Vorsic ht/Vorsic ht: H eiße Oberfl äc he allgemein @ 6\mod_1264428115588_21.doc x @ 48610 @ @ 1 Hot surface! The surface of the housing can become hot during operation. If the device was operated at high ambient temperatures, allow it to cool off before touching it. Pos : 15.12.1 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Ac htung/Ac htung: Defekte oder besc hädigte Ger äte aus tausc hen! @ 6\mod_1260180857358_21.doc x @ 46743 @ @ 1 Replace defective or damaged devices! Replace defective or damaged device/module (e.g., in the event of deformed contacts), since the long-term functionality of device/module involved can no longer be ensured. Pos : 15.12.2 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Ac htung/Ac htung: Geräte vor kriec henden und is olier enden Stoffen schützen! @ 6\mod_1260181036216_21.doc x @ 46747 @ @ 1 Protect the components against materials having seeping and insulating properties! The components are not resistant to materials having seeping and insulating properties such as: aerosols, silicones and triglycerides (found in some hand creams). If you cannot exclude that such materials will appear in the component environment, then install the components in an enclosure being resistant to the above-mentioned materials. Clean tools and materials are imperative for handling devices/modules. Pos : 15.12.3 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Ac htung/Ac htung: Rei nigung nur mit zul ässigen M aterialien! @ 6\mod_1260181203293_21.doc x @ 46751 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Important Notes 17 Clean only with permitted materials! Clean soiled contacts using oil-free compressed air or with ethyl alcohol and leather cloths. Pos : 15.12.4 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Ac htung/Ac htung: Kei n Kontakts pray verwenden! @ 6\mod_1260181290808_21.doc x @ 46755 @ @ 1 Do not use any contact spray! Do not use any contact spray. The spray may impair contact area functionality in connection with contamination. Pos : 15.12.5 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Ac htung/Ac htung: Verpol ung ver mei den! @ 6\mod_1260184045744_21.doc x @ 46767 @ @ 1 Do not reverse the polarity of connection lines! Avoid reverse polarity of data and power supply lines, as this may damage the devices involved. Pos : 15.12.6 /Alle Serien (Allgemeine D okumente) (Allgemeine M odul e)/Wichtige Erläuter ungen/Sic herheits hinweise/Ac htung/Ac htung: El ektr ostatisc he Entl adung vermeiden! @ 6\mod_1260181364729_21.doc x @ 46759 @ @ 1 Avoid electrostatic discharge! The devices are equipped with electronic components that may be destroyed by electrostatic discharge when touched. Please observe the safety precautions against electrostatic discharge per DIN EN 61340-5-1/-3. When handling the devices, please ensure that environmental factors (personnel, work space and packaging) are properly grounded. Pos : 15.13 /Serie 750 ( WAGO-I/O-SYST EM)/Wichtig e Erl äuter ung en/Sic her hei ts- und s onstige Hinweise/Ac htung/Ac htung: XTR - Is olations prüfungen mit DC durchführen! @ 15\mod_1370843209441_21.doc x @ 122210 @ @ 1 Perform insulation tests with direct current (DC)! Both the supply voltage and control voltage side are capacitively coupled to the DIN rail. If the modules are mounted on the DIN rail, application of an AC voltage between the two potentials can lead to the destruction of the device. Use only direct current (DC) for insulation testing. To avoid destroying the device, discharge the device completely before applying the test voltage again. Pos : 16 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 18 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 17.1 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 1Systembes chr eibung - Ü bersc hrift 1 @ 3\mod_1231491805015_21.doc x @ 25850 @ 1 @ 1 3 System Description Pos : 17.2 /Serie 750 (WAGO-I/O-SYST EM)/Systembesc hrei bung/Ger ät und Sys tem/Systembesc hrei bung - Aufbau Fel dbus knoten /XTR @ 18\mod_1392743431433_21.doc x @ 145817 @ @ 1 The WAGO-I/O-SYSTEM 750 is a modular, fieldbus-independent input/output system (I/O system). The configuration described here consists of a fieldbus coupler/controller (1) and the modular I/O modules (2) for any signal shapes that form the fieldbus node together. The end module (3) completes the node and is required for correct operation of the fieldbus node. Figure 1: Fieldbus Node (Example) Fieldbus couplers/controllers are available for different fieldbus systems. Pos : 17.3 /Serie 750 (WAGO-I/O-SYST EM)/Systembesc hrei bung/Ger ät und Sys tem/Systembesc hrei bung - Besc hrei bung Aufbau F eldbus knoten (er weiterter ECO) @ 11\mod_1320913005501_21.doc x @ 83000 @ @ 1 The extended ECO fieldbus couplers contain the fieldbus interface, electronics and a power supply terminal. The fieldbus interface forms the physical interface to the relevant fieldbus. The electronics process the data of the bus modules and make it available for the fieldbus communication. The 24 V system supply and the 24 V field supply are fed in via the integrated power supply terminal. The fieldbus coupler/controller communicates via the relevant fieldbus. The programmable fieldbus controller (PFC) enables the implementation of additional PLC functions. Programming is done with the WAGO-I/O-PRO in accordance with IEC 61131-3. Pos : 17.4 /Serie 750 (WAGO-I/O-SYST EM)/Systembesc hrei bung/Ger ät und Sys tem/Systembesc hrei bung - Kommuni kati on Kl emmenbus , LEDs , 3-Leitertec hni k @ 3\mod_1231493520906_21.doc x @ 25877 @ @ 1 I/O modules for diverse digital and analog I/O signals as well as special functions can be connected to the fieldbus coupler/controller. The communication between the fieldbus coupler/controller and the I/O modules is carried out via an internal bus. The components of the WAGO-I/O-SYSTEM 750 have clear termination points, light emitting diodes for status display, plug-in mini WSB tags and group marker cards for labeling. The 1, 2 or 3 wire technology supplemented by a ground wire connection allows for direct sensor or actuator wiring. Pos : 17.5 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR System Description 19 Pos : 17.6 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 2F ertigungsnummer - Übersc hrift 2 @ 3\mod_1225444612218_21.doc x @ 24889 @ 2 @ 1 3.1 Manufacturing Number Pos : 17.7.1 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Bedruc kung/Fertig ungs nummer 750- xxxx - Ei nleitung FBK/PFC @ 24\mod_1444111422821_21.doc x @ 192825 @ @ 1 The serial number indicates the delivery status directly after production. This number is part of the labeling on the side of each component. In addition, the serial number is printed on the cover cap of the configuration and programming interface of the fieldbus coupler/controller, so that it can also be read when installed. Pos : 17.7.2 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Bedruc kung/Fertig ungs nummer 750- xxxx - Abbil dung und Erläuterung @ 24\mod_1443678328855_21.doc x @ 192638 @ @ 1 Figure 2: Marking Area for Serial Numbers There are two serial numbers in two rows in the side marking. They are left of the release tab. The first 10 positions in the longer row of the serial numbers contain version and date identifications. Example structure of the rows: 0114010101… 01 WW Calendar week 14 YY Year 01 01 01 FW -HW FL Firmware Hardware Firmware version version loader version (additional positions) Internal information The row order can vary depending on the production year, only the longer row is relevant. The back part of this and the shorter row contain internal administration information from the manufacturer. Pos : 17.8 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 20 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 17.9 /Serie 750 (WAGO-I/O-SYST EM)/Systembesc hrei bung/Ger ät und Sys tem/Komponenten-Update-M atri x ab 2004 @ 16\mod_1373883131873_21.doc x @ 126130 @ 2 @ 1 3.2 Component Update For the case of an update of one component, the lateral marking on each component contains a prepared matrix. This matrix makes columns available for altogether three updates to the entry of the current update data, like production order number (NO), update date (DS), software version (SW), hardware version (HW) and the firmware loader version (FWL, if available). Current Version data for Production Order Number Datestamp 1. Update 2. Update 3. Update NO DS SW Hardware index HW Firmware loader index FWL Software index  only for fieldbus coupler/controller If the update of a component took place, the current version data are registered into the columns of the matrix. Additionally with the update of a fieldbus coupler or controller also the cover of the configuration and programming interface of the fieldbus coupler or fieldbus controller is printed on with the current manufacturing and production order number. The original manufacturing data on the housing of the component remain thereby. Pos : 17.10 /Serie 750 ( WAGO-I/O-SYST EM)/Systembesc hrei bung/Gerät und System/Lagerung, Kommissi onierung und Tr ansport @ 3\mod_1225446600609_21.doc x @ 24897 @ 2 @ 1 3.3 Storage, Assembly and Transport Whenever possible, the components are to be stored in their original packaging. Likewise, the original packaging provides optimal protection during transport. When assembling or repacking the components, the contacts must not be soiled or damaged. The components must be stored and transported in appropriate containers/packaging. Thereby, the ESD information is to be regarded. Pos : 17.11 /Serie 750 ( WAGO-I/O-SYST EM)/Systembesc hrei bung/Gerät und System/Aufbaurichtli nien und N or men @ 3\mod_1231311929250_21.doc x @ 25820 @ 2 @ 1 3.4 Assembly Guidelines/Standards • DIN 60204 Electrical equipment of machines • DIN EN 50178 Electronic equipment for use in power installations (replacement for VDE 0160) • EN 60439 Low-voltage switchgear and controlgear assemblies Pos : 17.12 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR System Description 21 Pos : 17.13.1 /Serie 750 ( WAGO-I/O- SYST EM)/Sys tembesc hrei bung/Vers orgung/Spannungsvers orgung - Ü berschrift 2 @ 3\mod_1232950078953_21.doc x @ 26680 @ 2 @ 1 3.5 Power Supply Pos : 17.13.2 /Serie 750 ( WAGO-I/O- SYST EM)/Sys tembesc hrei bung/Vers orgung/Potenti altrennung @ 3\mod_1232950094125_21.doc x @ 26732 @ 3 @ 1 3.5.1 Isolation Within the fieldbus node, there are three electrically isolated potentials: • Electrically isolated fieldbus interface via transformer • Electronics of the fieldbus couplers/controllers and the I/O modules (internal bus) • All I/O modules have an electrical isolation between the electronics (internal bus, logic) and the field electronics. Some digital and analog input modules have each channel electrically isolated, please see catalog. Pos : 17.13.3 /Serie 750 ( WAGO-I/O- SYST EM)/Sys tembesc hrei bung/Vers orgung/Potenti altrennung - Bil d (Standar d + er weiterter EC O) @ 3\mod_1232950095187_21.doc x @ 26740 @ @ 1 Figure 3: Isolation for Fieldbus Couplers/Controllers (Example) Pos : 17.13.4 /D okumentati on allgemein/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 22 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 17.13.5 /Serie 750 ( WAGO-I/O- SYST EM)/Sys tembesc hrei bung/Vers orgung/Systemversorgung - Ü bersc hrift 3 @ 3\mod_1232950096265_21.doc x @ 26748 @ 3 @ 1 3.5.2 System Supply Pos : 17.13.6 /Serie 750 ( WAGO-I/O- SYST EM)/Sys tembesc hrei bung/Vers orgung/Systemversorgung - Ans chl uss @ 3\mod_1232950096796_21.doc x @ 26752 @ 4 @ 1 3.5.2.1 Connection The WAGO-I/O-SYSTEM 750 requires a 24 V direct current system supply. The power supply is provided via the fieldbus coupler/controller and, if necessary, in addition via internal system supply modules 750-613. The power supply is reverse voltage protected. Do not use an incorrect voltage/frequency! The use of an incorrect supply voltage or frequency can cause severe damage to the components. Pos : 17.13.7 /Serie 750 ( WAGO-I/O- SYST EM)/Sys tembesc hrei bung/Vers orgung/Systemversorgung XTR - Ans chl uss - Sys temvers orgung ( Standar d + er wei terter ECO) mit LWL-Anzeig e @ 16\mod_1373884059484_21.doc x @ 126140 @ @ 1 Figure 4: System Voltage for Fieldbus Couplers/Controllers (Example) Table 3: Legend for Figure “System Voltage for Fieldbus Couplers/Controllers” Position 1 2 Description System supply DC 24 V System supply 0 V Pos : 17.13.8 /Serie 750 ( WAGO-I/O- SYST EM)/Sys tembesc hrei bung/Vers orgung/Systemversorgung - Ans chl uss - Di e eing espeiste 24 V-Gleic hs pannung versorgt... @ 3\mod_1232950097328_21.doc x @ 26756 @ @ 1 The fed DC 24 V supplies all internal system components, e.g. fieldbus coupler/controller electronics, fieldbus interface and I/O modules via the internal bus (5 V system voltage). The 5 V system voltage is galvanically connected to the 24 V system supply. Pos : 17.13.9 /Serie 750 ( WAGO-I/O- SYST EM)/Sys tembesc hrei bung/Vers orgung/Systemversorgung XTR - Ans chl uss - Sys tems pannung (Standar d + er weiterter EC O) oB @ 16\mod_1373884429295_21.doc x @ 126143 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR System Description 23 Figure 5: System Supply for Fieldbus Coupler/Controller Pos : 17.13.10 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Systemvers orgung - Ansc hlus s - Hi nweis : Gl eichz. R üc ks etzen aller Vers orgungsmodul e @ 3\mod_1232950097906_21.doc x @ 26760 @ @ 1 Only reset the system simultaneously for all supply modules! Reset the system by switching the system supply simultaneously at all supply modules (fieldbus coupler/controller and potential supply module with bus power supply) off and on again. Pos : 17.13.11 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Systemvers orgung - Ausl egung @ 3\mod_1232950104812_21.doc x @ 26780 @ 4 @ 1 3.5.2.2 Dimensioning Recommendation A stable power supply cannot always be assumed. Therefore, you should use regulated power supplies to ensure the quality of the supply voltage. The supply capacity of the fieldbus coupler/controller or the internal system supply module can be taken from the technical data of the components. Table 4: Alignment Internal current consumption*) Total current for I/O modules*) *) Pos : 17.13.12 /D okumentation allgemein/Gliederungselemente/---Sei tenwechsel--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 Current consumption via system voltage (5 V for electronics of I/O modules and fieldbus coupler/controller). Available current for the I/O modules. Provided by the bus power supply unit. See fieldbus coupler/controller and internal system supply module See current catalog, manuals, Internet 24 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 17.13.13 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Beis piel: @ 3\mod_1232630417843_21.doc x @ 26605 @ @ 1 Example: Pos : 17.13.14 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Systemvers orgung - Ausl egung - Beispi el 1 (er weiterter ECO) @ 3\mod_1232950106250_21.doc x @ 26788 @ @ 1 Calculating the current consumption on an Example Coupler: Internal current consumption Residual current for bus modules Sum I(5 V) total 380 mA at 5 V 1620 mA at 5 V 2000 mA at 5V Pos : 17.13.15 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Systemvers orgung - Ausl egung - Inter ne Stromaufnahme/Summenstr om @ 3\mod_1232950111375_21.doc x @ 26816 @ @ 1 The internal current consumption is indicated in the technical data for each bus terminal. In order to determine the total requirement, add together the values of all I/O modules in the node. Please note the aggregate current for I/O modules. It may be necessary to supply potential! When the sum of the internal current consumption for the I/O modules exceeds their aggregate current, you must use a supply module with bus power supply. Install it before the position where the permissible aggregate current would be exceeded. Pos : 17.13.16 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Beis piel: @ 3\mod_1232630417843_21.doc x @ 26605 @ @ 1 Example: Pos : 17.13.17 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Systemvers orgung XTR - Ausl egung - Beispi el 2 (er weiterter ECO) @ 16\mod_1373894651926_21.doc x @ 126155 @ @ 1 Calculating the total current on the Example Coupler described above: A node with the example coupler, which is described above, consists of: • 20 relay modules (750-517/xxx-xxx) • 10 digital input modules (750-1415/xxx-xxx). Internal current consumption Sum 20 * 90 mA = 1800 mA 10 * 6 mA = 60 mA 1860 mA The example coupler can provide 1620 mA (see previous example) for the bus modules. This value is given in the associated data sheet. Consequently, an internal system supply module (750-613/xxx-xxx), e. g. in the middle of the node, should be added. Pos : 17.13.18 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Systemvers orgung - Ausl egung - Berec hnung Ei ngangsstrom XTR @ 18\mod_1392381249671_21.doc x @ 145538 @ @ 1 The maximum input current of the 24 V system supply is 500 mA. The exact electrical consumption (I(V)) can be determined with the following formulas: Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR System Description 25 Fieldbus coupler or controller I(5 V) total = Sum of all the internal current consumption of the connected bus modules + internal current consumption fieldbus coupler/controller Internal system supply module I(5 V) total = Sum of all the internal current consumption of the connected bus modules at internal system supply module Input current I(24 V) = Pos : 17.13.19 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Systemvers orgung - Ausl egung - n= 0,87 (87% N etz teil wir kungsgrad bei 24 V) @ 3\mod_1232950112718_21.doc x @ 26824 @ @ 1 5V 24 V * I(5 V) total η η = 0.87 (87 % Efficiency of the power supply at nominal load 24 V) Pos : 17.13.20 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Systemvers orgung - Ausl egung - Hi nweis: Bei Test der Str omaufnahme Ausg äng e akti vi eren @ 3\mod_1232950110750_21.doc x @ 26812 @ @ 1 Activate all outputs when testing the current consumption! If the electrical consumption of a power supply point for the 24 V system supply exceeds 500 mA, then the cause may be an improperly dimensioned node or a defect. During the test, you must activate all outputs. Pos : 17.13.21 /D okumentation allgemein/Gliederungselemente/---Sei tenwechsel--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 26 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 17.13.22 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/F eldversorgung - Ü bersc hrift 3 @ 3\mod_1232950080953_21.doc x @ 26688 @ 3 @ 1 3.5.3 Field Supply Pos : 17.13.23 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/F eldversorgung - Ans chl uss @ 3\mod_1232950082031_21.doc x @ 26696 @ 4 @ 1 3.5.3.1 Connection Sensors and actuators can be directly connected to the relevant channel of the I/O module in 1, 2, 3 or 4 conductor connection technology. The I/O module supplies power to the sensors and actuators. The input and output drivers of some I/O modules require the field side supply voltage. Pos : 17.13.24 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/F eldversorgung - Ans chl uss - Ei nspeis ung fel dsei tig (Standard + er weiterter ECO) @ 3\mod_1232950087703_21.doc x @ 26712 @ @ 1 The fieldbus coupler/controller provides field side power (DC 24 V). In this case it is a passive power supply without protection equipment. Pos : 17.13.25 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/F eldversorgung - Ans chl uss - Potentialgruppen mit Eins peisekl emme XTR @ 17\mod_1382697121058_21.doc x @ 135120 @ @ 1 Power supply modules with or without diagnostic capability are available for the power supply of other field potentials (e.g. 24 VDC, 0 VAC/DC … 230 VAC/DC, 120 VAC, 230 VAC). The power supply modules can also be used to set up various potential groups. The connections are connected in pairs to a power contact. Pos : 17.13.26 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/F eldversorgung XTR - Ans chl uss - Bild: F el dvers orgung (Standard + er weiter ter ECO) @ 16\mod_1373895183197_21.doc x @ 126188 @ @ 1 Figure 6: Field Supply for Fieldbus Couplers/Controllers (Example) Table 5: Legend for Figure “Field Supply for Fieldbus Couplers/Controllers” Position 1 2 3 Description Field supply 24 VDC Field supply 0 V Power jumper contacts (potential distribution to adjacent I/O modules) Pos : 17.13.27 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/F eldversorgung - Ans chl uss - Weiterl eitung Vers orgungsspg., Strombel astung 10 A, neue Eins peisekl emme @ 8\mod_1279805441785_21.doc x @ 60845 @ @ 1 The field-side power supply is automatically derived from the power jumper contacts when snapping an I/O module. The current load of the power contacts must not exceed 10 A on a continual basis. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR System Description 27 By inserting an additional power supply module, the field supply via the power contacts is disrupted. From there a new power supply occurs which may also contain a new voltage potential. Pos : 17.13.28 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/F eldversorgung - Ans chl uss - 2 Hi nweise: Potential neu ei ns peis en + Dis tanz kl emme @ 3\mod_1232950091343_21.doc x @ 26724 @ @ 1 Re-establish the ground connection when the connection to the power jumper contacts is disrupted! Some I/O modules have no or very few power contacts (depending on the I/O function). Due to this, the passing through of the relevant potential is disrupted. If you require a field supply via power jumper contacts for subsequent I/O modules, then you have to use a power supply module. Note the data sheets of the I/O modules. Use a spacer module when setting up a node with different potentials! In the case of a node setup with different potentials, e.g. the alteration from DC 24 V to AC 230 V, you should use a spacer module. The optical separation of the potentials acts as a warning to heed caution in the case of wiring and maintenance works. Thus, you can prevent the results of wiring errors. Pos : 17.13.29 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/F eldversorgung XTR - Absic herung @ 16\mod_1373895529559_21.doc x @ 126191 @ 4 @ 1 3.5.3.2 Fusing Fusing has to be done externally. The fuse modules of the WAGO series 281 and 282 are suitable for this purpose. Figure 7: Fuse Modules for Automotive Fuses, Series 282 Figure 8: Fuse Modules for Automotive Fuses, Series 2006 Manual Version 1.2.0 28 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Figure 9: Fuse Modules with Pivotable Fuse Carrier, Series 281 Figure 10: Fuse Modules with Pivotable Fuse Carrier, Series 2002 Pos : 17.13.30 /D okumentation allgemein/Gliederungselemente/---Sei tenwechsel--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR System Description 29 Pos : 17.13.31 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Ergänz ende Eins peisevorsc hriften XTR (Standard) @ 16\mod_1373896786700_21.doc x @ 126194 @ 3 @ 1 3.5.4 Supplementary Power Supply Regulations The WAGO-I/O-SYSTEM 750 XTR can also be used in shipbuilding applications and onshore/offshore installations (e.g., platforms, loading facilities), as well as in telecontrol applications. This is possible via certification under the standards of leading agencies such as Germanischer Lloyd and Lloyds Register. For standard-compliant application in substation instrumentation and control, telecontrol systems, railway technology or shipbuilding certified operation, fieldside power supply filter 750-624/040-001 or power supply filter 750-626/040-000 are generally to be used for XTR module groups. Table 6: Filter Modules for 24 V Power Supply Item No. 750-626/040-000 Description Power supply filter 750-624/040-001 Field-side power supply filter Description System and field supply with filtering (24 V, 0 V), i.e., fieldbus coupler/controller and bus power supply (750-613/040-000) 24 V field supply with filtering Therefore, the following power supply requirements must be observed: Figure 11: Power Supply Concept The 24 V system power supply for the fieldbus coupler/controller must be filtered and protected against overvoltage. Therefore, the power must be supplied via power supply filter 750-626/040-000. Manual Version 1.2.0 30 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR The 24 V field power supply systems must be protected against overvoltage. Therefore, the power must be supplied via field-side power supply filter 750-624/040-001 or power supply filter 750-626/ 040-000. For this potential group, only the supply module 750-612/040-000 is required for a 230 V field power supply. Pos : 17.13.32 /D okumentation allgemein/Gliederungselemente/---Sei tenwechsel--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR System Description 31 Pos : 17.13.33 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Vers orgungs beis piel - Übersc hrift + Hinweis @ 3\mod_1232949833531_21.doc x @ 26670 @ 3 @ 1 3.5.5 Supply Example Suppl Sggggggggggggggggg The system supply and the field supply shall be separated! You should separate the system supply and the field supply in order to ensure bus operation in the event of a short-circuit on the actuator side. Pos : 17.13.34 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Vers orgungs beis piel - Bil d XTR @ 18\mod_1393260466178_21.doc x @ 146269 @ @ 1 Figure 12: Power Supply Example Pos : 17.13.35 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Vers orgungs beis piel - Legende zu Abbil dung "Vers orgungs beis pi el XTR" @ 18\mod_1393260531676_21.doc x @ 146272 @ @ 1 Manual Version 1.2.0 32 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 7: Legend for Figure “Power Supply Example” Item 1 2 3 4 5 Description Power supply on the fieldbus coupler/controller via external system supply module Supply module 24 V Supply module with bus power supply 24 V Separation module recommended Supply module 230 V Pos : 17.13.36 /D okumentation allgemein/Gliederungselemente/---Sei tenwechsel--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR System Description 33 Pos : 17.13.37 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Netzger äte XTR @ 16\mod_1373963895846_21.doc x @ 126216 @ 3 @ 1 3.5.6 Power Supply Units The WAGO-I/O-SYSTEM 750 XTR requires 24 VDC voltage (system supply) for operation. Recommendation A stable power supply cannot always be assumed everywhere. Therefore, you should use regulated power supplies to ensure the quality of the supply voltage (see also table “WAGO power supply units”). For brief voltage dips, a buffer (200 µF per 1 A load current) must be provided. Buffer for system power supply! The system power supply must be buffered to bridge power outages. As the power demand depends on the respective node configuration, buffering is not implemented internally. To achieve power outages of 1 ms to 10 ms according to IEC61131-2, determine the buffering appropriate for your node configuration and structure it as an external circuit. The power demand must be determined individually depending on the entry point of the field supply. All loads through field devices and I/O modules must be taken into account. The field supply also impacts the I/O modules because the input and output drivers of some I/O modules require the voltage of the field supply. System and field supply must be isolated! The system supply and field supply must be isolated to ensure bus operation in the event of short circuits on the actuator side. Table 8: WAGO Power Supply Units Item number Description 787-822/xxx-xxx Primary switch-mode power supply EPSITRON® PRO Power, 24 VDC / 5 A*), nominal input voltage 100 VAC … 240 VAC 787-832/xxx-xxx Primary switch-mode power supply EPSITRON® PRO Power, 24 VDC / 10 A*), nominal input voltage 110 VAC … 240 VAC 787-840/xxx-xxx Primary switch-mode power supply EPSITRON® PRO Power, 24 VDC / 10 A*), nominal input voltage 3× 400 VAC … 500 VAC *) Pos : 17.13.38 /D okumentation allgemein/Gliederungselemente/---Sei tenwechsel--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 Derating −3 %/K > +50 °C 34 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 17.13.39 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Er dung @ 3\mod_1231246555687_21.doc x @ 25802 @ 23443 @ 1 3.6 Grounding 3.6.1 Grounding the DIN Rail 3.6.1.1 Framework Assembly When setting up the framework, the carrier rail must be screwed together with the electrically conducting cabinet or housing frame. The framework or the housing must be grounded. The electrical connection is established via the screw. Thus, the carrier rail is grounded. Ensure sufficient grounding is provided! You must take care to ensure the flawless electrical connection between the carrier rail and the frame or housing in order to guarantee sufficient grounding. 3.6.1.2 Insulated Assembly Insulated assembly has been achieved when there is constructively no direct ohmic contact between the cabinet frame or machine parts and the carrier rail. Here, the earth ground must be set up via an electrical conductor in accordance with valid national safety regulations. Recommendation The optimal setup is a metallic assembly plate with grounding connection which is electrically conductive linked to the carrier rail. The separate grounding of the carrier rail can be easily set up with the aid of the WAGO ground wire terminals. Table 9: WAGO Ground Wire Terminals Order No. Description 283-609 1-conductor ground (earth) terminal block make an automatic contact to the carrier rail; conductor cross section: 0.2 mm² … 16 mm2 Note: Also order the end and intermediate plate (283-320). Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 3.6.2 System Description 35 Grounding Function The grounding function increases the resistance against electro-magnetic interferences. Some components in the I/O system have a carrier rail contact that dissipates electro-magnetic interferences to the carrier rail. Figure 13: Carrier Rail Contact (Example) Ensure sufficient grounding is provided! You must take care to ensure the direct electrical connection between the carrier rail contact and the carrier rail. The carrier rail must be grounded. For information on carrier rail properties, see section “Mounting” > … > “Carrier Rail Properties”. The bottom CAGE CLAMP® connectors of the supply modules enable optional connection of a field-side functional ground. This potential is made available to the I/O module arranged on the right through the spring-loaded contact of the three power contacts. Some I/O modules are equipped with a knife-edge contact that taps this potential. This forms a potential group with regard to functional ground with the I/O module arranged on the left. Pos : 17.13.40 /D okumentation allgemein/Gliederungselemente/---Sei tenwechsel--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 36 System Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 17.13.41 /Seri e 750 ( WAGO-I/O-SYSTEM)/Systembes chr eibung/Versorgung/Schir mung @ 3\mod_1231251994828_21.doc x @ 25813 @ 23333 @ 1 3.7 Shielding 3.7.1 General Use of shielded cables reduces electromagnetic interference and thus increases signal quality. Measurement errors, data transmission errors and interference due to excessive voltage can be prevented. Connect the cable shield to the ground potential! Integrated shielding is mandatory to meet the technical specifications in regards to measuring accuracy. Connect the cable shield and ground potential at the inlet to the cabinet or housing. This allows induced interference to dissipate and to be kept away from devices in the cabinet or housing. Figure 14: Cable Shield at Ground Potential Improve shielding performance by placing the shield over a large area! Higher shielding performance is achieved via low-impedance connection between shield and ground. For this purpose, connect the shield over a large surface area, e.g., WAGO shield connecting system. This is especially recommended for largescale systems where equalizing current or high impulse-type currents caused by atmospheric discharge may occur. Keep data and signal lines away from sources of interference! Route data and signal lines separately from all high voltage cables and other sources of high electromagnetic emission (e.g., frequency converter or drives). 3.7.2 Bus Cables The shielding of the bus line is described in the respective configuration guidelines and standards of the bus system. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 3.7.3 System Description 37 Signal Lines I/O modules for analog signals and some interface I/O modules are equipped with shield clamps. Use shielded signal lines! Only use shielded signal lines for analog signals and I/O modules which are equipped with shield clamps. Only then can you ensure that the accuracy and interference immunity specified for the respective I/O module can be achieved even in the presence of interference acting on the signal cable. 3.7.4 WAGO Shield Connecting System The WAGO shield connecting system consists of shield clamping saddles, busbars and various mounting carriers. These components can be used to achieve many different configurations. Figure 15: Examples of the WAGO Shield Connecting System Figure 16: Application of the WAGO Shield Connecting System Pos : 18 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 38 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 19 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 1Ger ätebesc hrei bung - Ü berschrift 1 @ 3\mod_1233756084656_21.doc x @ 27096 @ 1 @ 1 4 Device Description Pos : 20.1 /Serie 750 (WAGO-I/O-SYST EM)/Ger ätebesc hrei bung/Ei nlei tung/F eldbus koppl er/-c ontroller/Einl eitender Text/D er F eldbus koppler xy verbi ndet das WAGO-I/O-SYST EM 750 mit dem F eldbuss ys tem CAN open 750- xxx @ 12\mod_1331126840817_21.doc x @ 90400 @ @ 1 The CANopen Contr.640/832KB DSUB /XTR 750-838/040-000 connects the WAGO-I/O-SYSTEM 750 to the CANopen fieldbus system. Data is transmitted via PDOs and SDOs. The CANopen Contr.640/832KB DSUB /XTR recognizes all connected I/O modules and creates a local process image on this basis. Analog and specialty module data is sent via words and/or bytes; digital data is sent bit by bit. The local process image is divided into two data zones containing the data received and the data to be sent. The process data can be sent via the CANopen bus to a control system for further processing. The process output data can be sent via the CANopen bus. The data of the analog modules is stored in the PDOs according to the order in which the modules are connected to the CANopen Contr.640/832KB DSUB /XTR. The bits of the digital modules are sent byte by byte and also mapped in the PDOs. If the amount of digital information exceeds 8 bits, the CANopen Contr.640/832KB DSUB /XTR automatically starts with a new byte. All entries of the object directory can be mapped as required in the 32 Rx PDOs and 32 Tx PDOs. The complete input and output process image can be transmitted via SDOs. Software can be used to set virtual “spacer modules” for possible future extensions (see section “Fieldbus Communication” > … > “Object 0x4500 – Empty Module Configuration”). Pos : 20.2 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description 39 Pos : 20.3 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 2Ansicht - Ü bersc hrift 2 @ 4\mod_1240984217343_21.doc x @ 31958 @ 2 @ 1 4.1 View Pos : 20.4.1 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansic ht/Fel dbus koppl er/-contr oller/Leg ende/Ansic ht - allg. Einl eitung für Koppler/C ontroll er @ 4\mod_1238494230133_21.doc x @ 29446 @ @ 1 The view below shows the three parts of the device: • • • The fieldbus connection is on the left side. LEDs for operation status, bus communication, error messages and diagnostics, as well as the service interface are in the middle area. The right side shows the power supply unit for the system supply and for the field supply of the attached I/O modules via power jumper contacts. LEDs show the status of the operating voltage for the system and field supply (jumper contacts). Pos : 20.4.2 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansic ht/Fel dbus koppl er/-contr oller/Bilder/Ansic ht - Bild 750-0838/040- 000 @ 18\mod_1394175180298_21.doc x @ 147485 @ @ 1 Figure 17: View Pos : 20.4.3 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 40 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 20.4.4 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansic ht/Fel dbus koppl er/-contr oller/Leg ende/Ansic ht - Legende zur Ansicht CANopen-F eldbus contr oller (750-837, -838) - T abellenkopf und Nr. 1 @ 17\mod_1380612443172_21.doc x @ 133239 @ @ 1 Table 10: Legend for Figure “View CANopen Fieldbus Controller” DesigPos. Meaning nation STOP, RUN, 1 Status LEDs Fieldbus TX, RX, I/O, USR Details see Section “Device Description” > “Display Elements” Pos : 20.4.5 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansic ht/Fel dbus koppl er/-contr oller/Leg ende/Ansic ht - Legende allg für Koppl er/Contr oller XTR Nr. 2- 10 @ 18\mod_1394179887036_21.doc x @ 147488 @ @ 1 2 A, C 3 --- 4 Status LED’s System/Field Supply Data Contacts 24 V, 0 V CAGE CLAMP® Connections System Supply “Device Description” > “Display Elements” “Connect Devices” > “Data Contacts/Internal Bus” “Connect Devices” > “Connecting a conductor to the CAGE CLAMP®” “Connect Devices” > “Connecting a conductor to the CAGE CLAMP®” “Connect Devices” > “Power Contacts/ Field Supply” “Mounting” > “Inserting and Removing Devices” “Connect Devices” > “Connecting a conductor to the CAGE CLAMP®” “Connect Devices” > “Power Contacts/ Field Supply” “Device Description” > “Operating Elements” 5 + CAGE CLAMP® Connections Field Supply 24 VDC 6 --- Power Jumper Contact 24 VDC 7 --- Unlocking Lug 8 - 9 --- Power Jumper Contact 0 V 10 --- Service Interface (open flap) --- Address Selection Switch “Device Description” > “Operating Elements” --- Locking Disc “Mounting” > “Inserting and Removing Devices” --- Fieldbus connection D-SUB 9 “Device Description” > “Connectors” CAGE CLAMP® Connections Field Supply 0 V Pos : 20.4.6 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansic ht/Fel dbus koppl er/-contr oller/Leg ende/Ansic ht - Legende für Adress wahlschalter Nr: 11 @ 18\mod_1394180167444_21.doc x @ 147490 @ @ 1 11 Pos : 20.4.7 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansic ht/Fel dbus koppl er/-contr oller/Leg ende/Ansic ht - Legende für Verriegelungssc hei be Nr: 12 @ 18\mod_1394180232287_21.doc x @ 147494 @ @ 1 12 Pos : 20.4.8 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansic ht/Fel dbus koppl er/-contr oller/Leg ende/Ansic ht - Legende für Fel dbus ans chl uss D- Sub 9 Nr: 13 @ 18\mod_1394180322277_21.doc x @ 147499 @ @ 1 13 Pos : 20.5 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description 41 Pos : 20.6 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 2Anschl üss e - Ü berschrift 2 @ 4\mod_1240984262656_21.doc x @ 31961 @ 2 @ 1 4.2 Connectors Pos : 20.7 /Serie 750 (WAGO-I/O-SYST EM)/Ger ätebesc hrei bung/Schematisc he Sc haltbil der/F el dbus koppl er/-contr oller/Ger äteei nspeis ung - Ü berschrift 3 und Einl eitung 750-0xxx @ 5\mod_1245074097866_21.doc x @ 35349 @ 3 @ 1 4.2.1 Device Supply The device is powered via terminal blocks with CAGE CLAMP® connections. The device supply generates the necessary voltage to power the electronics of the device and the internal electronics of the connected I/O modules. The fieldbus interface is galvanically separated to the electrical potential of the device. Pos : 20.8 /Serie 750 (WAGO-I/O-SYST EM)/Ger ätebesc hrei bung/Schematisc he Sc haltbil der/F el dbus koppl er/-contr oller/Ger äteei nspeis ung 750- 0838/0040- 0000 @ 18\mod_1395066478153_21.doc x @ 148113 @ @ 1 Figure 18: Device supply Pos : 20.9.1 /All e Serien ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 3F eldbusansc hl uss - Ü berschrift 3 @ 18\mod_1391001487296_21.doc x @ 143828 @ 3 @ 1 4.2.2 Fieldbus Connection Pos : 20.9.2 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansc hlüsse/Fel dbus koppl er/-c ontroller/Di e F eldbus-Koppl er 750-338 besitz en für den F eldbusansc hl uss - Einl eitung ( 750-338, - 838) @ 17\mod_1382685061740_21.doc x @ 135096 @ @ 1 For the fieldbus connection, the fieldbus coupler/controller is equipped with a 9pole SUB-D connector. Pos : 20.9.3 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansc hlüsse/Fel dbus koppl er/-c ontroller/Ansc hluss Fel dbus über ei nen D- Sub-Ansc hluss für R S-232 (Stec ker) (Bild) (750- xxx) @ 17\mod_1382593794608_21.doc x @ 135000 @ @ 1 Figure 19: Pin Assignment for D-Sub Fieldbus Connection (Male) Pos : 20.9.4 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansc hlüsse/Fel dbus koppl er/-c ontroller/Ansc hluss Fel dbus über ei nen D- Sub-Ansc hluss für R S-232 (Stec ker) (Tabelle) (750-0338) C ANopen @ 17\mod_1382594020185_21.doc x @ 135004 @ @ 1 The SUB-D connector fort he RS-232 interface is wired as follows: Manual Version 1.2.0 42 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 11: Pin Assignment of the CANopen Interface Pin 1 2 3 4 5 6 7 8 9 1) Signal CAN_L GND Drain Shield CAN_H CAN_V+ Beschreibung Not used CAN Signal Low Ground Not used Shield connection 1) Not used CAN Signal High Not used Not used The shield connection is given by the connector itself. In order to realize the shield connection, the shielding braid on the connecting cable can be grounded by the connector’s metallic strain relief. The pin arrangement corresponds tot he RS-232 DCE arrangement. This allows the use of costumary 9-pole 1:1 socket/plug cables for the direct connection of a PC. Pos : 20.9.5 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Ansc hlüsse/Fel dbus koppl er/-c ontroller/Di e Anschl usss tell e des Fel dbus koppl ers is t mechani sch abges enkt, s o dass nac h Stec ker... (750- 337,8 @ 16\mod_1377669043601_21.doc x @ 129904 @ @ 1 The connection point of the fieldbus coupler is lowered for mounting in an 80 mm-high switchgear cabinet after connector attachment. DC/DC converters and optocouplers in the fieldbus interface provide electrical isolation between the fieldbus system and the electronics. The cable shield must be applied to CAN-shield for both fieldbus couplers. This is terminated to PE in devices with 1 MΩ (DIN rail contact). A low-impedance connection of the shielding to PE is possible only from the outside (e.g., by a supply module). The aim is a central PE contact for the entire CANopen bus cable shield. Pos : 20.10 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description 43 Pos : 20.11 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Neue Ü bersc hriften/Ebene 2Anz eigeelemente - Übersc hrift 2 @ 4\mod_1240984390875_21.doc x @ 31964 @ 2 @ 1 4.3 Display Elements Pos : 20.12.1 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Legende/Anz eigeel emente - Einl eitung ( Koppler) @ 4\mod_1239098122920_21.doc x @ 30150 @ @ 1 The operating condition of the fieldbus coupler or the node is displayed with the help of illuminated indicators in the form of light-emitting diodes (LEDs). The LED information is routed to the top of the case by light guides. In some cases, the LEDs are multi-colored (red, green or orange). Pos : 20.12.2 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Bil der/Anzeig eel emente 750-838/Anz eigeelemente 750-0838/0040-000 - Bil d @ 18\mod_1394189126023_21.doc x @ 147506 @ @ 1 Figure 20: Display Elements Pos : 20.12.3 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Legende/Anz eigeel emente - Einl eitung und Tabellenübers chrift Fel dbus status (Standar d) @ 4\mod_1240920871636_21.doc x @ 31795 @ @ 1 + For the diagnostics of the different domains fieldbus, node and supply voltage, the LEDs can be divided into three groups: Table 12: Display Elements Fieldbus Status LED Color Meaning Pos : 20.12.4 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Legende/Anz eigeel emente - F el dbuss tatus CAN open-basier t, s pezifisc her Tabell enteil ' STOP' (750- 337, 338) @ 16\mod_1377073743841_21.doc x @ 129319 @ @ 1 STOP red Fieldbus coupler is in the STOP state Pos : 20.12.5 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Legende/Anz eigeel emente - F el dbuss tatus PR OFIBUS DP-basi ert, spezifisc her T abellenteil 'RUN' @ 9\mod_1290440028544_21.doc x @ 66704 @ @ 1 RUN green Shows the user whether the fieldbus coupler/controller is functioning correctly. Pos : 20.12.6 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Legende/Anz eigeel emente - F el dbuss tatus CAN open-basier t, s pezifisc her Tabell enteil 'T X OVERFLOW' (750- 337, 8 @ 16\mod_1377074690204_21.doc x @ 129323 @ @ 1 TX OVERFL OW red CAN transmit buffer has overflowed Pos : 20.12.7 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Legende/Anz eigeel emente - F el dbuss tatus CAN open-basier t, s pezifisc her Tabell enteil 'R X OVERFLOW' (337, 338) @ 16\mod_1377075128697_21.doc x @ 129327 @ @ 1 RX OVERFL OW red CAN input buffer has overflowed Pos : 20.12.8 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Legende/Anz eigeel emente - Knotenstatus T abell enübersc hrift und 'I/O' @ 4\mod_1240921390924_21.doc x @ 31809 @ @ 1 + Table 13: Display Elements Node Status LED Color Meaning I/O red/green/ Indicates the operation of the node and signals via a blink code faults orange encountered. Pos : 20.12.9 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Anzeig eel emente/F eldbus koppler/-c ontroll er/Legende/Anz eigeel emente - Knotenstatus 'U SR' (Controll er) @ 4\mod_1240921467136_21.doc x @ 31813 @ @ 1 USR red/green/ orange indicates the state, which is programmed in the user program Pos : 20.12.10 /Seri e 750 ( WAGO-I/O-SYSTEM)/Ger ätebesc hrei bung/Anz eigeelemente/F eldbus koppler/-c ontroller/Legende/Anzeigeelemente - Vers orgungss pannungss tatus Tabellenübers chrift und 'A', 'C' @ 18\mod_1394190062641_21.doc x @ 147514 @ @ 1 + Table 14: Display Elements Supply Voltage LED Color Meaning A green indicates the status of the operating voltage – system C green indicates the status of the operating voltage – power jumper contacts Pos : 20.12.11 /Seri e 750 ( WAGO-I/O-SYSTEM)/Ger ätebesc hrei bung/Anz eigeelemente/F eldbus koppler/-c ontroller/Legende/Infor mation: Infor mati onen z u der LED-Signalisierung @ 4\mod_1239098329547_21.doc x @ 30154 @ @ 1 Manual Version 1.2.0 44 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR More information about the LED Signaling Read the detailed description for the evaluation of the displayed LED state in the section “Diagnostics” > … > “LED Signaling”. Pos : 20.13 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description 45 Pos : 20.14 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Neue Ü bersc hriften/Ebene 2Bedienel emente - Übersc hrift 2 @ 4\mod_1239191655456_21.doc x @ 30439 @ 2 @ 1 4.4 Operating Elements Pos : 20.15.1 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Ser vice- Sc hnittstelle - Übersc hrift 3, und allgemeine Einl eitung @ 4\mod_1239105167430_21.doc x @ 30221 @ 3 @ 1 4.4.1 Service Interface The service interface is located behind the flap. Pos : 20.15.2 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Ser vice- Sc hnittstelle zur Konfigurati on und Programmier ung @ 4\mod_1239105669061_21.doc x @ 30227 @ @ 1 It is used for the communication with WAGO-I/O-CHECK, WAGO-I/O-PRO and for update the firmware. Figure 21: Service Interface (Closed and Opened Flap) Table 15: Legend for Figure “Service Interface (Closed and Opened Flap)” Number 1 2 Description Open closed flap View Service Interface Pos : 20.15.3 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Ac htung: Gerät muss s pannungsfr ei s ein! (für Ansc hlus s von 750-920, -923, - 921) @ 4\mod_1239105946740_21.doc x @ 30247 @ @ 1 Device must be de-energized! To prevent damage to the device, unplug and plug in the communication cable only when the device is de-energized! The connection to the 4-pin header under the cover flap can be realized via the communication cables with the item numbers750-920 and 750-923 or via the WAGO radio adapter with the item number 750-921. Pos : 20.16.1 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Betriebs artens chalter - Übersc hrift 3, Ansic ht und Ei nleitung (Controll er) @ 4\mod_1239106871099_21.doc x @ 30280 @ 3 @ 1 4.4.2 Mode Selector Switch The mode selector switch is located behind the cover flap. Figure 22: Mode Selector Switch (Closed and Open Damper of the Service Port) Manual Version 1.2.0 46 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 16: Legend for Figure „Mode Selector Switch“ Number 1 2 Description Open the damper Mode selector switch The mode selector switch determines the loading, starting and stopping of the PLC-application by the fieldbus controller. This multifunction sliding switch features 3 slide lock positions and a push-button function. The sliding switch is designed for a number of operations in compliance with EN61131T2. Property damages due to set outputs! Please note that set outputs remain set, when you switch the operating switch from “RUN” to “STOP” during the current operation. Since the program is no longer processed, software-related switch offs, i.e. by initiators, are ineffective. Therefore, program or define all outputs, so that these switch to a safe mode at a program stop. Pos : 20.16.2 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Hinweis: Vorprogr ammi eren der Ausgänge für Progr ammstopp! (Betriebsartensc hal ter ohne WBM) @ 4\mod_1240571705443_21.doc x @ 31294 @ @ 1 Pre-programming the outputs for program stop! You have the ability to program the behavior of the fieldbus controller so that the outputs switch in a safe condition in the case of program stop. For this WAGO-I/O-PRO allocates a function with GET_STOP_VALUE (library “System.lib”), which serves to recognize the last cycle before “STOP”. Pos : 20.16.3 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Betriebs artens chalter - T abellen @ 4\mod_1240571618379_21.doc x @ 31290 @ @ 1 The mode selector switch position does not affect software start/stop! The position of the operating mode switch does not prevent the starting and stopping of the PFC application from WAGO-I/O-PRO. One of the following functions is active, depending on which of the three static positions — “top”, “center” or “bottom” — the switch is located at when energized or during a hardware or software reset: Table 17: Mode Selector Switch Positions, Static Positions on PowerOn/Reset Positions for the mode Function selector switch “Top” position “RUN” – activate program processing, Boot project (if available) is started “Center” position “STOP” – stop program processing, PFC application is stopped “Bottom” position Do not use. This position is not relevant for the user. The fieldbus controller performs the following functions if the switch’s position is changed during operation: Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description 47 Table 18: Mode Selector Switch Positions, Dynamic Positions During Ongoing Operation Position change for the Function mode selector switch From the top to the “STOP” – stop program processing, center position PFC application is stopped From the center to the “RUN” – activate program processing, top position Boot project (if available) is started From the center to the No reaction. bottom position The bootstrap loader is started after PowerOn/Reset From the bottom to the No reaction. center position Press down Hardware reset. (e.g., using a All outputs are reset; variables are set to 0, FALSE, or to an initial screwdriver) value. Retain variables or markers are not changed. A hardware reset can be executed on STOP or on RUN at any position of the mode selector switch! Fieldbus coupler restart. The operating mode is changed internally at the end of a PFC cycle. Pos : 20.17 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 48 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 20.18.1 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Adres s wahlsc hal ter - Ü berschrift 3 @ 4\mod_1239190509819_21.doc x @ 30420 @ 3 @ 1 4.4.3 Address Selection Switch Pos : 20.18.2 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Adres s wahlsc hal ter bes chr eibung ( Einl eitung) - F eldbus koppler/-c ontroller ( 750- 338, - 838) XTR @ 18\mod_1394190284915_21.doc x @ 147521 @ @ 1 The DIP switch on the fieldbus coupler/controller is used to parameterize the fieldbus coupler/controller (baud rate setting) and to set the module ID. Pos : 20.18.3 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Baudr ateneins tell ung - Ü berschrift 4 @ 16\mod_1377149422348_21.doc x @ 129416 @ 4 @ 1 4.4.3.1 Baud Rate Setting Pos : 20.18.4 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/DIP-Sc halter ( Baudr atenei nstellung) - Fel dbus koppl er/DIP-Sc hal ter ( Baudratenei nstellung) - Fel dbus koppl er/-contr oller ( 750-337, - 338, -837, -838) @ 16\mod_1377147552740_21.doc x @ 129410 @ @ 1 The DIP switch is used to set the baud rate. 9 different baud rates are supported. When the module ID = 0 (all slide switches OFF) and the supply voltage is ON, the fieldbus coupler/controller is put in configuration mode. In this state, the baud rate currently set is displayed. The top LED group (STOP, RUN, TX OVERFLOW and RX OVERFLOW) displays the baud rate, where STOP = switch 1, RUN = switch 2, TX OVERFLOW = switch 3 and RX OVERFLOW = switch 4. The baud rate currently set is represented by slow flashing of the respective LEDs. In this state, the DIP switch can be used to set the new baud rate. The required slide switch is moved to the ON position. The configuration is saved by moving sliding DIP8 to ON. After saving the configuration, the respective LED lights up continuously to indicate the new baud rate. The baud rate of 1 Mbaud is an exception. This baud rate is indicated by all 4 LEDs flashing/illuminated. Pos : 20.18.5 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/DIP-Sc halter - Bei spi el Baudr ateneinstellung @ 16\mod_1377149585589_21.doc x @ 129419 @ @ 1 Example: 125 kBd: Tx overflow LED flashes/lights up 250 kBd: STOP and RUN LEDs flash/light up Pos : 20.18.6 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/DIP-Sc halter-Bil d (1 ... 8 von oben nac h unten) Bil duntersc hrift: Bs p: Speic hern der Baudr ate 125kBd @ 16\mod_1377149929056_21.doc x @ 129422 @ @ 1 Figure 23: Example: Saving the Baud Rate 125 kBd Pos : 20.18.7 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/DIP-Sc halter - T abell e Baudr atenei nstellung + Nach Beendigung der Baudr ateneins tell ung /DIP-Sc halter - T abell e Baudr atenei nstellung + Nach Beendigung der Baudratenei nstellung / (- 337, -338 @ 16\mod_1377152091068_21.doc x @ 129425 @ @ 1 Data cannot be exchanged via CAN in this state. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description 49 Table 19: Baud Rate Setting Switch Function 1 800 500 250 125 100 50 20 10 indicated by the MBd kBd kBd kBd kBd kBd kBd kBd kBd LEDs *) 1 (LSB) Baud rate 0 1 0 1 0 1 0 1 0 STOP 2 Baud rate 0 0 1 1 0 0 1 1 0 RUN 3 Baud rate 0 0 0 0 1 1 1 1 0 TX OVERFLOW 4 (MSB) Baud rate 0 0 0 0 0 0 0 0 1 RX OVERFLOW 5 6 7 8 Apply *) Factory setting 'off' -> 'on' : Apply the configuration set After setting / checking the baud rate, switch off the operating voltage because the DIP value set is only used as the module ID when calculating IDs when the power is ON. When OFF, the required module ID (1 as delivered) can be set on the DIP switch. Pos : 20.18.8 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/Ei nstellung der M odul-ID - Ü berschrift 4 @ 18\mod_1394190438885_21.doc x @ 147524 @ 4 @ 1 4.4.3.2 Setting the Module ID Pos : 20.18.9 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Bedi enel emente/F eldbus koppler/-c ontroll er/DIP-Sc halter - M odul-ID ( Einl eitung) @ 18\mod_1394190503844_21.doc x @ 147527 @ @ 1 The module ID is used to calculate the standard COB IDs (e.g., standard PDOs 1 … 4, 1. Server SDO, etc.). Pos : 20.18.10 /Seri e 750 ( WAGO-I/O-SYSTEM)/Ger ätebesc hrei bung/Bedienelemente/Fel dbus koppl er/-c ontr oller/D IP- Schalter-Bild (1 ... 8 von oben nach unten) Bildunterschrift: Eins tell en der Stations adr ess e @ 16\mod_1377087290218_21.doc x @ 129337 @ @ 1 Figure 24: Setting the Station Address (Setting 0 Here) Pos : 20.18.11 /Seri e 750 ( WAGO-I/O-SYSTEM)/Ger ätebesc hrei bung/Bedienelemente/Fel dbus koppl er/-c ontr oller/Adr ess wahlschalterbesc hrei bung - F eldbus koppler/Adr ess wahlschalterbesc hrei bung - F eldbus koppler/-c ontroll er (750- 338, -838) XTR @ 18\mod_1394190650995_21.doc x @ 147530 @ @ 1 The binary significance of the individual slide switches of the DIP switch increases in the direction of the switch numbers. Module ID 1 is set by DIP1 = ON, module ID 8 by DIP4 = ON, etc. For the nodes of the WAGO-I/O-SYSTEM XTR, slide switches 1 … 7 are used to set the module IDs of 1 … 127. Pos : 20.19 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 50 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 20.20 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Neue Ü bersc hriften/Ebene 2T echnisc he Daten - Ü berschrift 2 @ 3\mod_1232967587687_21.doc x @ 26924 @ 2 @ 1 4.5 Technical Data Pos : 20.21.1 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Tec hnische D aten/VS ( Vari abl ensteuerung)/Tec hnische D aten Ger ät (VS) - XTR @ 15\mod_1369311215011_21.doc x @ 120260 @ 3 @ 1 4.5.1 Device Table 20: Technical Data – Device Width Height (from upper edge of DIN 35 rail) Length Weight Degree of protection 51 mm 64 mm 100 mm Approx. 195 g IP20 Pos : 20.21.2 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Tec hnische D aten/F eldbus koppler/-c ontroll er/Tec hnisc he Daten 750-0838/Technisc he Daten 750-0838/0040- 0000 @ 18\mod_1394193987434_21.doc x @ 147537 @ 333 @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 4.5.2 Device Description 51 System Data Table 21: Technical Data – System Data Number of subscribers within the CAN network (not including repeaters) Number of I/O modules Transmission medium Fieldbus segment length Baud rate Bus connection Number of I/O modules that can be arranged side-by-side Max. input process image Max. output process image Configuration Data memory Program memory Non-volatile memory Cycle time Number of PDOs Number of SDOs Communication profile Device profile COB ID distribution Module ID distribution Other CANopen features Manual Version 1.2.0 110 64 Shielded Cu cable according to EN 50170, 3 × 0.25 mm² 30 m … 1000 m (depending on baud rate/cable) 10 kBaud … 1 MBaud 1 × D-Sub 9, connector 750-963 not included 63 512 bytes 512 bytes Via PC or PLC 832 kbytes 640 kbytes 8 kbytes (retain) < 3 ms for 1000 bit statements / 256 digital I/Os 32 Tx / 32 Rx 2 Server-SDO / 16 Client-SDO DS 301 V4.01 DS 401 V2.0 Limit monitoring, flank-triggered PDOs, configurable response in the event of an error, DSP 405, by means of function blocks NMT master programmable SDO, Standard DIP switch NMT slave, minimum Boot-up, variable PDO mapping, emergency message, life guarding/heartbeat, empty module configuration 52 Device Description 4.5.3 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Supply Table 22: Technical Data – Supply Internal current consumption (5 VDC) Total current for I/O modules (5 VDC) ≤ 60 °C operating temperature > 60 °C operating temperature Input current typ. at nominal load (24 VDC) Power failure time acc. IEC 61131-2 Power supply under laboratory conditions +15 °C … +35 °C for ambient operating temperature −40 °C … +55 °C for ambient operating temperature +55 °C … +70 °C Voltage via power jumper contacts Efficiency of power supply typ. at nominal load Isolation (peak value) Rated impulse voltage Pollution degree acc. to IEC 61131-2 1) 2) 350 mA 1650 mA 1250 mA 500 mA Depending on external buffering Via CAGE CLAMP® connectors, 24 VDC 18 V … 31.2 V (17.4 V … 31.2 V) 1) 18 V … 28.8 V (17.4 V … 28.8 V) 1) 18 V … 26.4 V (17.4 V … 26.4 V) 1) 24 VDC 87 % 510 VAC2) or 775 VDC power supply/DIN rail 1 kV 2 Including residual ripple of 15 % When performing insulation testing, observe the instructions in the manual! Buffer for system power supply! The system power supply must be buffered to bridge power outages. As the power demand depends on the respective node configuration, buffering is not implemented internally. To achieve power outages of 1 ms to 10 ms according to IEC61131-2, determine the buffering appropriate for your node configuration and structure it as an external circuit. 4.5.4 Accessories Table 23: Technical Data – Accessories Miniature WSB Quick Marking System WAGO-I/O-PRO V2.3 RS 232 kit 759-333 WAGO-I/O-PRO V2.3 USB kit 759-333/000-923 EDS Files Download: www.wago.de Pos : 20.21.3 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Tec hnische D aten/VS ( Vari abl ensteuerung)/Tec hnische D aten Ans chl usstec hni k (VS) @ 16\mod_1373273824961_21.doc x @ 125714 @ 3 @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 4.5.5 Device Description 53 Connection Type Table 24: Technical Data – Field Wiring Wire connection Cross section Stripped lengths CAGE CLAMP® 0.25 mm² … 2.5 mm² / AWG 24 … 14 8 mm … 9 mm / 0.33 in Table 25: Technical Data – Power Jumper Contacts Power jumper contacts Voltage drop at Imax. Table 26: Technical Data – Data Contacts Data contacts spring contact, self-cleaning, hard gold plated < 1 V at 64 I/O modules slide contact, self-cleaning, hard gold plated Pos : 20.21.4 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Tec hnische D aten/VS ( Vari abl ensteuerung)/Tec hnische D aten M echanische Bedi ngungen (VS) - XTR @ 15\mod_1369387569701_21.doc x @ 120364 @ 3 @ 1 4.5.6 Mechanical Conditions Table 27: Technical Data – Mechanical Conditions Vibration resistance 1) Max. 5g 1) Follow the installation instructions Pos : 20.21.5 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Tec hnische D aten/VS ( Vari abl ensteuerung)/Tec hnische D aten kli matisc he Umweltbedi ngungen (VS) - XTR @ 15\mod_1369387559187_21.doc x @ 120360 @ 3 @ 1 4.5.7 Climatic Environmental Conditions Table 28: Technical Data – Climatic Environmental Conditions Operating temperature range Storage temperature range Relative humidity 1) Elevation above sea level without temperature derating with temperature derating max. 1) Pos : 20.22 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 −40 °C … +70 °C −40 °C … +85 °C 95 % 0 m … 2000 m 2000 m … 5000 m: 5000 m 0.5 K per 100 m Short-term condensation per Class 3K7/IEC EN 60721-3-3 and E DIN 40046-721-3 (except wind-driven precipitation, water and ice formation) 54 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 20.23 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Neue Ü bersc hriften/Ebene 2Z ulass ungen - Ü bersc hrift 2 @ 3\mod_1224055364109_21.doc x @ 24030 @ 2 @ 1 4.6 Approvals Pos : 20.24 /Serie 750 ( WAGO-I/O-SYST EM)/Gerätebeschr eibung/Zul ass ung en/Infor mati on: Wei ter e Informati onen z u Z ulassungen 750- xxxx @ 3\mod_1227190967156_21.doc x @ 25221 @ @ 1 More information about approvals. Detailed references to the approvals are listed in the document “Overview Approvals WAGO-I/O-SYSTEM 750”, which you can find via the internet under: www.wago.com > SERVICES > DOWNLOADS > Additional documentation and information on automation products > WAGO-I/O-SYSTEM 750 > System Description. Pos : 20.25.1 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Zul ass ung en/Infor mati on: Weiter e Informati onen z u Z ulassungen 750- xxxx @ 3\mod_1227190967156_21.doc x @ 25221 @ @ 1 More information about approvals. Detailed references to the approvals are listed in the document “Overview Approvals WAGO-I/O-SYSTEM 750”, which you can find via the internet under: www.wago.com > SERVICES > DOWNLOADS > Additional documentation and information on automation products > WAGO-I/O-SYSTEM 750 > System Description. Pos : 20.25.2 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Zul ass ung en/Allgemein/Z ul ass ungen FBkoppl er/-contr oller 750- xxxx Allgemein, ohne Variantenangabe - Ei nleitung @ 5\mod_1245241119092_21.doc x @ 35493 @ @ 1 The following approvals have been granted to 750-838/040-000 fieldbus coupler/controller: Pos : 20.25.3 /Alle Serien (Allgemeine M odul e)/Z ulass ungen/Standar dzul ass ungen/CE (Konfor mitäts kennz eic hnung) @ 3\mod_1224494777421_21.doc x @ 24276 @ @ 1 Conformity Marking Pos : 20.25.4 /Alle Serien (Allgemeine M odul e)/Z ulass ungen/Standar dzul ass ungen/cU Lus (UL508) @ 3\mod_1224055013140_0.doc x @ 24020 @ @ 1 CULUS UL508 Pos : 20.25.5 /Alle Serien (Allgemeine M odul e)/Z ulass ungen/Standar dzul ass ungenKC - Korea C ertific ate - PFC @ 20\mod_1406536058950_21.doc x @ 160396 @ @ 1 Korea Certification MSIP-REM-W43-PFC750 Pos : 20.25.6 /D okumentati on allgemein/Gli ederungsel emente/------Leerzeil e------ @ 3\mod_1224662755687_0.doc x @ 24460 @ @ 1 Pos : 20.25.7 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/Zul ass ung en/Ex/Zul ass ung en FBkoppl er/-contr oller 750- xxxx Ex, ohne Vari antenangabe - Einl eitung @ 9\mod_1285063104018_21.doc x @ 64892 @ @ 1 The following Ex approvals have been granted to 750-838/040-000 fieldbus coupler/controller: Pos : 20.25.8 /Alle Serien (Allgemeine M odul e)/Z ulass ungen/Ex-Z ul ass ungen/cULus/cU Lus ( ANSI/ISA 12.12.01) Cl ass I, Di v2 ABCD T4 @ 3\mod_1224054791812_0.doc x @ 24014 @ @ 1 CULUS ANSI/ISA 12.12.01 Class I, Div2 ABCD T4 Pos : 20.25.9 /D okumentati on allgemein/Gli ederungsel emente/------Leerzeil e------ @ 3\mod_1224662755687_0.doc x @ 24460 @ @ 1 Pos : 20.25.10 /Seri e 750 ( WAGO-I/O-SYSTEM)/Ger ätebesc hrei bung/Z ulas sungen/Ex/Z ul. i n Vor ber eitung F Bkoppler/-c ontroll er 750- xxxx Ex ohne Varianten - Ei nleitung @ 16\mod_1373974953848_21.doc x @ 126286 @ @ 1 The following Ex approvals are pending for 750-838/040-000 fieldbus coupler/controller: Pos : 20.25.11.1 /Alle Seri en (Allgemeine M odule)/Z ul ass ungen/Ex-Z ulass ungen/Sonstige/AT EX allgemei n @ 16\mod_1373352135578_0.doc x @ 125803 @ @ 1 ATEX Pos : 20.25.11.2 /Alle Seri en (Allgemeine M odule)/Z ul ass ungen/Ex-Z ulass ungen/IECEx (TÜV Nor d)/IECEx allgemein @ 16\mod_1373353532946_0.doc x @ 125807 @ @ 1 IECEx Pos : 20.25.12 /D okumentation allgemein/Gliederungselemente/------Leerzeile------ @ 3\mod_1224662755687_0.doc x @ 24460 @ @ 1 Pos : 20.25.13 /Seri e 750 ( WAGO-I/O-SYSTEM)/Ger ätebesc hrei bung/Z ulas sungen/Schi ff/Einl eitungss ätz eZ ulas sungen F Bkoppler/-c ontroll er 750- xxxx Sc hiff, ohne Variantenangabe - Ei nleitung @ 5\mod_1245241344146_21.doc x @ 35501 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description The following ship approvals have been granted to 750-838/040-000 fieldbus coupler/controller: Pos : 20.25.14 /Alle Seri en (Allgemeine M odule)/Zul ass ung en/Sc hiffs zul ass ung en/GL (Ger manisc her Ll oyd) C at. A, B, C , D ( EMC 1), H @ 15\mod_1370521488638_0.doc x @ 122022 @ @ 1 GL (Germanischer Lloyd) Cat. A, B, C, D (EMC 1), H Pos : 20.25.15 /Seri e 750 ( WAGO-I/O-SYSTEM)/Ger ätebesc hrei bung/Z ulas sungen/Schi ff/Einl eitungss ätz eZ ul. i n Vor ber eitung F Bkoppler/-c ontroll er 750- xxxx Sc hiff, ohne Variantenangabe - Ei nleitung @ 6\mod_1255592681734_21.doc x @ 42823 @ @ 1 The following ship approvals are pending for 750-838/040-000 fieldbus coupler/controller: Pos : 20.25.16.1 /Alle Seri en (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/ABS (Americ an Bureau of Shi pping) @ 3\mod_1224055151062_0.doc x @ 24023 @ @ 1 ABS (American Bureau of Shipping) Pos : 20.25.16.2 /Alle Seri en (Allgemeine D okumente) (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/BSH (Bundes amt für Seesc hifffahrt und H ydrographi e) @ 5\mod_1246341825156_21.doc x @ 36334 @ @ 1 Federal Maritime and Hydrographic Agency Pos : 20.25.16.3 /Alle Seri en (Allgemeine D okumente) (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/BV (Bureau Veritas) @ 3\mod_1224492116171_0.doc x @ 24220 @ @ 1 BV (Bureau Veritas) Pos : 20.25.16.4 /Alle Seri en (Allgemeine D okumente) (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/DNV (D et Nors ke Veritas) Cl ass B @ 3\mod_1224492540562_0.doc x @ 24224 @ @ 1 DNV (Det Norske Veritas) Class B Pos : 20.25.16.5 /Alle Seri en (Allgemeine D okumente) (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/KR ( Kor ean R egister of Shi ppi ng) @ 3\mod_1224492806109_0.doc x @ 24232 @ @ 1 KR (Korean Register of Shipping) Pos : 20.25.16.6 /Alle Seri en (Allgemeine D okumente) (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/LR (Lloyd’s Register) Env. 1, 2, 3, 4 @ 3\mod_1224492890453_0.doc x @ 24236 @ @ 1 LR (Lloyd’s Register) Env. 1, 2, 3, 4 Pos : 20.25.16.7 /Alle Seri en (Allgemeine D okumente) (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/NKK (Nippon Kaiji Kyokai) @ 3\mod_1224493002656_0.doc x @ 24240 @ @ 1 NKK (Nippon Kaiji Kyokai) Pos : 20.25.16.8 /Alle Seri en (Allgemeine D okumente) (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/PR S (Pols ki R ejestr Statków) @ 3\mod_1224497273250_0.doc x @ 24295 @ @ 1 PRS (Polski Rejestr Statków) Pos : 20.25.16.9 /Alle Seri en (Allgemeine D okumente) (Allgemeine M odule)/Z ul ass ungen/Sc hiffs zul ass ung en/RINA (Registr o Itali ano N avale) @ 3\mod_1224493078359_0.doc x @ 24244 @ @ 1 RINA (Registro Italiano Navale) Pos : 20.25.16.10 /Dokumentation allgemei n/Gli eder ungs elemente/------Leerz eile------ @ 3\mod_1224662755687_0.doc x @ 24460 @ @ 1 Pos : 20.25.17 /Seri e 750 ( WAGO-I/O-SYSTEM)/Ger ätebesc hrei bung/Z ulas sungen/Schi ff/Infor mation: Weitere Informati on zu den Schiffsz ulas sungen @ 6\mod_1263206668130_21.doc x @ 47820 @ @ 1 For more information about the ship approvals: Note the “Supplementary Power Supply Regulations” section for the ship approvals. Pos : 20.26 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 55 56 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 20.27 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Neue Ü bersc hriften/Ebene 2N ormen und Ric htlini en - Ü bersc hrift 2 @ 4\mod_1242804031875_21.doc x @ 33646 @ 2 @ 1 4.7 Standards and Guidelines Pos : 20.28.1 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/N or men und Richtlinien/N or men und Richtlinien F Bkoppl er/-contr oller 750- xxx - Ei nleitung @ 16\mod_1378288254586_21.doc x @ 130746 @ @ 1 750-838/040-000 fieldbus coupler/controller meets the following standards and guidelines: Pos : 20.28.2 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/N or men und Richtlinien/N or men und Richtlinien XTR - M ec hani k und Kli ma Komponenten-HB @ 18\mod_1394633219581_21.doc x @ 147751 @ @ 1 Table 29: Climatic and Mechanical Environmental Conditions Standard Transport EN 60870-2-2 Test Value Ct2(2k4) (except precipitation / water / moisture) Mechanical Environmental Conditions EN 60870-2-2 Bm EN 60721-3-1 1M3 EN 60721-3-3 3M5 EN 60068-2-6 Acceleration 5g IEC 60068-2-27 Shock 15g, 11 ms, 1000 shocks per axis and direction, half-sine 25g, 6 ms, 1000 shocks per axis and direction, half-sine EN 50155 Random vibration: EN 61373 Category 1, classes A and B Shock 5g, 30 ms: Category 1, classes A and B *) Shipbuilding Ambient categories A … D, H (5g, 25 Hz … 150 Hz) Climatic Environmental Conditions EN 60721-3-1 1K5 (except precipitation and ice formation) EN 60721-3-3 3K7 (except wind-driven precipitation, water and ice formation) EN 60870-2-2 C3 (except wind-driven precipitation and ice formation) *) Shipbuilding Ambient categories A … D, H (−40 °C … +70 °C) *) The list of ship certifications issued is available in the section “Approvals”. Pos : 20.28.3 /D okumentati on allgemein/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description Pos : 20.28.4 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/N or men und Richtlinien/EMV-N or men F Bkoppler/-c ontroll er 750- xxxx/0040-0000, ohne Variantenangabe - Ei nleitung XTR @ 18\mod_1395916932582_21.doc x @ 149711 @ @ 1 The fieldbus coupler/controller 750-838/040-000 meets the following EMC standards as these standards relate to the fieldbus coupler/controller: Pos : 20.28.5 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/N or men und Richtlinien/N or men Störfestig kei t XTR @ 18\mod_1394030613258_21.doc x @ 147348 @ @ 1 Table 30: EMC – Immunity to Interference Standard Test Value Electrostatic Discharge • EN 61000-4-2 8 kV (contact discharge) • EN 60255-22-2 8 kV (air discharge) • IEEE C37.90.3 High-frequency Electromagnetic Fields • EN 61000-4-3 + A1: + A2 20 V/m (80 MHz … 1 GHz) • EN 60255-22-3 10 V/m (1 GHz … 3 GHz) • IEEE C37.90.2 Fast Electrical Transient Disturbances / Burst • EN 61000-4-4 4 kV • EN 60255-22-4 • IEEE C37.90.1 Surge Voltage / Surge • EN 61000-4-5 1 kV (conductor/conductor) • EN 60255-22-5 2 kV (conductor/ground) (power supply) 1 kV (conductor/ground) (CAN connection) Conducted Disturbances, Induced by High-frequency Fields • EN 61000-4-6 10 V (150 kHz … 80 MHz) • EN 60255-22-6 Magnetic Fields With Electrical Frequencies • EN 61000-4-8 300 A/m continuous / 1000 A/m for 1 s Pulse-shaped Magnetic Fields • EN 61000-4-9 + A1 300 A/m Damped Oscillatory Magnetic Fields • EN 61000-4-10 + A1 100 A/m Voltage Dips, Short-term Interruptions and Voltage Fluctuations • EN 61000-4-11 Standard not applicable Damped Sinusoidal Oscillations • EN 61000-4-12 1 kV (conductor/conductor) 2 kV (conductor/ground) Harmonics and Interharmonics • EN 61000-4-13 + A1 Standard not applicable Conducted Asymmetric Disturbances • EN 61000-4-16 + A1 + A2 30 V continuous 300 V for 1 s Line Frequency Disturbances • EN 60255-22-7 Standard not applicable Alternating Components of the Voltage to DC Line Connections • EN 61000-4-17+A2 15 % Manual Version 1.2.0 57 58 Device Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 30: EMC – Immunity to Interference Standard Test Value Damped Oscillatory Waves • EN 61000-4-18 + A1 1.25 kV conductor/conductor • EN 60255-22-1 2.5 kV conductor/ground • IEEE C37.90.1 Voltage Dips, Short-term Interruptions and Voltage Fluctuations to DC Supply Inputs • EN 61000-4-29 see section “Power Supply Unit” • EN 60255-11 Harmonics • Shipbuilding*) max. 2 W DC: 3 Veff, AC: 10 % to 15th harmonic 10 % … 1 % for 15th to 100th harmonic 1 % for 100th to 200th harmonic *) The list of ship certifications issued is available in the section “Approvals”. Pos : 20.28.6 /Serie 750 ( WAGO-I/O- SYST EM)/Gerätebeschr eibung/N or men und Richtlinien/N or men Störauss endung XTR @ 18\mod_1394087664442_21.doc x @ 147358 @ @ 1 Table 31: EMC – Emission of Interference Standard Test Value *) Enclosure Emission of Interference • EN 61000-6-3 + A1 --• EN 55022 Class B • EN 61000-6-4 + A1 40 dB(µV/m), QP, 30 MHz … 230 MHz • EN 60255-26 47 dB(µV/m), QP, 230 MHz … 1 GHz • EN 55011 + A1 Class A 76 dB(µV/m), Peak, 1 GHz … 3 GHz • EN 55022 Class A 56 dB(µV/m), AV, 1 GHz … 3 GHz 80 dB(µV/m), Peak, 3 GHz … 6 GHz 60 dB(µV/m), AV, 3 GHz … 6 GHz **) • Shipbuilding (EMC 1) 80 dB(µV/m) …50 dB(µV/m), QP, 150 kHz … 300 kHz 50 dB(µV/m) … 34 dB(µV/m), QP, 0.3 MHz … 30 MHz 54 dB(µV/m), QP, 30 MHz … 2 GHz 24 dB(µV/m), QP, 156 MHz … 165 MHz **) • Shipbuilding (EMC 2) 80 dB(µV/m) … 50 dB(µV/m), QP, 150 kHz … 30 MHz 60 dB(µV/m) … 54 dB(µV/m), QP, 30 MHz … 100 MHz 54 dB(µV/m), QP, 100 MHz … 2 GHz 24 dB(µV/m), QP, 156 MHz … 165 MHz Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Device Description 59 Table 31: EMC – Emission of Interference Standard Test Value *) Conducted Emission of Interference – Line Connection AC Voltage • EN 61000-6-3 + A1 Standard not applicable • EN 55022 Class B • EN 61000-6-4 + A1 Standard not applicable • EN 55011 + A1 Class A Conducted Emission of Interference – Line Connection • Shipbuilding**) (EMC 1) 96 dB(µV) … 50 dB(µV), 10 kHz … 150 kHz 60 dB(µV) … 50 dB(µV), 150 kHz … 350 kHz 50 dB(µV), 0.35 MHz … 30 MHz **) • Shipbuilding (EMC 2) 120 dB(µV) … 69 dB(µV), 10 kHz … 150 kHz 79 dB(µV), 150 kHz … 500 kHz 73 dB(µV), 0.5 MHz … 30 MHz Conducted Emission of Interference – Line Connection DC Voltage • EN 61000-6-3 + A1 79 dB(µV) QP, 0.15 MHz … 0.5 MHz • EN 60255-26 66 dB(µV) AV, 0.15 MHz … 0.5 MHz • EN 55022 Class A 73 dB(µV) QP, 0.5 MHz … 30 MHz 60 dB(µV) AV, 0.5 MHz … 30 MHz *) **) Pos : 21 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 QP = Quasi Peak Detector; AV = Average Detector If necessary, please find different data in the section “Approval” (regarding approval for EMC 1 or EMC 2). 60 Mounting WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 22 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 1M ontier en - Übersc hrift 1 @ 3\mod_1225446744750_21.doc x @ 24900 @ 1 @ 1 5 Mounting Pos : 23.1 /Serie 750 (WAGO-I/O-SYST EM)/M ontieren/D emontieren/Einbaul age XTR @ 16\mod_1373976754254_21.doc x @ 126292 @ 2 @ 1 5.1 Mounting Position The following mounting positions are approved: • • • Lying horizontal Standing horizontal Vertical Use an end stop in the case of vertical installation! When installed vertically, also mount an end stop below the fieldbus node to protect the fieldbus node against sliding. WAGO item number 249-116 end stop for TS 35, 6 mm wide WAGO item number 249-117 end stop for TS 35, 10 mm wide Pos : 23.2 /Serie 750 (WAGO-I/O-SYST EM)/M ontieren/D emontieren/Bus klemmen 750xxxx/Bus kl emmen 750xxxx/0040xxxx 4g-5g @ 15\mod_1367558844291_21.doc x @ 118470 @ @ 1 For vibration loads > 4g, observe the following installation instructions: • Use pan-head screws or blind rivets at least every 60 mm (12 mm pin spacing) to secure the DIN rail. • Make the open conductor length between strain relief and wire connection as short as possible. • Use the reinforced end stop 249-197. Pos : 23.3 /Serie 750 (WAGO-I/O-SYST EM)/M ontieren/D emontieren/Gesamtaus bau XTR @ 16\mod_1373976975062_21.doc x @ 126295 @ 2 @ 1 5.2 Overall Configuration The maximum total length of a fieldbus node without fieldbus coupler/controller is 780 mm including end module. The width of the end module is 12 mm. When assembled, the I/O modules have a maximum length of 768 mm. Examples: • 64 I/O modules with a 12 mm width can be connected to a fieldbus coupler/controller. • 32 I/O modules with a 24 mm width can be connected to a fieldbus coupler/controller. Exception: The number of connected I/O modules also depends on the type of fieldbus coupler/controller is used. For example, the maximum number of stackable I/O modules on one PROFIBUS DP/V1 fieldbus coupler/controller is 63 with no passive I/O modules and end module. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Mounting 61 Observe maximum total length of a fieldbus node! The maximum total length of a fieldbus node without fieldbus coupler/controller may not exceed 780 mm. Also note the limitations of individual fieldbus couplers/controllers. Pos : 23.4 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 62 Mounting WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 23.5 /Serie 750 (WAGO-I/O-SYST EM)/M ontieren/D emontieren/M ontage auf Tr agschi ene @ 3\mod_1225447227234_21.doc x @ 24906 @ 233 @ 1 5.3 Mounting onto Carrier Rail 5.3.1 Carrier Rail Properties All system components can be snapped directly onto a carrier rail in accordance with the European standard EN 50022 (DIN 35). Do not use any third-party carrier rails without approval by WAGO! WAGO Kontakttechnik GmbH & Co. KG supplies standardized carrier rails that are optimal for use with the I/O system. If other carrier rails are used, then a technical inspection and approval of the rail by WAGO Kontakttechnik GmbH & Co. KG should take place. Carrier rails have different mechanical and electrical properties. For the optimal system setup on a carrier rail, certain guidelines must be observed: • The material must be non-corrosive. • Most components have a contact to the carrier rail to ground electromagnetic disturbances. In order to avoid corrosion, this tin-plated carrier rail contact must not form a galvanic cell with the material of the carrier rail which generates a differential voltage above 0.5 V (saline solution of 0.3 % at 20°C). • The carrier rail must optimally support the EMC measures integrated into the system and the shielding of the I/O module connections. • A sufficiently stable carrier rail should be selected and, if necessary, several mounting points (every 20 cm) should be used in order to prevent bending and twisting (torsion). • The geometry of the carrier rail must not be altered in order to secure the safe hold of the components. In particular, when shortening or mounting the carrier rail, it must not be crushed or bent. • The base of the I/O components extends into the profile of the carrier rail. For carrier rails with a height of 7.5 mm, mounting points are to be riveted under the node in the carrier rail (slotted head captive screws or blind rivets). • The medal springs on the bottom of the housing must have low-impedance contact with the DIN rail (wide contact surface is possible). Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 5.3.2 Mounting 63 WAGO DIN Rail WAGO carrier rails meet the electrical and mechanical requirements shown in the table below. Table 32: WAGO DIN Rail Order number 210-113 /-112 210-114 /-197 210-118 210-198 210-196 Description 35 × 7.5; 1 mm; 35 × 15; 1.5 mm; 35 × 15; 2.3 mm; 35 × 15; 2.3 mm; 35 × 8.2; 1.6 mm; steel yellow chromated; slotted/unslotted steel yellow chromated; slotted/unslotted steel yellow chromated; unslotted copper; unslotted aluminum; unslotted Pos : 23.6 /Serie 750 (WAGO-I/O-SYST EM)/M ontieren/D emontieren/Abstände @ 3\mod_1225448283750_21.doc x @ 24920 @ 2 @ 1 5.4 Spacing The spacing between adjacent components, cable conduits, casing and frame sides must be maintained for the complete fieldbus node. Figure 25: Spacing The spacing creates room for heat transfer, installation or wiring. The spacing to cable conduits also prevents conducted electromagnetic interferences from influencing the operation. Pos : 23.7 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 64 Mounting WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 23.8 /Serie 750 (WAGO-I/O-SYST EM)/M ontieren/D emontieren/M ontagerei henfolge @ 3\mod_1231770210031_21.doc x @ 25992 @ 2 @ 1 5.5 Mounting Sequence Fieldbus couplers/controllers and I/O modules of the WAGO-I/O-SYSTEM 750/753 are snapped directly on a carrier rail in accordance with the European standard EN 50022 (DIN 35). The reliable positioning and connection is made using a tongue and groove system. Due to the automatic locking, the individual devices are securely seated on the rail after installation. Starting with the fieldbus coupler/controller, the I/O modules are mounted adjacent to each other according to the project design. Errors in the design of the node in terms of the potential groups (connection via the power contacts) are recognized, as the I/O modules with power contacts (blade contacts) cannot be linked to I/O modules with fewer power contacts. Pos : 23.9 /Serie 750 (WAGO-I/O-SYST EM)/Wic htige Erläuterungen/Sicherheits- und sonstig e Hinweis e/Vorsic ht/Vorsicht: Verl etz ungsgefahr durc h s charfkantige M ess er kontakte! @ 6\mod_1256193279401_21.doc x @ 43414 @ @ 1 Risk of injury due to sharp-edged blade contacts! The blade contacts are sharp-edged. Handle the I/O module carefully to prevent injury. Pos : 23.10 /Serie 750 ( WAGO-I/O-SYST EM)/Wichtig e Erl äuter ung en/Sic her hei ts- und s onstige Hinweise/Ac htung/Ac htung: Bus kl emmen nur in vorges ehener Rei henfolge stec ken! @ 6\mod_1256194177073_21.doc x @ 43429 @ @ 1 Insert I/O modules only from the proper direction! All I/O modules feature grooves for power jumper contacts on the right side. For some I/O modules, the grooves are closed on the top. Therefore, I/O modules featuring a power jumper contact on the left side cannot be snapped from the top. This mechanical coding helps to avoid configuration errors, which may destroy the I/O modules. Therefore, insert I/O modules only from the right and from the top. Pos : 23.11 /Serie 750 ( WAGO-I/O-SYST EM)/Wichtig e Erl äuter ung en/Sic her hei ts- und s onstige Hinweise/Hinweis/Hi nweis : Bus absc hluss XTR nic ht vergessen! @ 15\mod_1368426836647_21.doc x @ 119458 @ @ 1 Don't forget the bus end module! Always plug a bus end module 750-600/040-000 onto the end of the fieldbus node! You must always use this bus end module at all fieldbus nodes with the WAGO I/O System 750 XTR fieldbus couplers/controllers to guarantee proper data transfer. Pos : 23.12 /Serie 750 ( WAGO-I/O-SYST EM)/Wichtig e Erl äuter ung en/Sic her hei ts- und s onstige Hinweise/Hinweis/Hi nweis : XTR - Erhöhte Störfestig keit @ 15\mod_1367496424993_21.doc x @ 118330 @ @ 1 Increased interference! For standard-compliant application in substation instrumentation and control, telecontrol systems, railway technology or shipbuilding certified operation, field-side power supply filter 750-624/040-001 or power supply filter 750-626/040-000 are generally to be used for XTR module groups. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Mounting 65 Pos : 23.13 /Serie 750 ( WAGO-I/O-SYST EM)/Wichtig e Erl äuter ung en/Sic her hei ts- und s onstige Hinweise/Hinweis/Hi nweis : XTR - Misc hbetri eb XTR /Standard @ 15\mod_1367496420828_21.doc x @ 118326 @ @ 1 Mixed operation Mixed operation (standard/XTR modules) within a node is possible when groups of modules are electrically isolated on the field side (i.e., electrically isolated power supply). Pos : 23.14 /Serie 750 ( WAGO-I/O-SYST EM)/Monti eren/D emonti eren/Ger äte ei nfügen und entfernen - Ü bersc hrift 2 @ 3\mod_1231768483250_21.doc x @ 25950 @ 2 @ 1 5.6 Inserting and Removing Devices Pos : 23.15 /Alle Serien (Allgemeine M odul e)/Sic herheits- und sonstige Hinweis e/Achtung/Ac htung: Arbeiten an Geräten nur s pannungsfrei durchführen! @ 6\mod_1256193963573_21.doc x @ 43426 @ @ 1 Perform work on devices only if they are de-energized! Working on energized devices can damage them. Therefore, turn off the power supply before working on the devices. Pos : 23.16 /Serie 750 ( WAGO-I/O-SYST EM)/Monti eren/D emonti eren/F eldbus koppler/-c ontroll er ei nfügen @ 3\mod_1234168173031_21.doc x @ 27456 @ 3 @ 1 5.6.1 Inserting the Fieldbus Coupler/Controller 1. When replacing the fieldbus coupler/controller for an already available fieldbus coupler/controller, position the new fieldbus coupler/controller so that the tongue and groove joints to the subsequent I/O module are engaged. 2. Snap the fieldbus coupler/controller onto the carrier rail. 3. Use a screwdriver blade to turn the locking disc until the nose of the locking disc engages behind the carrier rail (see the following figure). This prevents the fieldbus coupler/controller from canting on the carrier rail. With the fieldbus coupler/controller snapped in place, the electrical connections for the data contacts and power contacts (if any) to the possible subsequent I/O module are established. Pos : 23.17 /Serie 750 ( WAGO-I/O-SYST EM)/Monti eren/D emonti eren/Verrieg elung - Bil d (er weiterter ECO) @ 3\mod_1231769519703_21.doc x @ 25979 @ @ 1 Figure 26: Release Tab of Extended ECO Fieldbus Coupler (Example) Pos : 23.18 /Serie 750 ( WAGO-I/O-SYST EM)/Monti eren/D emonti eren/F eldbus koppler/-c ontroll er entfer nen @ 4\mod_1239169358453_21.doc x @ 30330 @ 3 @ 1 Manual Version 1.2.0 66 Mounting 5.6.2 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Removing the Fieldbus Coupler/Controller 1. Use a screwdriver blade to turn the locking disc until the nose of the locking disc no longer engages behind the carrier rail. 2. Remove the fieldbus coupler/controller from the assembly by pulling the release tab. Electrical connections for data or power contacts to adjacent I/O modules are disconnected when removing the fieldbus coupler/controller. Pos : 23.19 /Serie 750 ( WAGO-I/O-SYST EM)/Monti eren/D emonti eren/Bus kl emme einfügen @ 3\mod_1231769726703_21.doc x @ 25989 @ 3 @ 1 5.6.3 Inserting the I/O Module 1. Position the I/O module so that the tongue and groove joints to the fieldbus coupler/controller or to the previous or possibly subsequent I/O module are engaged. Figure 27: Insert I/O Module (Example) 2. Press the I/O module into the assembly until the I/O module snaps into the carrier rail. Figure 28: Snap the I/O Module into Place (Example) With the I/O module snapped in place, the electrical connections for the data contacts and power jumper contacts (if any) to the fieldbus coupler/controller or to the previous or possibly subsequent I/O module are established. Pos : 23.20 /Serie 750 ( WAGO-I/O-SYST EM)/Monti eren/D emonti eren/Bus kl emme entfer nen @ 4\mod_1239169375203_21.doc x @ 30334 @ 3 @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 5.6.4 Mounting Removing the I/O Module 1. Remove the I/O module from the assembly by pulling the release tab. Figure 29: Removing the I/O Module (Example) Electrical connections for data or power jumper contacts are disconnected when removing the I/O module. Pos : 24 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 67 68 Connect Devices WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 25 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 1Ger äte anschli eßen - Ü berschrift 1 @ 3\mod_1234172889468_21.doc x @ 27460 @ 1 @ 1 6 Connect Devices Pos : 26.1 /Serie 750 (WAGO-I/O-SYST EM)/Ans chli eßen/D atenkontakte/Klemmenbus - Ü berschrift 2 @ 7\mod_1266320620183_21.doc x @ 50718 @ 2 @ 1 6.1 Data Contacts/Internal Bus Pos : 26.2 /Serie 750 (WAGO-I/O-SYST EM)/Ger ätebesc hrei bung/Ansc hl üsse/Datenkontakte - F eldbus koppler/-c ontroll er, Abbildung und Besc hrei bung @ 3\mod_1231771259187_21.doc x @ 26002 @ @ 1 Communication between the fieldbus coupler/controller and the I/O modules as well as the system supply of the I/O modules is carried out via the internal bus. It is comprised of 6 data contacts, which are available as self-cleaning gold spring contacts. Figure 30: Data Contacts Pos : 26.3 /Serie 750 (WAGO-I/O-SYST EM)/Wic htige Erläuterungen/Sicherheits- und sonstig e Hinweis e/Achtung/Achtung: Bus kl emmen nic ht auf Goldfeder kontakte leg en! @ 7\mod_1266318463636_21.doc x @ 50695 @ @ 1 Do not place the I/O modules on the gold spring contacts! Do not place the I/O modules on the gold spring contacts in order to avoid soiling or scratching! Pos : 26.4 /Serie 750 (WAGO-I/O-SYST EM)/Wic htige Erläuterungen/Sicherheits- und sonstig e Hinweis e/Achtung/Achtung: ESD - Auf g ute Erdung der U mgebung ac hten! @ 7\mod_1266318538667_21.doc x @ 50708 @ @ 1 Ensure that the environment is well grounded! The devices are equipped with electronic components that may be destroyed by electrostatic discharge. When handling the devices, ensure that the environment (persons, workplace and packing) is well grounded. Avoid touching conductive components, e.g. data contacts. Pos : 26.5 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Connect Devices 69 Pos : 26.6 /Serie 750 (WAGO-I/O-SYST EM)/Ans chli eßen/Leis tungs kontakte/Fel dversorgung - Ü bersc hrift 2 @ 7\mod_1266320656354_21.doc x @ 50722 @ 2 @ 1 6.2 Power Contacts/Field Supply Pos : 26.7 /Serie 750 (WAGO-I/O-SYST EM)/Wic htige Erläuterungen/Sicherheits- und sonstig e Hinweis e/Vorsic ht/Vorsicht: Verl etz ungsgefahr durc h s charfkantige M ess er kontakte! @ 6\mod_1256193279401_21.doc x @ 43414 @ @ 1 Risk of injury due to sharp-edged blade contacts! The blade contacts are sharp-edged. Handle the I/O module carefully to prevent injury. Pos : 26.8 /Serie 750 (WAGO-I/O-SYST EM)/Ger ätebesc hrei bung/Ansc hl üsse/Leistungs kontakte allgemei n @ 3\mod_1231828902046_21.doc x @ 26017 @ @ 1 Self-cleaning power jumper contacts used to supply the field side are located on the right side of most of the fieldbus couplers/controllers and on some of the I/O modules. These contacts come as touch-proof spring contacts. As fitting counterparts the I/O modules have male contacts on the left side. Figure 31: Example for the Arrangement of Power Contacts Pos : 26.9 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 70 Connect Devices WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 26.10 /Serie 750 ( WAGO-I/O-SYST EM)/Ansc hließ en/Leiter an CAGE CLAMP ansc hließ en (allgemein) - Ü berschrift 2 und T ext @ 3\mod_1225448660171_21.doc x @ 24928 @ 2 @ 1 6.3 Connecting a Conductor to the CAGE CLAMP® The WAGO CAGE CLAMP® connection is appropriate for solid, stranded and finely stranded conductors. Only connect one conductor to each CAGE CLAMP®! Only one conductor may be connected to each CAGE CLAMP®. Do not connect more than one conductor at one single connection! If more than one conductor must be routed to one connection, these must be connected in an up-circuit wiring assembly, for example using WAGO feedthrough terminals. 1. For opening the CAGE CLAMP® insert the actuating tool into the opening above the connection. 2. Insert the conductor into the corresponding connection opening. 3. For closing the CAGE CLAMP® simply remove the tool. The conductor is now clamped firmly in place. Figure 32: Connecting a Conductor to a CAGE CLAMP® Pos : 27 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description 71 Pos : 28 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 1F unkti ons besc hrei bung - Ü bersc hrift 1 @ 4\mod_1239025975389_21.doc x @ 30003 @ 1 @ 1 7 Function Description Pos : 29 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 2Betriebss ys tem - Übersc hrift 2 @ 4\mod_1241426960453_21.doc x @ 32163 @ 2 @ 1 7.1 Operating System Pos : 30.1.1 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Betriebss ystem/Anlauf des Fel dbusc ontroll ers, Ü bers chrift 3 @ 17\mod_1383727034736_21.doc x @ 136738 @ 3 @ 1 7.1.1 Run-up Pos : 30.1.2 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Betriebss ystem/Hinweis: Betriebs artensc halter darf sic h nic ht i n der unteren Stellung befi nden! @ 17\mod_1383727204961_21.doc x @ 136741 @ @ 1 The mode selector switch may not be located in the lower position! The mode selector switch may not be set at the bottom position during runup! Pos : 30.1.3 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Betriebss ystem/Betri ebss ystem C ontroller - Anfangstext (Anlauf des F el dbusc ontroll ers) @ 4\mod_1239104024406_21.doc x @ 30218 @ @ 1 The fieldbus controller begins running up after switching on the power supply or after a reset. The internal PFC program is then transferred to the RAM. During the initialization phase, the fieldbus controller detects the I/O modules and the current configuration and sets the variables to 0 or FALSE, or to an initial value specified by the PFC program. The flags retain their status. During this phase the I/O LED will flash red. When run-up is successful, the I/O LED then stays lit continuously in green. Pos : 30.1.4 /Serie 750 (WAGO-I/O-SYST EM)/Gerätebesc hrei bung/Anz eigeelemente/Fel dbus koppl er/-contr oller/Leg ende/Infor mation: Infor mationen zu der LED- Signalisi erung @ 4\mod_1239098329547_21.doc x @ 30154 @ @ 1 More information about the LED Signaling Read the detailed description for the evaluation of the displayed LED state in the section “Diagnostics” > … > “LED Signaling”. Pos : 30.2 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Betriebss ystem/Betri ebs s ystem C ontroller - Anfangs text (PFC-Z ykl us) @ 14\mod_1361866775620_21.doc x @ 112863 @ 3 @ 1 7.1.2 PFC Cycle After error-free run-up, the PFC cycle starts with the mode selector switch at the top position, or on a Start command from WAGO-I/O-PRO. The input and output data for the fieldbus, I/O modules and the timer values are read. The PFC program contained in the RAM is then processed, after which the output data for the fieldbus and I/O modules is written to the process image. At the end of the PFC cycle, the operating system functions are executed for diagnostics and communication (among other things) and the timer values are updated. The new cycle begins by reading in of the input and output data and the timer values. The operating mode is changed (“STOP”/“RUN”) at the end of a PFC cycle. The cycle time is the time from the beginning of the PFC program up to the next beginning of the cycle. If a loop is programmed within the PFC program, the PFC runtime and the PFC cycle time will be extended accordingly. The inputs, outputs and timer values are not updated while the PFC program is being processed. Updating is performed only as defined at the end of the PFC Manual Version 1.2.0 72 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR program. As a result, it is not possible to wait on an event from the process or a set period to expire while a loop is in progress. Pos : 30.3 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Betriebss ystem/Betri ebs s ystem F eldbusc ontr oller - Di agramm @ 17\mod_1380698558588_21.doc x @ 133497 @ @ 1 Figure 33: Controller operating system Pos : 31 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description 73 Pos : 32 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 2Proz ess datenaufbau - Ü bers chrift 2 @ 5\mod_1245069543813_21.doc x @ 35310 @ 2 @ 1 7.2 Process Data Architecture Pos : 33.1 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Prozes sabbild/Proz ess abbil d - C ontroller - C AN open (750-837, -838) @ 17\mod_1385464806036_21.doc x @ 138581 @ @ 1 After turning on the supply voltage, the fieldbus coupler recognizes the I/O modules in the fieldbus node that have a data width > 0 bit. In the maximum total length of a fieldbus node, up to 64 I/O modules can be connected to the fieldbus controller. Any number of analog input/output modules and digital input/output modules can be arranged. The data of the digital input/output modules is bit-oriented, i.e., data is exchanged bit by bit. The data of the analog input/output modules is byte-oriented, i.e., data is exchanged byte by byte. The term “analog input/output module” stands for all I/O modules that are byteoriented. This group includes counter modules, angle and distance measurement modules and communication modules. Table 33: Data width of the I/O modules Data width ≥ 1 byte/channel Analog input modules Analog output modules Input modules for thermocouples Input modules for resistor sensors Pulse width output modules Interface modules Up/down counters I/O modules for angle and distance measurement Data width = 1 bit/channel Digital input modules Digital output modules Digital output modules with diagnostics (2 bit/channel) Supply modules with fuse carrier/diagnostics Solid-state load relays Relay output modules The fieldbus controller saves the process data in the process images. The fieldbus controller works with a process output data image (PIO) and a process input data image (PII). The PIO is populated by the fieldbus master with the process output data. The PII is populated by the fieldbus controller with the process input data. The data of the I/O modules is stored in the input/output process image of the fieldbus controller in the sequence of its position after the fieldbus controller in the individual process image. The data of the byte-oriented I/O modules is entered in the process image before the data of the bit-oriented I/O modules. The bits of the digital input/output modules are grouped into bytes. If the amount of digital I/O information exceeds 8 bits, the fieldbus coupler automatically starts a new byte. Pos : 33.2 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Prozes sabbild/Ac htung: Gerätesc häden durc h falsc he Adres sierung @ 4\mod_1237796248146_21.doc x @ 28783 @ @ 1 Manual Version 1.2.0 74 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Avoid equipment damages due to addressing errors! To avoid equipment damages within the field range, you must consider that, depending on the specific position of an I/O module in the fieldbus node, the process data of all previous byte or bit-oriented modules must be taken into account to determine its location in the process data map. Pos : 33.3 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Prozes sabbild/Hi nweis : Proz ess datenanz ahl beac hten! @ 4\mod_1239027136158_21.doc x @ 30012 @ @ 1 Consider the Process Data size for each module! Observe the number of input and output bits or bytes for the individual I/O modules. Pos : 33.4 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Prozes sabbild/Infor mation: Infor mati onen z u dem fel dbuss pezifisc hen Prozes sabbil d @ 4\mod_1239027644580_21.doc x @ 30018 @ @ 1 For some I/O modules and their different versions, the structure of the process data depends on the fieldbus. Additional information about the fieldbus specific process image For the fieldbus-specific process image of any WAGO-I/O-Module, please refer to the section “Structure of the Process Data”. Pos : 34 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description 75 Pos : 35 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 2D atenaustausc h - Ü bersc hrift 2 @ 4\mod_1241431718548_21.doc x @ 32202 @ 2 @ 1 7.3 Data Exchange Pos : 36.1 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Datenaus tausc h/D atenaustaus ch - Ei nleitung (750- 837, -838) (C ontroller) @ 17\mod_1380706917004_21.doc x @ 133554 @ @ 1 Process data exchange takes place via the communication objects with the CANopen fieldbus controller. Each object consists of a CAN telegram with a maximum of 8 bytes process data and a COB (Communication Object Identifier) ID that is unique within the network. These communication objects are used for transmission of data, triggering of events, signaling of error statuses, etc. The parameters required for the communication objects as well as CANopen device parameters and data are stored in an object directory. Pos : 36.2 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 3Kommuni kationsobj ekte des F eldbus contr ollers - Ü berschrift 3 @ 17\mod_1380709542039_21.doc x @ 133566 @ 3 @ 1 7.3.1 Controller Communication Objects Pos : 36.3 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Datenaus tausc h/D atenaustaus ch - Der Fel dbusc ontroll er xxx unterstützt folgende Kommuni kati onsobjekte: @ 17\mod_1380707405369_21.doc x @ 133558 @ @ 1 The fieldbus controller 750-838/040-000 supports the following communication objects: Pos : 36.4 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Datenaus tausc h/D atenaustaus ch - Lis te unterstütz te Kommuni kations obj ekte (-837, - 838) @ 17\mod_1380707910677_21.doc x @ 133562 @ @ 1 • 32 Tx-PDOs, for process data exchange from input data of the fieldbus node • 32 Rx-PDOs, for process data exchange from output data of the fieldbus node • 2 Server SDOs, for the exchange of configuration data and for information on node state • 16 Client SDOs, for querying configuration data of your own or 16 other fieldbus nodes (master function) • Synchronization object (SYNC), for network synchronization • Emergency object (EMCY) • Network management objects - Module control protocols - Error control protocols - Bootup protocol Pos : 36.5 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 3Kommuni kationssc hni ttstellen - Ü berschrift 3 @ 16\mod_1377251707727_21.doc x @ 129528 @ 3 @ 1 7.3.2 Communication Interfaces Pos : 36.6 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Datenaus tausc h/D atenaustaus ch - Sc hnitts tell en (Controll er) @ 6\mod_1256044722312_21.doc x @ 43219 @ @ 1 The maximum number of simultaneous connections can not be exceeded. Existing connections must first be terminated before new ones can be set up. The CANopen Contr.640/832KB DSUB /XTR is essentially equipped with three interfaces for data exchange: • Manual Version 1.2.0 the interface to the fieldbus (Master), 76 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR • the PLC function of the PFC (CPU) and • the interface to the I/O modules. Data exchange takes place between • • • Pos : 36.7 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 3Speic her ber eiche - Übersc hrift 3 @ 16\mod_1377860539314_21.doc x @ 130360 @ 3 @ 1 7.3.3 the fieldbus master and the I/O modules, the PLC function of the PFC (CPU) and the I/O modules between the fieldbus master and the PLC function of the PFC (CPU). Memory Space Pos : 36.8 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Datenaus tausc h/Speic her ber eiche C AN/Speic her ber eiche C AN - Einl eitung Speic her ber eiche ( 750- 837, - 838) (C ontroller) @ 17\mod_1380710064191_21.doc x @ 133594 @ @ 1 For the physical input/output data, memory space of 256 words (word 0 ... 255) is available in the fieldbus controller. The fieldbus controller has an additional memory area for the figure of PFC variables defined according to IEC 61131-3. In this extended memory area behind the physical process image (each word 256 ... 511), the PFC variables are mapped. The allocation of memory areas and the access of PLC functionality (CPU) to the process data are the same for all WAGO fieldbus controllers. Application-related IEC-61131-3 programs are used for access regardless of the fieldbus system. Access from the fieldbus side is fieldbus specific. Pos : 36.9 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Datenaus tausc h/Speic her ber eiche - Bild (ohne Ü bers chrift) (-837, -838) @ 18\mod_1391498315333_21.doc x @ 144258 @ @ 1 Figure 34: Memory areas and data exchange Pos : 36.10 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/D atenaustausch/Speicherbereic he - Legende "Speicherbereic he und D atenaustausch" (750- 842, -843, 833) @ 8\mod_1281011331911_21.doc x @ 62435 @ @ 1 In the memory space word 0 … 255, the fieldbus controller process image contains the physical data of the bus modules. 1 The input module data can be read by the CPU and by the fieldbus side. 2 In the same manner, writing on the output modules is possible from the CPU and from the fieldbus side. The value of the fieldbus master is put out on the output while writing on an output. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description 77 The PFC variables (fieldbus variables) are filed in the memory space Word 256 … 511 of the process image. 3 The PFC input variables are written to the input memory area from the fieldbus side and read in by the CPU for processing. 4 The variables processed by the CPU using the IEC-61131-3 program are places in the output memory area, where they can be read out by the fieldbus master. Pos : 36.11 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/D atenaustauschSpeic her bereic he - Er kl ärung RAM, Retai n, Code- Speic her ( 750-837, - 838) @ 17\mod_1380717220993_21.doc x @ 133648 @ @ 1 Other memory areas are also provided in the fieldbus controller, which cannot be accessed by the fieldbus side, however: • RAM The RAM memory is used for creating variables that are not required for communication with the interfaces, but for internal processing procedures, such as the calculation of results. • Retain The retain memory is a non-volatile memory, i.e. all values are retained following a voltage failure. Memory management is automatic. In this memory area, flags for the IEC 61131-3 program are stored together with variables without memory space addressing or variables, which are explicitly defined with “var retain”. Do not use a mix of flags and retain variables! The automatic memory management can cause a data overlap. For this reason, we recommend not to use a mix of flags and retain variables. • Code memory The IEC-61131-3 program is filed in the code memory. The code memory is a flash ROM. Once the supply voltage is applied, the program is transmitted from the flash to the RAM memory. After error-free start-up, the PFC cycle starts with the mode selector switch at the top position, or on the Start command from WAGO-I/O-PRO. Pos : 36.12 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Neue Ü bersc hriften/Ebene 3Adressier ung - Ü berschrift 3 @ 8\mod_1279016771610_21.doc x @ 59781 @ 3 @ 1 7.3.4 Addressing Pos : 36.13 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/D atenaustausch/Adres sier ung/Adr essi erung - Ei nleitung (Koppler) ( 750-337, - 338) @ 16\mod_1377592177358_21.doc x @ 129660 @ @ 1 After turning on the supply voltage, the data is mapped from the process image in an object directory. A CANopen fieldbus master uses the 16-bit indices and 8-bit sub-indices of the object directory to address data via PDOs or SDOs and to access the data. The position of the data in the process image is therefore not directly significant for the CANopen user. Pos : 36.14 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/D atenaustausch/Adres sier ung/Adr essi erung - Bil d F eldbus spezifisc her Datenaus tausc h für ei nen C ANopen Fel dbusc ontroll er @ 17\mod_1385041093370_21.doc x @ 137917 @ @ 1 Manual Version 1.2.0 78 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Figure 35: Fieldbus specific data exchange for a CANopen fieldbus controller Pos : 36.15 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/D atenaustausch/Adres sier ung/Adr essi erung - Indizi erung der Bus kl emmendaten ( 750- xxx) (F eldbus koppler /-controll er) @ 16\mod_1377596970981_21.doc x @ 129667 @ 4 @ 1 7.3.4.1 Indexing of the I/O Module Data If a customized configuration has been saved before initialization and the current connected I/O module configuration matches the last saved, this configuration is used when initializing. Additional information An example for initialization of a customized configuration is explained in the section “Commissioning”. In any other case, the object directory is occupied by the default configuration according to device profile DS-401 during initialization. Entry in the object directory is carried out separately by data width (1 bit, 1 byte, 2 bytes, 3 bytes, etc.) and input and output. The physical arrangement of the I/O modules on a node is arbitrary. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description 79 Table 34: Data Width of the I/O Modules Data width ≥ 1 byte/channel Analog input modules Analog output modules Input modules for thermocouples Input modules for resistor sensors Pulse width output modules Interface modules Up/down counter I/O modules for angle and distance measurement Data width = 1 bit/channel Digital input modules Digital output modules Digital output modules with diagnostics (2 bit/channel) Supply modules with fuse carrier/diagnostics Solid-state load relays Relay output modules Attention For the number of input and output bits or bytes of the individual I/O modules, please refer to the corresponding descriptions of the I/O modules. The digital I/O module data is considered first. As CANopen does not transmit the data bit by bit, the digital input/output data of the I/O modules is combined in bytes and assigned to the respective index, digital input data to index 0x2000 (0x6000), digital output data to index 0x2100 (0x6200). I/O module data that has a width of 1 byte or more is assigned to the corresponding indices in a similar manner. This table provides an overview of the indices of the I/O module data. Table 35: Indexing of the I/O Modules in the Object Directory Data width 1 bit digital 1-byte modules 2-byte modules 3-byte modules 4-byte modules 5-byte modules 6-byte modules 7-byte modules 8-byte modules 9+ byte modules Input modules 0x2000 (0x6000) 0x2200 0x2400 (0x6401) 0x2600 0x2800 0x3000 0x3200 0x3400 0x3600 0x3800 Output modules Index 0x2100 (0x6200) 0x2300 0x2500 (0x6411) 0x2700 0x2900 0x3100 0x3300 0x3500 0x3700 0x3900 Each index has a maximum of 256 sub-indices (sub-index 0-255). Manual Version 1.2.0 80 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR The number of data entries is given in sub-index 0, and the data is stored in blocks in the subsequent sub-indices. The size of the blocks depends on the data width of the associated I/O module. Table 36: Sub-Indexing of the I/O Module Data in the Object Directory SubIndex 0 1 2 … Contents Number of data blocks First data block with data width of corresponding I/O module Second data block with data width of the corresponding I/O module … Additional information Please refer to the “Object Directory” for a detailed description for setting the default configuration. Attention If a node is changed or expanded, this may result in a new process image structure. In this case, the process data addresses also change. In case of an expansion, the process data of all previous modules has to be taken into account. Example: The I/O module configuration contains: 1. Five 2-channel digital input modules (e.g., 750-400) 2. One 4-channel digital output modules (e.g., 750-504) 3. Two 2-channel analog output modules with 2 bytes per channel (e.g., 750-552) Table 37: For 1. Indexing the Data from the Five 2-Channel Digital Input Modules Index SubContents Index 0 2 0x2000 1 D4.2 D4.1 D3.2 D3.1 D2.2 D2.1 D1.2 D1.1 *) (0x6000) 2 0 0 0 0 0 0 D5.2 D5.1 *) *) D1.1 = Data bit module 1 channel 1, D1.2 = Data bit module 1 channel 2, etc. Description No. of dig. 8-bit input blocks 1. dig. input block 2. dig. input block Table 38: For 2. Indexing the Data from the 4-Channel Digital Output Module Index SubContents Description Index 0 1 No. of dig. 8-bit output blocks 0x2100 (0x6200) 1 0 0 0 0 D1.4 D1.3 D1.2 D1.1 *) dig. output block *) D1.1 = Data bit module 1 channel 1, D1.2 = Data bit module 1 channel 2, etc. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description 81 Table 39: For 3. Indexing the Data from the two 2-Channel analog output modules Index SubContents Description Index 0 4 Number of 2-byte special channels 1 D1.1 *) 1. Output channel 0x2500 2 D1.2 *) 2. Output channel (0x6411) 3 D2.1 *) 3. Output channel 4 D2.2 *) 4. Output channel *) D1.1 = Data word from module 1 channel 1, D1.2 = Data word from module 1 channel 2, etc. Pos : 36.16 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 82 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 36.17 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/D atenaustausch/Adres sier ung/Adr essi erung - Indizi erung der PFC-Variablen (750-837, -838) @ 17\mod_1381235233705_21.doc x @ 133868 @ 445344443 @ 1 7.3.4.2 Indexing the PFC Variables The variables entered into the object directory are distinguished by data type (Integer8, Unsigned8, Boolean, Integer16, etc.) and by input/output. As CANopen does not transfer data by bits, the variable data is combined from a Boolean data type to bytes and assigned to the corresponding index; Boolean input variable data is assigned to index 0xA080, Boolean output variable data to index 0xA500. Variable data that has a data width of 1 byte or more is assigned to the corresponding indices in a similar manner. Note definition of input and output variables! The IEC-61131-3 input variables are defined from the standpoint of the CANopen fieldbus. These IEC-61131-3 input variables are defined as output variables from the perspective of the PFC, i.e., the IEC-61131-3 output variables represent input variables for the PFC! IEC-61131-3 input variable = PFC output variable PFC input variable = IEC-61131-3 output variable The following table provides an overview of the indices of the IEC 61131-3 variables: Table 40: Indexing of IEC-61131-3 variable data in the object directory Data Type IEC-61131-3 Output IEC-61131-3 Input Variables Variables Index Integer8 0xA000 0xA480 Unsigned8 0xA040 0xA4C0 Boolean 0xA080 0xA500 Integer16 0xA0C0 0xA540 Unsigned16 0xA100 0xA580 Integer24 0xA140 0xA5C0 Unsigned24 0xA180 0xA600 Integer32 0xA1C0 0xA640 Unsigned32 0xA200 0xA680 Float32 0xA240 0xA6C0 Unsigned40 0xA280 0xA700 Integer40 0xA2C0 0xA740 Unsigned48 0xA300 0xA780 Integer48 0xA340 0xA7C0 Unsigned56 0xA380 0xA800 Integer56 0xA3C0 0xA840 Integer64 0xA400 0xA880 Unsigned64 0xA440 0xA8C0 Each index has a maximum of 256 sub-indices (sub-index 0-255). Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description 83 The number of data entries is given in sub-index 0, and the data is stored in blocks in the subsequent sub-indices. The size of the blocks depends on the data width of the associated data type. Table 41: Sub-indexing of IEC-61131-3 variable data in the object directory Sub-Index Contents 0 Number of data blocks 1 First data block with data width of corresponding data type 2 Second data block with data width of corresponding data type … … Information More information about setting the default configuration Please refer to the section “Object Directory” for a detailed description for setting the default configuration. Example: The following IEC-61131-3 variables have been defined: 1.) 11 Boolean input variables 2.) 5 Integer24 output variables For 1.): Table 42: Indexing of data from the 11 Boolean input variables Index SubContents Index 0xA080 0 2 1 D8 D7 D6 D5 D4 D3 D2 D1 *) 2 0 0 0 0 0 D11 D10 D9 *) *) D1 = data bit input variable 1, D2 = data bit input variable 2, etc. Description Number of Boolean 8-bit input blocks 1st Boolean input block 2nd Boolean input block For 2.): Table 43: Indexing of data from the 5 output variables, Integer24 Index SubContents Description Index 0xA5C0 0 5 Number of 3-byte output blocks *) 1 D1 1st output block 2 D2 *) 2nd output block 3 D3 *) 3rd output block *) 4 D4 4th output block 5 D5 *) 5th output block *) D1 = 3 bytes of data from output variables 1, D2 = 3 bytes of data from output variables 2, etc. 7.3.4.3 Access to the PFC Variable Data from the Fieldbus From the fieldbus, the data in the fieldbus controller memory can be accessed in a byte-by-byte manner through the respective indices for data types with a data width of 1 byte (Integer8, Unsigned8 and Boolean). The sub-index is utilized to select a specific byte. Manual Version 1.2.0 84 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR In contrast, when the indices for larger data blocks are used, several bytes can be accessed simultaneously. For example, the described fieldbus output variable data can be accessed in a word-by-word manner using the index for Integer16 (0xA0C0) or for Unsigned16 (0xA100), 3 bytes can be accessed using index 0xA140 for Integer24, etc. Example: The PFC output data bytes 512, 513 and 514 are accessed by the fieldbus with the Integer/Unsigned data type: Table 44: Access to the PFC variable data from the fieldbus Access PFC Output Data By byte (with Integer8 / Unsigned8) By word (with Integer16 / Unsigned16) 3 bytes (with Integer24/Unsigned24) Reading with Index (Integer/Unsigned) Byte 512: (0xA000 / 0xA040) Byte 513: (0xA000 / 0xA040) Byte 514: (0xA000 / 0xA040) Word 256 (byte 512/513): (0xA0C0 / (0xA100) Word 257 (byte 512/513): (0xA0C0 / (0xA100) Bytes 512 – 514: (0xA140 / 0xA180) SubIndex 1 2 3 1 2 1 The following tables give an overview of addressing data with different data widths. In this case, the corresponding indexing is assigned to the memory space for the variable data in the fieldbus controller (bytes 512 through 1023), depending on the data width. The indexing indicated in the tables continues up to the respective maximum index and sub-index. Note definition of input and output variables! The IEC-61131-3 input variables are defined from the standpoint of the CANopen fieldbus. These IEC-61131-3 input variables are defined as output variables from the perspective of the PFC, i.e., the IEC-61131-3 output variables represent input variables for the PFC! IEC-61131-3 input variable = PFC output variable PFC input variable = IEC-61131-3 output variable Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description Figure 36: Correlation between IEC-61131-3 variables and PFC variables Manual Version 1.2.0 85 86 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 45: Access to PFC output variables Memory space of Addressing data with a data width of the PFC output 1 bytes 1 word 3 bytes variables in the fieldbus controller Index Sub- Index Sub- Index (offset) Index Index A000 LSB LSB 512 A040 1 A080* MSB A0C0 1 A100 A000 513 2 A040 A140 A080* MSB A180 A000 514 A040 3 A080* A0C0 2 A100 515 1 double 5 bytes 6 bytes 7 bytes 8 bytes word Sub- Index Sub- Index Sub- Index Sub- Index Sub- Index SubIndex Index Index Index Index Index LSB LSB LSB LSB LSB LSB 1 A1C0 1 A200 A240 MSB etc. 1 A300 A340 1 A380 1 A3C0 MSB . . . 516 A280 A2C0 A140 A180 etc. 2 517 518 1 MSB A1C0 A200 2 A240 . . . A400 A440 MSB MSB etc. 519 520 A280 A2C0 MSB A300 A340 . . . 521 2 2 etc. 522 A380 2 A3C0 523 . . . 524 A400 A440 etc. 2 525 526 etc. . . . 527 528 ... 1022 1023 etc. ... ... ... ... ... ... ... ... ... ... ... ... ... Max. Max. Max. Max. Max. Max. Max. Max. Max. Max. Max. subsubsubsubsubMax.. index index index index index index Max. index index index index index subIndex index * Up to 8 Boolean values can be stored in one byte (1 sub-index); i.e., there is no bit resolution for each sub-index. ... etc. ... Max. Max. subindex index ... Max. subindex Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 46: Access to PFC input variables Memory space of Addressing data with a data width of the PFC input 1 bytes 1 word 3 bytes variables in the controller Index Sub- Index Sub- Index (Offset) Index Index A480 LSB LSB 512 A4C0 1 A500* MSB A540 1 A480 A580 513 A4C0 2 A5C0 A500* MSB A600 A480 514 A4C0 3 A500* A540 2 etc. A580 515 . . . 516 A5C0 A600 etc. 1 A640 A680 1 A6C0 MSB A700 A740 1 A780 A7C0 1 MSB 2 . . . 1 A880 A8C0 1 MSB MSB etc. A700 A740 519 2 MSB A780 2 A7C0 . . . 521 A800 A840 MSB A640 A680 2 A6C0 520 87 1 double 5 bytes 6 bytes 7 bytes 8 bytes word Sub- Index Sub- Index Sub- Index Sub- Index Sub- Index SubIndex Index Index Index Index Index LSB LSB LSB LSB LSB LSB 517 518 Function Description etc. A800 A840 522 2 523 . . . 524 A880 2 A8C0 etc. 525 etc. 526 . . . 527 528 ... ... ... ... ... ... ... ... ... ... 1022 1023 etc. ... ... ... ... Max. Max. Max. Max. Max. Max. Max. Max. Max. Max. Max. subsubsubsubMax. index sub- index index index index index Max. index index index index index subindex index * Up to 8 Boolean values can be stored in one byte (1 sub-index); i.e., there is no bit resolution for each sub-index. ... etc. ... Max. Max. subindex index Examples of PFC fieldbus variable definitions The examples below show the allocation of several definitions for PFC variables with different data types to the associated object directory entries. Manual Version 1.2.0 ... Max. subindex 88 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 47: Examples of variable definitions with associated object directory entries Data Type of PFC Input Variables PFC Variables Unsigned8 Integer16 Unsigned16 Unsigned32 PFC Output Variables Definition based on IEC 61131-3 Index /Sub-Index InByte0 AT%IB512 : BYTE; InByte0 AT%IB513 : BYTE; InInt0 AT %IW256 : INT; InInt1 AT %IW257 : INT; InWord0 AT %IW256 : WORD; InWord0 AT %IW257 : WORD; InDWord0 AT %ID128 : DWORD; InDWord0 AT %ID129 : DWORD; 0xA4C0/1 0xA4C0/2 0xA540 /1 0xA540 /2 0xA580 /1 0xA580 /2 0xA680 /1 0xA680 /2 Definition based on IEC 61131-3 Index /SubIndex OutByte0 AT%QB512 : BYTE; 0xA040 /1 OutByte0 AT%QB513 : BYTE; 0xA040 /2 OutInt0 AT %QW256 : INT; 0xA0C0/1 OutInt1 AT %QW257 : INT; 0xA0C0/2 OutWord0 AT %QW256 : WORD; 0xA100 /1 OutWord0 AT %QW257 : WORD; 0xA100 /2 OutDWord0 AT %QD128 : DWORD; 0xA100 /1 OutDWord0 AT %QD129 : DWORD; 0xA100 /2 7.3.4.3.1 Maximum Indices The maximum indices and sub-indices are yielded from the memory size of the fieldbus controller at 512 bytes and the corresponding data width for the data types. The table below provides an overview of the maximum indices and sub-indices of the IEC-61131-3 variables. Table 48: Maximum indices and sub-indices for the definition of IEC-61131-3 variables Data Type IEC-61131-3 Input Variables IEC-61131-3 Output Variables Integer8 Unsigned8 Boolean Integer16 Unsigned16 Integer24 Unsigned24 Integer32 Unsigned32 Float32 Unsigned40 Integer40 Unsigned48 Integer48 Unsigned56 Integer56 Integer64 Unsigned64 Max. Index Max. Sub-Index Max. Index Max. Sub-Index 0xA002 0xA042 0xA082 0xA0C1 0xA101 0xA140 0xA180 0xA1C0 0xA200 0xA240 0xA280 0xA2C0 0xA300 0xA340 0xA380 0xA3C0 0xA400 0xA440 2 2 2 1 1 AA AA 80 80 80 66 66 55 55 49 49 40 40 0xA482 0xA4C2 0xA502 0xA541 0xA581 0xA5C0 0xA600 0xA640 0xA680 0xA6C0 0xA700 0xA740 0xA780 0xA7C0 0xA800 0xA840 0xA880 0xA8C0 2 2 2 1 1 AA AA 80 80 80 66 66 55 55 49 49 40 40 Example: 512 bytes of output variables are addressed by word by the data type Unsigned16. Addressing of the 256 data words then takes place with: - Index 0xA580, sub-index 1 to 255 Index 0xA581, sub-index 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Function Description 89 Table 49: Example – maximum indices Index Sub-Index Contents Description 0xA580 0 255 Number of output blocks 1 D1 1st output variable block … … ... *) 255 D255 255th output variable block 0xA581 0 1 Number of output blocks 1 D256 *) 256th output variable block *) D1 = Data word output variable 1, D255 = Data word output variable 255, etc. 7.3.5 Absolute Adressing The internal CPU of the PFC has direct access to the data via absolute addresses. The addressing starts with address 0 for both inputs and outputs. The respective addresses for bits, bytes and double words (DWord) are derived from the word addresses. The structure of the process image is described in the section “Process Data Structure”. Addressing occurs in this structure. Table 50: Absolute addressing Input data Output data 7.3.5.1 %IW0 … %IWn %IX(n+1).0 … %IX(n+m).15 %QW0 … %QWn %QX(n+1).0 … %QX(n+m).15 word-oriented data bit-oriented data word-oriented data bit-oriented data Calculate Addresses The word address is the basis for calculation (word). Manual Version 1.2.0 Bit Address Word address .0 to .15 Byte address 1st byte: 2 x word address 2nd byte: 2 x word address + 1 DWord address Bottom Word address (even number) / 2 section: Top section: Word address (uneven number) / 2, rounded down 90 Function Description 7.3.5.2 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Address Range of the I/O Module Data Table 51: Address range of the I/O module data Data width Address range for the I/O module data Bit 0.0 0.8 1.0 1.8 … … … … ... 0.7 0.15 1.7 1.15 Byte 0 1 2 3 … Word 0 1 … DWord 0 … 7.3.5.3 254.8 255.0 255.8 ... ... ... 254.15 255.7 255.15 509 510 511 254 255 127 510.0 … 510.7 1020 510.8 511.0 511.8 … … … 510.15 511.7 511.15 1021 1022 1023 510 511 255 Address Range of the Fieldbus Variables Table 52: Address range of the fieldbus variables Data width Address range for the I/O module data Bit 256.0 256.8 257.0 257.8 … … … ... ... 256.7 256.15 257.7 257.15 Byte 512 513 514 515 … Word 256 257 … DWord 128 … 7.3.5.4 254.0 ... 254.7 508 Adress Flags Table 53: Address flags Data width Address range for the I/O module data Bit 0.0 0.8 1.0 1.8 … 4094.0 4094.8 4095.0 4095.8 … … … … … … … … 0.7 0.15 1.7 1.15 4094.7 4094.15 4095.7 4095.15 Byte 0 1 2 3 … 8188 8189 8190 8191 Word 0 1 … 4094 4095 DWord 0 … 2047 All flags are non-volatile (retain). 7.3.6 Examples of Absolute Addresses Table 54: Examples of absolute addresses Data width Inputs: Bit %IX14.0 ... 15 Byte %IB28 %IB29 Word %IW14 DWord Data width Bit Byte Word DWord %IX15.0 ... 15 %IB30 %IB31 %IW15 %ID7 Outputs %QX5.0 ... 15 %QB10 %QB11 %QW5 %QD2 (top section) %QX6.0 ... 15 %QB12 %QB13 %QW6 %QD3 (bottom section) Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Data width Bit Byte Word DWord Flag: %MX11.0 ... 15 %MB22 %MB23 %MW11 %MD5 (top section) Function Description %MX12.0 ... 15 %MB22 %MB23 %MW12 %MD6 (bottom section) The character 'X' for single bit can be omitted, e.g., %I14.0, %Q6.10, %M11.7 Pos : 36.18 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 91 92 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 36.19 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/D atenaustausch/Adres sier ung/Adr essi erung - Pr ogrammierung des PFC mit WAGO-I/O- PRO (750- 837, -838) @ 17\mod_1381814413198_21.doc x @ 134100 @ 234344 @ 1 7.4 Programming the PFC with WAGO-I/O-PRO With IEC-61131 programming of the CANopen fieldbus controller, you can use the functionality of a PLC beyond the functions of a fieldbus coupler. An application program can be created using the WAGO-I/O-PRO programming tool in accordance with IEC 61131-3. A description of programming using WAGO-I/O-PRO is not included in this manual. The following sections refer to the specific modules for WAGO-I/OPRO that you can use explicitly for programming the CANopen fieldbus controller. Explanations are also provided as to how the IEC-61131-3 program is transferred and how suitable communication drivers are loaded. More information on software operation For a detailed description of how to use the software, please refer to the WAGOI/O-PRO manual. You with find the manual on the Internet at: www.wago.com. 7.4.1 CANopen Library for WAGO-I/O-PRO Various libraries are available to your for different IEC-61131-3 programming applications in WAGO-I/O-PRO. These contain modules for universal use and can, thereby, facilitate and speed up the creation of your program. The 'standard.lib' library is available to you standard. The library described below is specifically intended for CANopen projects with WAGO-I/O-PRO. • “CIA405. LIB” (contains function blocks for CANopen and CANopen according to CiA 405) This library is available on the WAGO-I/O-PRO CD. After integrating the library, its modules, data types and global variables are available to you that you can use just like user-defined. More information on modules and software operation For a detailed description of the modules and how to use the software, please refer to the WAGO-I/O-PRO manual. You with find the manual on the Internet at: www.wago.com. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 7.4.1.1 Function Description 93 CIA405.LIB Table 55: CIA405.LIB Function Block Manual Version 1.2.0 Description CIA405_VERSION Function block that returns the current version number of the library. CIA405_GET_KERNEL_STATUS Function block that returns the status of the CANopen kernel. CIA405_GET_LOCAL_NODE_ID Function block that returns its own module ID. CIA405_GET_STATE Function block that returns the CANopen network status of a selected module or its own module. CIA405_RECV_EMY Function block that checks if an emergency message has been received. Receipt is on only possible from its own modules or modules previously configured with NMT_ADDNODE. EXCEPTION_HANDLER indicates if more emergency messages are received than can be cached. CIA405_RECV_EMY_DEV Function block that checks if an emergency message has been received by the specified module. Receipt is on only possible from its own modules or modules previously configured with NMT_ADDNODE. EXCEPTION_HANDLER indicates if more emergency messages are received than can be cached. CIA405_SDO_READ4 Function block that returns the value of an object directory entry (max. data size = 4 bytes). CIA405_SDO_READ7 Function block that returns the value of an object directory entry (max. data size = 7 bytes). CIA405_SDO_READ21 Function block that returns the value of an object directory entry (max. data size = 21 bytes). CIA405_SDO_READ210 Function block that returns the value of an object directory entry (max. data size = 210 bytes). CIA405_SDO_WRITE4 Function block that writes the specified data to the object directory of a module (max. data size = 4 bytes). CIA405_SDO_WRITE7 Function block that writes the specified data to the object directory of a module (max. data size = 7 bytes). CIA405_SDO_WRITE21 Function block that writes the specified data to the object directory of a module (max. data size = 21 bytes). CIA405_SDO_WRITE210 Function block that writes the specified data to the object directory of a module (max. data size = 210 bytes). EXCEPTION_HANDLER Function block that returns errors that have occurred and allows direct error handling. NMT_ADDNODE Function block that initializes the Guarding object with guarding time and lifetime factor for a specific module. NMT_CHANGE_STATE Function block that triggers a state change of a module previously initialized with NMT_ADDNODE. NMT_DELNODE Function block that deletes a specific node from the list of slaves to be handled. NMT_GUARDING Function block that switches guarding ON/OFF. NMT_SLAVE_IN_NW_LIST Function block that returns if a specific node is contained in the internal slave list. SEND_CAN_FRAME Function block that sends specific data with the specified COB ID via the CAN bus (max. data size = 8 byte). SYNC_MASTER_SEND_SYNC Function block that sends a SYNC message. 94 Function Description 7.4.2 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Transmit IEC-61131-3 Program Program transfer from the PC to the fieldbus controller following programming of the desired IEC -61131 application can be made in two different ways: • • Via the serial interface Via the fieldbus One suitable communication driver each is required for both types. More information on installation and software operation For more information about installing the communication drivers as well as details regarding the use of the software, please refer to the WAGO-I/O-PRO manual. You with find the manual on the Internet at: www.wago.com. 7.4.2.1 Transmission via the Serial Interface Use the WAGO communication cable to set up a physical connection via serial service port. This cable is included in the scope of supply for the IEC 1131-3 programming tool (Item No. 759-330/000-001) or can be procured as an accessory item under Item No. 750-920. Use the WAGO communication cable to connect the COMX port of your PC to the fieldbus controller communication port. Component damage! Connecting or disconnecting the communication cable 750-920 when the power is on can damage the fieldbus coupler. Make sure that the power supply to the fieldbus coupler is disconnected when connecting or disconnecting the communication cable. A communication driver is required for serial data transfer. This driver and its parameters must be entered in the WAGO-I/O-PRO in the “Communication Parameters” dialog. 1. Launch the WAGO-I/O-PRO software via 'Start/Programs' or by doubleclicking on the WAGO-I/O-PRO icon on your desktop. 2. In the “Online” menu, click the “Communication Parameters” menu item. The “Communication Parameters” dialog opens. The window is empty by default. 3. In the selection window, mark the required driver on the right side (e.g., “Serial (RS232)” to configure the serial link between the PC and the fieldbus controller). Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 4. Function Description 95 In the middle window of the dialog, the following entries must be present: • Parity: Even and Stop bits: 1. If necessary, change the entries. The fieldbus controller can now be tested. Note the position of the mode selector switch! To access the fieldbus controller, the mode selector switch of the fieldbus controller must be in the middle or top position. 7.4.2.2 5. Under “Online” click the “Log-on” menu item to log into the fieldbus controller. (The WAGO-I/O-PRO- server is active in online mode. The communication parameters cannot be called up.) 6. If there is no program in the fieldbus controller, a window appears asking whether the program should be loaded. Click “Yes” to confirm. The current program is then loaded. 7. When the program is loaded, launch the program via “Online”, “Start”. “ONLINE RUNNING” appears in the right side of the status bar. 8. To exit online mode, go to “Online” and click “Log-off”. Transmission via the Fieldbus The fieldbus cable makes the physical connection between the PC and the fieldbus controller. A suitable communication driver is required for data transmission. This driver and its parameters must be entered in the WAGO-I/O-PRO in the “Communication Parameters” dialog. 1. Launch the WAGO-I/O-PRO software via 'Start/Program' or by doubleclicking on the WAGO-I/O-PRO icon on your desktop. 2. In the “Online” menu, click the “Communication Parameters” menu item. 3. To specify a driver in the “Communication Parameters” dialog, click “New”. 4. Enter any name and mark the required driver in the dialog selection window (e.g., “CANopenHilscher”). 5. Click “OK” to confirm. In the middle window of the dialog, the following entries must be present: • Card number (number of the CANopen fieldbus card according to your PC configuration) • Baud rate (the baud rate set via the DIP switch of your fieldbus controller) • Node number (the module ID of your fieldbus controller assigned via Manual Version 1.2.0 96 Function Description WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR the DIP switch). Change the entries as needed. 6. Change the entry – “Keep” the database in “Delete” to clear the previous settings from the database and click “OK” to confirm. 7. The dialog closes and you are asked if you want to delete the database. Click “OK” to confirm. 8. In the “Online” menu, click the “Communication Parameters” menu item again and change the entry - database “Delete” in “Keep”. 9. Click “OK” again to confirm. The dialog closes and the fieldbus controller can be tested. Note the fieldbus controller settings! To access the fieldbus controller, the module ID and baud rate must match the fieldbus controller settings and the mode selector switch of the fieldbus controller must be in the middle or top position. 10. Under “Online” click the “Log-on” menu item to log into the fieldbus controller. (The WAGO-I/O-PRO- server is active in online mode. The communication parameters cannot be called up.) 11. If there is no program in the fieldbus controller, a window appears asking whether the program should be loaded. Click “Yes” to confirm. The current program is then loaded. 12. When the program is loaded, launch the program via “Online”, “Start”. “ONLINE RUNNING” appears in the right side of the status bar. 13. To exit online mode, go to “Online” and click “Log-off”. Pos : 37 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Commissioning 97 Pos : 38 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 1In Betrieb nehmen - Übersc hrift 1 @ 4\mod_1240901452750_21.doc x @ 31570 @ 1 @ 1 8 Commissioning Pos : 39.1 /Serie 750 (WAGO-I/O-SYST EM)/In Betrieb nehmen/Fel dbus knoten i n Betrieb nehmen/In Betrieb nehmen Ei nlei tung - Anfang (Koppler/C ontroll er) @ 4\mod_1238483034921_21.doc x @ 29371 @ @ 1 This section shows a step-by-step procedure for starting up exemplarily a WAGO fieldbus node. Pos : 39.2 /Serie 750 (WAGO-I/O-SYST EM)/In Betrieb nehmen/Fel dbus knoten i n Betrieb nehmen/Einl eitung - Hi nweis: Exempl arisches Beispi el, einz el ner C AN open Fel dbus knoten @ 16\mod_1377695509098_21.doc x @ 129974 @ @ 1 Good example! This description is just an example and only serves to describe the procedure for a local start-up of a single CANopen fieldbus node. Pos : 39.3 /Serie 750 (WAGO-I/O-SYST EM)/In Betrieb nehmen/Fel dbus knoten i n Betrieb nehmen/Einl eitung - Di e Beschr eibung umfass t die folgenden Sc hritte: @ 16\mod_1377753684994_21.doc x @ 130120 @ @ 1 The description includes the following steps: 1. 2. 3. 4. 5. 6. Connecting PC and fieldbus nodes Checking and setting the baud rate Setting the module ID Switching to the OPERATIONAL state Enabling analog input data User-specific mapping Pos : 39.4 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/N eue Ü berschriften/Ebene 2Anschli eßen von PC und F el dbus knoten - Ü berschrift 2 @ 16\mod_1377695264802_21.doc x @ 129971 @ 2 @ 1 8.1 Connecting PC and Fieldbus Nodes Pos : 39.5 /Serie 750 (WAGO-I/O-SYST EM)/In Betrieb nehmen/Fel dbus knoten i n Betrieb nehmen/Ansc hließ en - Sc hließ en Sie den monti erten C AN open Fel dbus knoten über ei n F eldbus kabel an di e C ANope @ 16\mod_1377754614789_21.doc x @ 130123 @ @ 1 Use a fieldbus cable to connect the installed CANopen fieldbus node to the CANopen fieldbus card in your PC and boot the PC. Pos : 39.6 /Serie 750 (WAGO-I/O-SYST EM)/In Betrieb nehmen/Fel dbus knoten i n Betrieb nehmen/Ü berprüfen und Setz en der Baudrate - Ü berschrift 2 @ 16\mod_1377754868423_21.doc x @ 130126 @ 2 @ 1 8.2 Checking and Setting the Baud Rate Pos : 39.7 /Serie 750 (WAGO-I/O-SYST EM)/In Betrieb nehmen/Fel dbus knoten i n Betrieb nehmen/Ü berprüfen/Setz en Baudr ate - Stell en Si e z unäc hst all e Schi ebesc halter in di e Stell ung " aus" (Modul- @ 16\mod_1377754978262_21.doc x @ 130129 @ @ 1 First, move all slide switches to the “OFF” position (module ID = 0) and then switch On the supply voltage (24 VDC power supply) on the fieldbus coupler/ controller. Figure 37: All Slide Switches in the “OFF” Position for Checking and Setting the Baud Rate The baud rate currently set is then checked and is indicated by the respective LEDs flashing in the top LED group. Pos : 39.8 /Serie 750 (WAGO-I/O-SYST EM)/In Betrieb nehmen/Fel dbus knoten i n Betrieb nehmen/Hi nweis: Sind bei m Ei nsc halten der Spannung nic ht all e Schi ebesc halter i n der Stellung " aus" , wird d @ 16\mod_1377757054952_21.doc x @ 130132 @ @ 1 Important note! If not all slide switches are not in the “OFF” position when the voltage is switched on, the existing settings are applied as the module ID. Manual Version 1.2.0 98 Commissioning WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 39.9 /Serie 750 (WAGO-I/O-SYST EM)/In Betrieb nehmen/Fel dbus knoten i n Betrieb nehmen/Ü berprüfen/Setz en der Baudr ate - U m di e neuen Einstellungen z u s peic hern, sc hieben Sie den DIP-Sc hal @ 16\mod_1377757516353_21.doc x @ 130142 @ @ 1 Now move the respective slide switch for the required baud rate to ON, e.g., slide switch 3 for baud rate 125 kBd. Figure 38: Setting Baud Rate 125 kBd To save the new settings. also move slide switch 8 to ON. Then switch off the supply voltage of the fieldbus coupler/controller. Figure 39: Saving the Baud Rate 125 kBd Pos : 39.10 /Serie 750 ( WAGO-I/O-SYST EM)/In Betri eb nehmen/F eldbus knoten i n Betri eb nehmen/Eins tell en der Modul-ID - Ü bersc hrift 2 @ 16\mod_1377760281237_21.doc x @ 130145 @ 2 @ 1 8.3 Setting the Module ID Pos : 39.11 /Serie 750 ( WAGO-I/O-SYST EM)/In Betri eb nehmen/F eldbus knoten i n Betri eb nehmen/Eins tell en der Modul ID - Die Einstellung der Modul-ID erfolgt bei ausg esc halteter Vers orgungss pannu @ 16\mod_1377760578842_21.doc x @ 130168 @ @ 1 The module ID is set when the supply voltage is OFF. Move all slide switches again to the “OFF” position. Then move the respective slide switches for the required module ID to ON, e.g., slide switch 1 for module ID 1. Figure 40: Setting Module ID 1 The fieldbus coupler/controller is in the INITIALIZATION state when the supply voltage is switched on. The process image is created based on the I/O modules connected and the object directory initialized based on the default mapping if no customized configuration is saved. Once the initialization phase has completed successfully, the fieldbus coupler/controller automatically switches to the PRE-OPERATIONAL state. In this state, communication is possible via SDOs with which various settings can be made using your CAN Master software: • You can set the fieldbus coupler/controller in the OPERATIONAL state directly. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Commissioning 99 Note Because PDO transmission of the analog input data is OFF by default, the analog input data is not taken into account. • • You can enable transmission of the analog input data, or You can select application-specific mapping. Pos : 39.12 /Serie 750 ( WAGO-I/O-SYST EM)/In Betri eb nehmen/F eldbus knoten i n Betri eb nehmen/Wechs el n z um Z ustand OPER ATION AL - Ü bersc hrift 2 @ 16\mod_1377768722138_21.doc x @ 130171 @ 2 @ 1 8.4 Switching to the OPERATIONAL State Pos : 39.13 /Serie 750 ( WAGO-I/O-SYST EM)/In Betri eb nehmen/F eldbus knoten i n Betri eb nehmen/Wechs el z u OPER ATION AL - Mit dem Befehl Star t_R emote_N ode aus den N etz wer k M anagement Obj ekten könne @ 16\mod_1377768814160_21.doc x @ 130174 @ @ 1 Use the Start_Remote_Node command from the network management objects to change the fieldbus coupler/controller from the PRE-OPERATIONAL to OPERATIONAL state. The fieldbus nodes for PDOs are ready for communication (see section “Start Remote Node”). Enable analog input data! PDO transmission of analog input data is disabled by default. Therefore, the data is read only once and no longer updated. The analog input data must be enabled, so that it can be used via PDOs. Access via SDOs is possible at any time. If not other settings are made, the fieldbus coupler/controller is ready for operation and communication is possible based on the default mapping (see section “Fieldbus Communication” > … > “Initialization”. Pos : 39.14 /Serie 750 ( WAGO-I/O-SYST EM)/In Betri eb nehmen/F eldbus knoten i n Betri eb nehmen/Fr eischalten der analog en Ei ngangsdaten - Übersc hrift 2 @ 16\mod_1377769658079_21.doc x @ 130177 @ 2 @ 1 8.5 Enabling Analog Input Data Pos : 39.15 /Serie 750 ( WAGO-I/O-SYST EM)/In Betri eb nehmen/F eldbus knoten i n Betri eb nehmen/Analog e Ei ngangsdaten fr eischalten - D ami t ein Ü berfluten des CAN- Busses mit C AN-Nachric hten ver hind @ 16\mod_1377769832249_21.doc x @ 130280 @ @ 1 To prevent a CAN bus overflow with CAN messages, transmission of analog input data via PDOs is disabled by default. That means the object 0x6423 “Analog input global interrupt enable” has the default value 'FALSE' (0) (see section “Object 0x6423, Analog Input Global Interrupt Enable”). In general, you can enable transmission by setting object 0x6423 to 'TRUE' (1). If necessary, use the “Start Remote Node” command to change the fieldbus coupler/controller from the PRE-OPERATIONAL to OPERATIONAL state. Transmission of analog input data via PDOs is then possible. If not other settings are made, the fieldbus coupler/controller is ready for operation and communication is possible based on the default mapping (see section “Fieldbus Communication” > … > “Initialization”). Pos : 39.16 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 100 Commissioning WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 39.17 /Serie 750 ( WAGO-I/O-SYST EM)/In Betri eb nehmen/F eldbus knoten i n Betri eb nehmen/Anwendungss pezifisc hes Mapping - Ü berschrift 2 @ 16\mod_1377770517333_21.doc x @ 130283 @ 2 @ 1 8.6 Application-Specific Mapping Pos : 39.18 /Serie 750 ( WAGO-I/O-SYST EM)/In Betri eb nehmen/F eldbus knoten i n Betri eb nehmen/Anwendungss pezifisc hes Mapping - Anstatt des D efault-Mappi ng z u ver kaufen, können Si e i n einem anwen @ 16\mod_1377770632302_21.doc x @ 130286 @ @ 1 In contrast to the default mapping, application-specific PDO mapping gives you the option to specify which data is to be transferred by the PDOs. The fieldbus coupler/controller should be in or put in the PRE-OPERATIONAL state using the “Enter Pre-Operational” NMT service. The procedure for application-specific mapping is specifically explained in the example below. Example: Using Tx-PDO 2, the 3rd and 5th analog input channel with the data width of 2 bytes and the first 8-bit digital input group should be read. The CAN identifier 0x432 should be used for the transmission, which should be synchronous with every third SYNC object. The standard CAN IDs are used for the SDOs. The setting is made at node 8. xx is not evaluated. 1. First disable PDO mapping by setting the number of mapping objects in index 0x1A01, sub-index 0 (“Transmit PDO Mapping Parameter”) to 0. Table 56: Deactivate PDO Mapping CAN ID 608 Send 588 Receive 2. Data 0x2F 01 1A 00 00 xx xx xx 0x60 01 1A 00 xx xx xx xx Enter the index, sub-index and object length of the application object into the Tx-PDO mapping parameter structure (index 0x1A01). A maximum of 8 bytes of data can be assigned per PDO. Table 57: Writing the Mapping Parameter Structure Application Object Index 3rd analog input channel 0x6401 5th analog input channel 0x6401 1st digital input group 0x6000 3. Sub-Index 3 5 1 This requires the following structure in the mapping parameters of the 2nd Tx-PDO. Table 58: Tx-PDO Mapping Parameter Structure, index 0x1A01 Application Object Sub-Index Index Sub-Index Object Length (in bits) 0 1 2 3 3 0x6401 0x6401 0x6000 3 5 1 0x10 0x10 0x08 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Commissioning 101 Enter mapping parameter sub-index 1 … 8 first! Enter mapping parameter sub-index 1 … 8 first and then the number of valid subindices in sub-index 0! These objects are stored using SDO transmissions: Table 59: Mapping the 3rd Analog Input Channel CAN ID Data 0x608 0x23 Send 23 011 A 01 10 03 01 64 Receive 0x588 0x60 60 011 A 01 01 1A 01 10 03 01 64 0 data bytes invalid Index (low byte first) Sub-Index Data width of the analog channel Sub-index where the 3rd analog channel is in the Manufacturer Device Profile Index (low byte first) where the 3rd analog channel is in the Manufacturer Device Profile 01 1A 01 xx xx xx xx OK Index (low byte first) Sub-Index Table 60: Mapping the 5th Analog Input Channel CAN ID Data 0x608 0x23 01 1A 02 10 05 01 64 Send 0x588 0x60 01 1A 02 xx xx xx xx Receive Table 61: Mapping the 1st Digital Input Group CAN ID Data 0x608 0x23 01 1A 03 08 01 00 60 Send 0x588 0x60 01 1A 03 xx xx xx xx Receive Table 62: Number of Mapping Objects = 3, Enter in Sub-Index 0 CAN ID Data 0x608 0x2F 0x2F 01 1A 00 03 xx xx xx Send 0x588 0x60 0x60 01 1A 00 xx xx xx xx Receive 4. To change the communication parameters, disable the PDO that you want to map. In this example, that is Tx-PDO2. Write the value 0x80000000 into the object with index 0x1801, sub-index 01 (“Transmit PDO Communication Parameter”). Table 63: Disable PDO Send Receive 5. Manual Version 1.2.0 CAN ID 608 588 Data 0x23 01 18 01 00 00 00 80 0x60 01 18 01 xx xx xx xx Write the communication parameters into the object with index 0x1801, sub-index 1 to 3 (“Transmit PDO Communication Parameter”). 102 Commissioning WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR The transmission type is 3 (synchronous transmission with every third SYNC object). Table 64: Entering the Communication Parameters Tx-PDO-Communication Parameter, Index 0x1801 Sub-Index Value Explanation 0 3 Number of supported entries in the record 1 0x432 COB-ID used by PDO 2 3 Transmission type 3 0 Inhibit time Table 65: Sub-Index 3: Inhibit Time = 0 CAN ID 0x608 Send 0x588 Receive Data 0x2B 01 18 03 00 00 xx xx 0x60 01 18 03 xx xx xx xx Table 66: Sub-Index 2: Transmission Type = 3 CAN ID Data 0x608 0x2F 01 18 02 03 xx xx xx Send 0x588 0x60 01 18 02 xx xx xx xx Receive Table 67: Sub-Index 1: Set COB-ID = 432 of the PDO and set PDO from Invalid to Valid CAN ID Data 0x608 0x23 01 18 01 32 04 00 00 Send 0x588 0x60 01 18 01 xx xx xx xx Receive 6. After putting the fieldbus coupler/controller in the OPERATIONAL state using the “Start Remote Node” command, the PDOs are active and the TxPDO object can be used to transmit data. Pos : 40 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Diagnostics 103 Pos : 41 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 1Di agnos e - Ü bersc hrift 1 @ 4\mod_1240831069471_21.doc x @ 31372 @ 1 @ 1 9 Diagnostics Pos : 42 /All e Seri en (Allgemei ne Module)/Ü berschriften/Ebene 2LED- Signalisi erung - Ü bersc hrift 2 @ 4\mod_1240831118032_21.doc x @ 31375 @ 2 @ 1 9.1 LED Signaling Pos : 43.1 /Serie 750 (WAGO-I/O-SYST EM)/Di agnose/Fel dbus koppl er/-contr oller/LED- Signalisierung - Einlei tung (Koppl er) @ 6\mod_1259564984171_21.doc x @ 46050 @ @ 1 For on-site diagnostics, the fieldbus coupler has several LEDs that indicate the operational status of the fieldbus coupler or the entire node (see following figure). Pos : 43.2 /Serie 750 (WAGO-I/O-SYST EM)/Ger ätebesc hrei bung/Anz eigeelemente/Fel dbus koppl er/-contr oller/Bilder/Anz eigeelemente 750- 0838/0040-000 - Bil d @ 18\mod_1394189126023_21.doc x @ 147506 @ @ 1 Figure 41: Display Elements Pos : 43.3 /Serie 750 (WAGO-I/O-SYST EM)/Di agnose/Fel dbus koppl er/-contr oller/LED- Signalisierung - T abellenkopf, LED-Zuordnung für die Di agnos e (all e Koppl er/C ontroller) @ 6\mod_1256652265984_21.doc x @ 43750 @ @ 1 The diagnostics displays and their significance are explained in detail in the following section. The LEDs are assigned in groups to the various diagnostics areas: Table 68: LED Assignment for Diagnostics Diagnostics area LEDs Pos : 43.4 /Serie 750 (WAGO-I/O-SYST EM)/Di agnose/Fel dbus koppl er/-contr oller/LED- Signalisierung - T abelle Fel dbuss tatus (ST OP, RUN, TX/RX OVERF LOW) @ 16\mod_1377675320601_21.doc x @ 129927 @ @ 1 Fieldbus status • • • • STOP RUN TX OVERFLOW RX OVERFLOW Pos : 43.5 /Serie 750 (WAGO-I/O-SYST EM)/Di agnose/Fel dbus koppl er/-contr oller/LED- Signalisierung - T abelle Knotens tatus (Controll er) I/O, U SR @ 4\mod_1240925652592_21.doc x @ 31891 @ @ 1 Node status • I/O • USR Pos : 43.6 /Serie 750 (WAGO-I/O-SYST EM)/Di agnose/Fel dbus koppl er/-contr oller/LED- Signalisierung - T abelle Versorgungss pannungsstatus A, C @ 16\mod_1374064720326_21.doc x @ 126449 @ @ 1 Status Supply Voltage Pos : 43.7 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 • A (system supply) • C (field supply) 104 Diagnostics WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 43.8.1 /Serie 750 (WAGO-I/O-SYST EM)/Diag nose/Fel dbus koppl er/-contr oller/F eldbusstatus aus wer ten (STOP, RUN , T X/F eldbusstatus aus werten (ST OP, RUN, TX/RX OVERF LOW) @ 16\mod_1377684780057_21.doc x @ 129959 @ 3 @ 1 9.1.1 Evaluating Fieldbus Status Communication status via fieldbus is indicated by the upper LED group, STOP, RUN, TX OVERFLOW and RX OVERFLOW. Pos : 43.8.2 /Serie 750 (WAGO-I/O-SYST EM)/Diag nose/Fel dbus koppl er/-contr oller/F eldbusstatus aus wer ten (STOP, RUN , T X/F eldbusstatus aus werten (ST OP, RUN, TX/RX OVERF LOW) - T abell e STOP, RUN , T X/R X OVER FLOW @ 16\mod_1377678695261_21.doc x @ 129945 @ @ 1 Table 69: Fieldbus Diagnostics – Solution in Event of Error STOP OFF RUN OFF OFF RX OVERFLOW OFF Explanation No function or self-test X Illuminated Slow X flashing Illuminat X ed OFF X X X X Illuminated X X Illuminated X Module is in the PREOPERATIONAL state Module is in the OPERATIONAL state Module is in the STOPPED state or there are serious fieldbusindependent errors (e.g., an I/O module was pulled), incorrect configuration The CAN input buffer has overflowed, data loss should be expected The CAN transmit buffer has overflowed, data loss should be expected X X OFF Rapid flashing Rapid flashing Rapid flashing Rapid flashing OFF Rapid flashing Rapid flashing CAN fieldbus alternating with RX alternating with TX coupler/controller has OVERFLOW OVERFLOW exceeded the warning level, too many error telegrams X X Module is in the PREOPERATIONAL state, Sync/Guard message / heartbeat has failed X X Module is in the OPERATIONAL state, Sync/Guard message / heartbeat has failed X X Module is in the STOPPED state, Sync/Guard message / heartbeat has failed OFF TX OVERFLOW OFF X X Remedy Check supply voltage (24 V and 0 V), wait for self-test In the event of fieldbusindependent errors: Check the I/O modules, reset the node, check the same in the event of a configuration error Increase time between two telegrams Check the bus system configuration, increase the sending priority of the module Check baud rate, check bus connection, connect min. 2 CAN modules to the network Switch to the OPERATIONAL state and continue Sync/Guard message / heartbeat Continue Sync/Guard message / heartbeat Switch to the OPERATIONAL state and continue Sync/Guard message / heartbeat Pos : 43.9 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Diagnostics 105 Pos : 43.10.1 /Serie 750 ( WAGO-I/O- SYST EM)/Diagnos e/F eldbus koppler/-c ontroll er/Knotens tatus aus werten 1 - I/O-LED (all e Koppler/Knotenstatus aus werten 1 - I/O-LED ( alle Koppler/C ontroll er) @ 6\mod_1259229729546_21.doc x @ 45457 @ 3 @ 1 9.1.2 Evaluating Node Status – I/O LED (Blink Code Table) The communication status between fieldbus coupler/controller and the I/O modules is indicated by the I/O LED. Table 70: Node Status Diagnostics – Solution in Event of Error LED Status Meaning Solution I/O green The fieldbus node is operating correctly. Normal operation. Pos : 43.10.2 /Serie 750 ( WAGO-I/O- SYST EM)/Diagnos e/F eldbus koppler/-c ontroll er/Knotens tatus aus werten 2 - I/O-LED (all e Koppler/Knotenstatus aus werten 2 - I/O-LED ( alle Koppler/C ontroll er) @ 18\mod_1390381556408_21.doc x @ 142694 @ @ 1 orange flashing red red flashing red cyclical flashing off Start of the firmware. 1 … 2 seconds of rapid flashing indicate start-up. Fieldbus coupler/controller hardware defect Flashing with approx.. 10 Hz indicates the initialization of the internal bus or of a internal bus error. Replace the fieldbus coupler/controller. Note the following flashing sequence. Evaluate the flashing sequences based Up to three successive flashing sequences on the following blink code table. The blinking indicates an error message indicate internal data bus errors. There are short intervals between the sequences. comprised of an error code and error argument. No data cycle on the internal bus. The fieldbus coupler/controller supply is off. Device boot-up occurs after turning on the power supply. The I/O LED flashes orange. Then the bus is initialized. This is indicated by flashing red at 10 Hz for 1 … 2 seconds. After a trouble-free initialization, the I/O LED is green. In the event of an error, the I/O LED continues to blink red. Blink codes indicate detailed error messages. An error is indicated cyclically by up to 3 flashing sequences. After elimination of the error, restart the node by turning the power supply of the device off and on again. Manual Version 1.2.0 106 Diagnostics WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Figure 42: Node Status – I/O LED Signaling Figure 43: Error Message Coding Example of a module error: • The I/O LED starts the error display with the first flashing sequence (approx. 10 Hz). • After the first break, the second flashing sequence starts (approx. 1 Hz): The I/O LED blinks four times. Error code 4 indicates “data error internal data bus”. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR • Diagnostics After the second break, the third flashing sequence starts (approx. 1 Hz): The I/O LED blinks twelve times. Error argument 12 means that the internal data bus is interrupted behind the twelfth I/O module. The thirteenth I/O module is either defective or has been pulled out of the assembly. Pos : 43.11 /Serie 750 ( WAGO-I/O-SYST EM)/Diagnos e/F eldbus koppler/-c ontroll er/Bli nkc ode-Tabellen - F ehl erc ode 1...1.9 (750- 0837, - 0838) @ 17\mod_1385366806828_21.doc x @ 138168 @ @ 1 Manual Version 1.2.0 107 108 Diagnostics WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 71: Blink code table for the 'I/O' LED signaling, error code 1 Error code 1: “Hardware and configuration error” Error Error Description Solution Argument Overflow of the internal buffer memory for the attached I/O modules. 1. Turn off the power for the node. 2. Reduce the number of I/O modules and turn the power supply on again. 3. If the error persists, replace the fieldbus coupler. 2 I/O module(s) with unknown data type 1. Determine the faulty I/O module by first turning off the power supply.. 2. Plug the end module into the middle of the node. 3. Turn the power supply on again. 4. - LED continues to flash? Turn off the power supply and plug the end module into the middle of the first half of the node (toward the fieldbus controller). - LED not flashing? Turn off the power and plug the end module into the middle of the second half of the node (away from the fieldbus controller). 5. Turn the power supply on again. 6. Repeat the procedure described in step 4 while halving the step size until the faulty I/O module is detected. 7. Replace the faulty I/O module. 8. Inquire about a firmware update for the fieldbus coupler. 3 Invalid check sum in 1. Turn off the power supply for the node. the parameter area of 2. Replace the fieldbus coupler and turn the power supply the fieldbus coupler. on again. 4 1. Turn off the power supply for the node. Fault when writing in 2. Replace the fieldbus coupler and turn the power supply the serial EEPROM. on again. 5 Fault when reading the serial EEPROM 6 The I/O module configuration after AUTORESET differs from the 1. Restart the fieldbus coupler by turning the power supply configuration off and on. determined the last time the fieldbus coupler was powered up. 7 Invalid hardwarefirmware combination. 1 1. Turn off the power supply for the node. 2. Replace the fieldbus coupler and turn the power supply on again. 1. Turn off the power supply for the node. 2. Replace the fieldbus coupler and turn the power supply on again. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Diagnostics 109 Table 71: Blink code table for the 'I/O' LED signaling, error code 1 Error code 1: “Hardware and configuration error” Error Error Description Solution Argument 8 Timeout during serial EEPROM access. 1. Turn off the power supply for the node. 2. Replace the fieldbus coupler and turn the power supply on again. 9 Fieldbus controller initialization error 1. Turn off the power supply for the node. 2. Replace the fieldbus coupler and turn the power supply on again. Pos : 43.12 /Serie 750 ( WAGO-I/O-SYST EM)/Diagnos e/F eldbus koppler/-c ontroll er/Bli nkc ode-Tabellen - F ehl erc ode 1.10...1.13 ni cht genutzt ( 750- 0352) @ 8\mod_1280148304533_21.doc x @ 61301 @ @ 1 10 ... 13 not used Pos : 43.13 /Serie 750 ( WAGO-I/O-SYST EM)/Diagnos e/F eldbus koppler/-c ontroll er/Bli nkc ode-Tabellen - F ehl erc ode 1.14...5 ( 750-0837, -838) @ 17\mod_1385366981449_21.doc x @ 138172 @ @ 1 14 Maximum number of 1. Turn off the power supply for the node. gateway or mailbox 2. Reduce the number of corresponding modules to a valid modules exceeded number. 15 Permitted number of I/O modules with min. 9-byte data 1. Turn off the power supply for the node. length per channel exceeded or max. PA 2. Reduce the number of corresponding modules to a valid number. size exceeded by I/O modules with min. 9byte data length per channel Note process image size limit! Please note the process image size limit when configuring a node with analog input/output modules and I/O modules that have mailbox functionality. Depending on the overall configuration of all I/O modules of a node, the maximum number of object directory entries may be exceeded in some cases. Table 72: Blink code table for the I/O LED signaling, Error Code 2 Error code 2: -not usedError Error Description Remedy Argument - Manual Version 1.2.0 Not used - 110 Diagnostics WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 73: Blink code table for the I/O LED signaling, Error Code 3 Error code 3: “Protocol error, internal bus” Error Error Description Remedy Argument --- Are there power supply modules with bus power supply (750-613) in the node? --1. Check that these I/O modules are supplied correctly with power. 2. Determine this by the state of the associated status LEDs. - Internal bus communication interrupted, faulty module cannot be identified --- Are all I/O modules connected correctly or are there any 750-613 I/O modules in the node? --1. Identify the faulty I/O module by turning off the power supply. 2. Plug the end module into the middle of the node. 3. Turn the power supply on again. 4. --- LED continues to flash? --Turn off the power supply and plug the end module into the middle of the first half of the node (toward the fieldbus controller). --- LED not flashing? --Turn off the power supply and plug the end module into the middle of the second half of the node (away from the fieldbus controller). 5. Turn the power supply on again. 6. Repeat the procedure described in step 4 while halving the step size until the faulty I/O module is detected. 7. Replace the faulty I/O module. 8. If there is only one I/O module on the fieldbus controller and the LED is flashing, either the I/O module or fieldbus controller is faulty. Replace the defective component. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Diagnostics 111 Table 74: Blink code table for the I/O LED signaling, Error Code 4 Error code 4: “Physical error, internal bus” Error Error Description Remedy Argument 1. Turn off the power supply for the node. 2. Plug in an I/O module with process data behind the fieldbus controller. 3. Turn the power supply on. 4. Observe the error argument signaled. - Is no error argument indicated by the I/O LED? 5. Replace the fieldbus controller. - n* - Is an error argument indicated by the I/O LED? 5. Identify the faulty I/O module by turning off the power supply. Internal bus data 6. Plug the end module into the middle of the node. transmission error or 7. Turn the power supply on again. interruption of the 8. - LED continues to flash? internal bus at the Turn off the power supply and plug the end module into fieldbus controller the middle of the first half of the node (toward the fieldbus controller). - LED not flashing? Turn off the power supply and plug the end module into the middle of the second half of the node (away from the fieldbus controller). 9. Turn the power supply on again. 10. Repeat the procedure described in step 6 while halving the step size until the faulty I/O module is detected. 11. Replace the faulty I/O module. 12. If there is only one I/O module on the fieldbus controller and the LED is flashing, either the I/O module or fieldbus controller is faulty. Replace the defective component. Interruption of the 1. Turn off the power supply for the node. internal bus behind 2. Replace the (n+1) I/O module with process data. the nth I/O module 3. Turn the power supply on. with process data. * The number of light pulses (n) indicates the position of the I/O module. I/O modules without data are not counted (e.g., supply modules without diagnostics) Table 75: Blink code table for the I/O LED signaling, Error Code 5 Error code 5: “Initialization error, internal bus” Error Error Description Remedy Argument Error during register 1. Turn off the power supply for the node. communication 2. Replace the (n+1) I/O module with process data. n* during internal bus 3. Turn the power supply on. initialization * The number of light pulses (n) indicates the position of the I/O module. I/O modules without data are not counted (e.g., supply modules without diagnostics) Pos : 43.14 /Serie 750 ( WAGO-I/O-SYST EM)/Diagnos e/F eldbus koppler/-c ontroll er/Bli nkc ode-Tabellen - F ehl erc ode 6...11 ( 750-0838/Bli nkcode-Tabellen - F ehl ercode 6...11 (750-0838/0040-0000) @ 18\mod_1395128164839_21.doc x @ 148168 @ @ 1 Manual Version 1.2.0 112 Diagnostics WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 76: Blink code table for the I/O LED signaling, Error Code 6 Error code 6: “Node configuration error” Error Error Description Remedy Argument I/O module configured 1. Check the empty module mapping. incorrectly in the n empty module mapping Table 77: Blink code table for the I/O LED signaling, Error Code 9 Error code 9: “CPU exception fields” Error Error Description Remedy Argument Invalid device 1 instruction A failure occurs in the program flow. Stack overflow 2 1. Contact WAGO-I/O Support. Stack underflow 3 Invalid event (NMI) 4 Table 78: Blink code table for the I/O LED signaling, Error Code 10 Error code 10: “Error during PLC program processing” Error Error Description Remedy Argument Offset address for 1. Correct the offset address in the related function block. 1 digital inputs invalid Offset address for digital outputs 1. Correct the offset address in the related function block. 2 invalid Table 79: Blink code table for the I/O LED signaling, Error Code 11 Error code 11: “Error in I/O modules with mailbox functionality” Error Error Description Remedy Argument Too many I/O modules with 1. Reduce the number of mailbox I/O modules. mailbox functionality are plugged in 1 2 3 Note process image size limit! Please note the process image size limit when configuring a node with analog input/outpu modules and I/O modules that have mailbox functionality. Depending on the overall configuration of all I/O modules of a node, the maximum numb object directory entries may be exceeded in some cases. Maximum mailbox 1. Reduce the size of the mailbox. size exceeded Maximum PA size exceeded due to 1. Reduce the data width of I/O modules with mailbox connected I/O functionality. modules with mailbox functionality Pos : 43.15 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Diagnostics 113 Pos : 43.16 /Serie 750 ( WAGO-I/O-SYST EM)/Diagnos e/F eldbus koppler/-c ontroll er/Vers orgungss pannungsstatus aus werten ( alle Koppler/Vers orgungsspannungsstatus aus werten (alle Koppl er/Contr oller XTR) @ 16\mod_1374042033974_21.doc x @ 126344 @ 3 @ 1 9.1.3 Evaluating Power Supply Status The power supply unit of the device has two green LEDs that indicate the status of the power supplies. LED 'A' indicates the 24 V supply of the coupler. LED 'C' reports the power available on the power jumper contacts for field side power. Table 80: Power supply status diagnostics – solution in event of error LED Status Meaning Solution A Operating voltage for the system is Green available. Check the power supply for the system Off No power is available for the system (24 V and 0 V). C The operating voltage for power jumper Green contacts is available. No operating voltage is available for the Check the power supply for the power Off power jumper contacts. jumper contacts (24 V and 0 V). Pos : 44 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 114 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 45 /All e Seri en (Allgemei ne Module)/Ü berschriften/N eue Ü berschriften/Ebene 1F el dbus kommuni kation - Ü berschrift 1 @ 4\mod_1241433862621_21.doc x @ 32212 @ 1 @ 1 10 Fieldbus Communication Pos : 46.1 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Speic herfunkti on/F eldbus kommuni kati on/CANopen/C AN open - Ei nlei tung F eldbus koppler/-c ontroller 750- xxx @ 9\mod_1283171137474_21.doc x @ 64361 @ 233455544443456567787788767777565645555545666655554567 @ 1 10.1 CANopen 10.1.1 Description CAN (Controller Area Network) was developed in the mid-1980s for data transmission in automobiles. The “Data Link Layer” is defined in the CAN specification. This is the physical layer and data link layer. The telegram structure is described, but nothing is said about the application layer. In contrast, CAL describes the application layer or the significance of the transmitted data. CAL is a general description language for CAN networks and makes a number of communication services available. CANopen is a network concept based on CAN serial bus system. As a standard application level, CANopen is defined by specification DS 301 of CiA (CAN in Automation). Network management powers up the network in a simplified manner. This network can be extended by the user as required. CAN is a multi-master bus system. Contrary to other fieldbus systems, the modules connected to the bus are not addressed, but the messages are identified. The devices are allowed to send messages whenever the bus is available. Bus conflicts are solved by assigning messages a specific priority. This priority is determined by the COB-ID (Communication Object Identifier). It is uniquely assigned to a communication object. The smaller the identifier is, the higher the priority. Thus, communication without bus master module is also possible. Each bus node decides by itself when it wants to send data. However, it is also possible to request other bus nodes to send data. This request happens via the socalled “Remote Frame”. The CANopen specificiation (DS 301) defines the technical and functional characteristics with which the distributed field automation devices can be networked. More information about CAN The CiA organization (CAN in Automation) makes other documents on the INTERNET available to its members at www.can-cia.de. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.2 Network Configuration 10.1.2.1 Transmission Medium Fieldbus Communication 115 10.1.2.1.1 Cable Type The basis for the physical implementation of CAN a bus medium. Both the bus connection and bus medium are specified in CAN according to ISO 11898 (CAN High-Speed). According to the cable specification, twisted pair with an impedance of 108 to 132 Ohm is recommended as the medium. Twisted-pair is inexpensive, easy to handle and allows simple bus-shaped wiring. The WAGO CANopen fieldbus nodes are intended for wiring with shielded copper cable (3 × 0.25 mm²). When dimensioning the electric bus medium, it is important to note the maximum bus length and the required cable cross-section. 10.1.2.1.2 Maximum Bus Length The bus lengths are mainly limited by the signal propagation delay and must therefore be adjusted to the baud rate: Table 81: Maximum Bus Lengths Dependent on Preset Baud Rate Baud rate Bus length 1 MBd 30 m 800 kBd 50 m 500 kBd 100 m 250 kBd 250 m 125 kBd 500 m ≤ 50 kBd 1000 m Manual Version 1.2.0 116 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.2.1.3 Required Cable Cross-Section The cross-section of the cable should be selected based on the cable length and the number of connected nodes. Figure 44: Cable Cross-Section Based on the Cable Length and the Number of Nodes 10.1.2.2 Cabling A WAGO fieldbus node is connected to the CANopen cable using the respective fieldbus connector (MCS or D-Sub). For wiring with shielded copper cable (3 × 0.25 mm²), the corresponding fieldbus connector with the CAN_High, CAN_Low and CAN_GND connections is used. CAN_High and CAN_Low are two physically different bus signal levels. CAN_GND is the common reference potential. The cable’s shielding can be applied to the “drain” connection. This is terminated to PE in devices with 1 MΩ (DIN rail contact). A lowimpedance connection of the shielding to PE is possible only from the outside (e.g., by a supply module). The aim is a central PE contract for the entire CANopen bus cable shield. Shield with the WAGO Shield Connecting System! WAGO offers the shield connecting system (series 790) for optimal connection between fieldbus cable shielding and functional ground. Each CANopen node forms the UDiff differential voltage from the CAN_High and CAN_Low as follows: UDiff = UCAN_High - UCAN_Low. The differential signal transmission offers the benefit of insensitivity to common mode interferences and ground offsets between the nodes. If the bus signal levels are found to be recessive, a voltage of 2.5 V is present between CAN_Low and CAN_GND, as well as between CAN_High and CAN_GND. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 117 The differential voltage is 0 V. If the bus signal levels are found to be dominant, a voltage of 1.5 V is present between CAN_Low and CAN_GND, and a voltage of 3.5 V between CAN_High and CAN_GND. The differential voltage is approx. 2 V. Do not switch data lines, bus terminating resistor is important! When connecting nodes, do not switch the data lines. Always use a bus terminating resistor of 120 Ohm to terminate the bus cable on the end of the cable to prevent reflections and transmission problems. This is also required for very short cable lengths. Figure 45: Connection Priciple of a WAGO Fieldbus Node to the CAN Bus Before connecting the fieldbus node to the network, check the installation. You can test the physical connection at any point in the CAN bus using an ohmmeter. Before taking the measurement, you must disconnect all connected devices up to the terminating resistors. Manual Version 1.2.0 118 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Figure 46: Principle of Measurement for Checking the CAN Bus Before Cabling Table 82: Measurement Measurement between: GND & CAN_L GND & CAN_H CAN_L & CAN_H Measured Value Infinite 0 Infinite 0 approx. 60 Ω approx. 120 Ω < 50 Ω Explanation OK Short circuit between GND & CAN_L OK Short circuit between GND & CAN_H OK, 2 terminating resistors in the bus Only 1 terminating resistor in the bus More than 2 terminating resistors in the bus Because the CAN bus can be designed as a 2-wire bus, bus fault management detects a break or short circuit in a line by asymmetric operation. More information about cable specifications CiA makes documents about specifications, i.e., cable specifications, available on the INTERNET at http://www.can-cia.de. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.2.3 Fieldbus Communication 119 Topology To set up a simple CANopen network, you need a master (PC with PC fieldbus card CANopen), a connecting cable and a 24 VDC power supply unit in addition to a CANopen fieldbus node. The CANopen network is set up as a linear topology with terminating resistors (120 Ohm). In systems with more than two stations, all nodes are wired in parallel. This requires the bus cable to be looped through without disruption. The maximum length of a line branch should not exceed 0.3 m. Figure 47: Bus Topology of a CANopen Network All devices in the network communicate at the same baud rate. The bus structure makes it possible to couple and decouple stations or to start up the system step by step in a non-reactive manner. Later upgrades have no effect on stations that are already in operation. If a device malfunctions or is added to the network, it is automatically detected. Router nodes also allow branching from the linear bus and thus, setup of hierarchal network structures. Repeaters can be used to increase the maximum possible number of 110 nodes and to increase the network reach (bus length). Although the network reach depends on the transmission rate, CAN can also be used for extensive networks. The achievable data rates are of the same order of magnitute as for other bus systems. Due to signal delay, the maximum possible cable length is reduced to 20 to 30 m per repeater. 10.1.2.4 Interface Modules All WAGO CANopen fieldbus nodes operate as slaves in a network. Master operation is performed by a central control system, such as PLC, NC or RC. The fieldbus devices are linked via interface modules. Interface modules for programmable logic controllers (PLCs) and PC interface cards for CANopen are available from different manufacturers. 10.1.2.5 Configuration Software The interface modules must be configured with the specific station data to enable links to be set up between the PLC and the fieldbus devices. Manual Version 1.2.0 120 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR The software for configuration, start-up and diagnostics is part of the delivery of the interface modules or PC cards or is also in the CAN Master software used (e.g., SyCon from Hilscher GmbH). The data required for the WAGO CANopen fieldbus couplers and controllers is available in the configuration software with integration of the EDS (Electrical Data Sheet) files. Download the EDS files! The EDS files for CANopen can be downloaded at http://www.wago.com  Online Catalogs/eShop  Catalogs  WAGO Product Catalog  Automation Components Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3 Fieldbus Communication 121 Network Communication In CANopen, the communication objects transmit data, trigger events, signal errors, etc. Each communication object is assigned a unique COB-ID (Communication Object Identifier) in the network. The COB-ID based on device profile DS-401 is assigned according to the following table. Table 83: COB-ID Assignment 10 9 8 Function code 7 6 5 4 3 2 1 Node identifier (0[= all], 1-127) 0 Table 84: Communication Objects Communication Objects Broadcast messages NMT commands Sync message System time Peer-to-Peer Alarm objects messages Tx-PDO1 Rx-PDO1 Tx-PDO2 Rx-PDO2 Tx-PDO3 Rx-PDO3 Tx-PDO4 Rx-PDO4 Tx-SDO Rx-SDO Node monitoring Function Code dec bin 0 0000 1 0001 2 0010 1 0001 3 4 5 6 7 8 9 10 11 12 14 0011 0100 0101 0110 0111 1000 1001 1010 1011 1100 1110 dec 0 128 256 129-255 bin Object Directory Index hex 80 100 81-FF 1005, 1006, 1007 1012, 1013 1014, 1015 385-511 513-639 641-767 769-895 897-1023 1025-1151 1153-1279 1281-1407 1409-1535 1537-1663 1793-1919 181-1FF 201-27F 281-2FF 301-37F 381-3FF 401-47F 481-4FF 501-57F 581-5FF 601-67F 701-77F 1800 1400 1801 1401 1802 1402 1803 1403 1200 1200 100C, 100D 1016, 1017 Resulting COB-ID The parameters required for the communication objects and the parameters/data of the CANopen devices are stored in the object directory. Which and how many objects are supported by the node depends on the respective fieldbus coupler/controller. Apart from some specific objects, e.g., for network management (NMT), synchronization (SYNC) or error messages (EMCY), the communication profile contains contains the two object types PDO and SDO. The PDOs (Process Data Objects) are used to transmit real-time data and the SDOs (Service Data Objects) allow read/write access to the object directory. 10.1.3.1 Communication Objects 10.1.3.1.1 Process Data Object - PDO PDOs contain, e.g., real-time data with high-priority identifiers. The data telegrams consist of a maximum of 8 bytes. The can be freely exchanged between the individual modules. Data exchange can be event-driven or synchronized. Manual Version 1.2.0 122 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Event-driven data exchange can reduce the bus load significantly, i.e., high communication performance is achieved at a low baud rate. The different modes can also be operated mixed (see section “Fieldbus Communication” > … > “Object 0x1400 – 0x141F – Receive PDO Communication Parameter”). 10.1.3.1.1.1 PDO Protocol This protocol is used to transmit data to/from the fieldbus coupler/controller with no protocol overhead. PDOs only consist of the CAN identifier and the data field. A PDO contains no additional protocol information. The data content is determined by the mapping parameters, and the transfer type is determined by the communication parameters. A distinction is made between Rx-PDO (receive PDO) and Tx-PDO (transmit PDO). Figure 48: Rx-PDO Figure 49: Tx-PDO 10.1.3.1.2 Service Data Object ‒ SDO Entries in the object directory can be read or written using SDOs. Thus, a CANopen device can be fully configured. The standard SDO is preset a low priority identifier. If the transferred data exceeds 4 bytes, it must be allocated across several telegrams. 10.1.3.1.2.1 SDO Protocol Protocol overhead is required for the transfer. The protocol overhead must contain the command specifier, index and sub-index of the entry to be read/written. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 123 10.1.3.1.2.1.1 General Structure Figure 50: SDO Protocol 10.1.3.1.2.1.2 Download SDO Protocol This protocol is used to write data from the master to the fieldbus coupler/controller. 10.1.3.1.2.1.2.1 Initiate SDO Download This protocol is used to initiate data transfer from the the master to the fieldbus boupler/controller. If the transfer contains a maximum of 4 bytes of data, this data is included in the transfer inside the protocol. Manual Version 1.2.0 124 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Figure 51: Initiate SDO Table 85: Initiate SDO Abbreviation Data transfer ccs: Client command specifier scs: Server command specifier n: Only valid when e = 1 and s = 1, otherwise 0. e: transfer type s: size indicator m: multiplexor d: data X: reserved: Description 1: initiate download request 3: initiate download response When n is valid, it indicates the number of bytes that contain no data. Example: 3 data bytes, e = 1 and s = 1, n = 4 - 3 = 1 0: normal transfer, number of bytes to be written >= 5 bytes 1: expedited transfer, number of bytes to be written < 5 bytes 0: data set size is not displayed 1: data set size is displayed s is always 1 Index and sub-index of object directory: Index, Low Byte : Byte #1 Index, High Byte: Byte #2 Sub-Index: Byte #3 e = 0, s = 0: d is reserved for another use by CiA e = 0, s = 1: d contains the number of bytes for the download Byte 4 contains the LSB; byte 7 contains the MSB. e = 1: d contains the data not used, always 0 Reserved for another use by CiA Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 125 10.1.3.1.2.1.3 Download SDO Segment This protocol is used when more than 4 bytes of data are transferred. Data transfer begins after “Initiate SDO Download Protocol” which initiates the transfer, is processed. Figure 52: Download SDO Segment Table 86: Download SDO Segment Abbreviation Data transfer ccs: Client command specifier scs: Server command specifier seg-data Contains the data to be transferred n: c: t: Indicates whether additional data should be downloaded. Toggle bit X: reserved: Description 0: download segment request 1: download segment response The application determines the importance of the data Indicates the number of bytes that contain no data. No is 0 when no segment size is indicated. 0: Data is not yet available for download. 1: No more data is available for download. This bit must toggle for each segment for which a download takes place. The first segment sets the toggle bit to 0. The toggle bit is the same for the request and response message. not used, always 0 Reserved for another use by CiA 10.1.3.1.2.1.4 Upload SDO Protocol This protocol is used to read data from the fieldbus coupler/controller. Manual Version 1.2.0 126 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.1.2.1.4.1 Initiate SDO Upload This protocol is used to initiate data transfer from the fieldbus coupler/controller to the master. If the transfer contains a maximum of 4 bytes of data, this data is included in the transfer inside the protocol. Figure 53: Initiate SDO Upload Table 87: Initiate SDO Upload Abbreviation Data transfer ccs: Client command specifier scs: Server command specifier n: Only valid when e = 1 and s = 1; otherwise 0. e: transfer type s: size indicator m: multiplexor d: data X: Description 2: initiate upload request 2: initiate upload response When n is valid, it indicates the number of bytes in d that contain no data. The bytes [8-n, 7] contain no segment data. 0: normal transfer, number of bytes to be written >= 5 Byte 1: expedited transfer, number of bytes to be written < 5 Byte 0: The number of bytes that are to be transferred is not indicated 1: The number of bytes that are to be transferred is indicated (depending on number of bytes) Index and sub-index of the object directory: Index, Low Byte: Byte #1 Index, High Byte: Byte #2 Sub-index: Byte #3 e = 0, s = 0: d is reserved for another use by CiA e = 0, s = 1: d contains the number of bytes available for upload. Byte 4 contains the LSB; byte 7 contains the MSB. e = 1: d contains the data not used, always 0 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR reserved: Fieldbus Communication 127 Reserved for another use by CiA 10.1.3.1.2.1.4.2 Upload SDO Segment This protocol is used when more than 4 bytes of data are transferred. Data transfer begins after “Initiate Upload Protocol” which initiates the transfer, is processed. Figure 54: Upload SDO Segment Table 88: Upload SDO Segment Abbreviation Data transfer ccs: Client command specifier scs: Server command specifier t: Toggle bit c: seg-data n: X: reserved: Manual Version 1.2.0 Description 3: download segment request 0: download segment response This bit must change for each segment for which an upload takes place. Foir the first segment, the toggle bit must be set to 0. The toggle bit is the same for the request and response. 0: Additional segments available for upload 1:No additional segments available for upload Indicates whether additional segments are available for upload Contains the data that The application determines the importance of the data. is to be transferred. Indicates the number of bytes that contain no data. Bytes [8-n, 7] contain no data. n is 0 when no segment size is indicated. not used, always 0 Reserved for another use by CiA 128 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.1.2.1.5 Abort SDO Transfer This protocol is used when errors arise during transfer. Figure 55: Abort SDO Transfer Table 89: Abort SDO Transfer Abbreviati Data transfer on cs: command specifier m: multiplexor X: Data: 4 Byte Error Code Description 4: abort domain transfer Index and sub-index of object directory: not used, always 0 Application-specific data on the transfer abort. Table 90: Structure of Support Abort Domain Transfer Messages Byte Explanation 0 Command specifier; 0x80 1 Index 2 3 SubIdx 4 Additional code 5 6 Error code 7 Error class The errors listed below are coded as UNSIGNED32 for Additional Code, Error Code and error class: Table 91: Abort SDO Transfer Error Codes Byte 4 5 Byte 6 Byte 7 Error Error Additional Designation Class Code Code 05 03 00 00 Toggle bit not alternated 05 04 00 00 SDO protocol timed out 05 04 00 01 Client/server command specifier not valid or unknown 05 04 00 02 Invalid block size (block mode only) 05 04 00 03 Invalid sequence number (block mode only) 05 04 00 04 CRC error (block mode only) 05 04 00 05 Out of memory 06 01 00 00 Unsupported access to an object 06 01 00 01 Attempt to read a write only object 06 01 00 02 Attempt to write a read only object Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 129 Table 91: Abort SDO Transfer Error Codes Byte 4 5 Byte 6 Byte 7 Error Error Additional Designation Class Code Code 06 02 00 00 Object does not exist in the object dictionary 06 04 00 41 Object cannot be mapped to the PDO 06 04 00 42 The number and length of the objects to be mapped would exceed PDO length 06 06 00 00 Access failed due to an hardware error 06 07 00 10 Data type does not match, length of service parameter does not match 06 07 00 12 Data type does not match, length of service parameter too high 06 07 00 13 Data type does not match, length of service parameter too low 06 09 00 11 Sub-index does not exist 06 09 00 30 Value range of parameter exceeded (only for write access) 06 09 00 31 Value of parameter written too high 06 09 00 32 Value of parameter written too low 06 09 00 36 Maximum value is less than minimum value 08 00 00 00 general error 08 00 00 20 Data cannot be transferred or stored to the application 08 00 00 21 Data cannot be transferred or stored to the application because of local control 08 00 00 22 Data cannot be transferred or stored to the application because of the present device state 08 00 00 23 Object dictionary dynamic generation fails or no object dictionary is present (e.g. object dictionary is generated from file and generation fails because of an file error) 10.1.3.1.2.2 SDO Examples Four SDO examples are listed below. The data is represented in hexadecimal format. These examples show the operation of SDOs on the CAN telegram level and can prove helpful when the SDO protocol is implemented on a CAN card. A telegram is divided into 4 columns: Table 92: Operation of SDOs on the Telegram Level – Telegram Structure Column Function Description Column 1 Direction M->BK = Telegram is sent from the master to the fieldbus coupler/controller BK->M = Telegram is sent from the fieldbus coupler/controller to the master Column 2 CAN identifier Column 3 Frame type D = Data frame R = RTR frame Column 4 Data CAN telegram data bytes Up to 8 data bytes can be transferred in a CAN telegram. The individual bytes are separated from each other by blank spaces. Entries with value XX are insignificant, but must be present. The values should be set to 0 for better understanding. Entries in the response from the fieldbus coupler/controller with the value DD contain data that is dependent on the configuration. Manual Version 1.2.0 130 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.1.2.2.1 Example 1: Read Index 0x1000 Sub-Index 0; Device Type Index 0x1000 returns 4 bytes. Expedited Transfer Mode is used for transfer. Table 93: Read Index 0x1000 Sub-Index 0; Device Type Direction CAN ID Frame Type Data Bytes 0-7 M->BK 0x601 D 0x40 00 10 00 XX XX XX XX BK->M 0x581 D 0x43 00 10 00 91 01 DD 00 Result: Data bytes 4 and 5: Data bytes 6 and 7: 91 01 sequence low byte, high byte turning: 0x0191 = 401 device profile number DD 00 sequence low-byte, high-byte turning 10.1.3.1.2.2.2 Example 2: Read Index 0x1008 Sub-Index 0; Manufacturer Device Name Index 0x1008 returns more than 4 bytes. Normal Transfer Mode is used for transfer. In this case, 2 telegrams are sent per node. Table 94: Read Index 0x1008 Sub-Index 0; Manufacturer Device Name Direction CAN ID Frame Data Bytes 0-7 Type M->BK 0x601 D 0x40 08 10 00 XX XX XX XX BK->M 0x581 D 0x60 XX XX XX XX XX XX XX M->BK 0x601 D 0x60 XX XX XX XX XX XX XX BK->M 0x581 D 0x01 37 35 30 2D 33 33 37 Result: In the first response from the fieldbus coupler/controller, the quantity of data to be transferred is shared with the master (0x00000007 bytes). In the second telegram, the fieldbus coupler/controller returns the item number in ASCII format (hex format). 10.1.3.1.2.2.3 Example 3: Read Index 0x6000 Sub-Index 1; First 8-Bit Digital Input Block In index 0x6000, the signals of the digital input modules are saved. 8 bits each are assigned to a group and can be read from sub-index 1. In this example, the input value of the first 8-bit group is read via an SDO telegram. Table 95: Read Index 0x6000 Sub-Index 1; First 8-Bit Digital Input Block Direction CAN ID Frame Type Data Bytes 0-7 M->BK 0x601 D 0x40 00 60 01 XX XX XX XX BK->M 0x581 D 0x4F 00 60 01 02 XX XX XX Result: The fieldbus coupler/controller returns the status of the first 8-bit group in the 5th byte of the CAN telegram. In this case, bit 2 is set. Bytes 5 - 7 have no significance. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 131 10.1.3.1.2.2.4 Example 4: Write Index 0x6200 Sub-Index 1; First 8-Bit Digital Output Block In index 0x6200, the output values of the digital output modules are saved. 8 bit each are assigned to a group and can be read and written from sub-index 1. In this example, the value 0xFF is written to the outputs of the first 8-bit digital output group. Table 96: Write Index 0x6200 Sub-Index 1; First 8-Bit Digital Output Block Direction CAN ID Frame Type Data Bytes 0-7 M->BK 0x601 D 0x2F 00 62 01 FF XX XX XX BK->M 0x581 D 0x60 00 62 01 XX XX XX XX Result: The outputs of the first 8-bit digital output modules are set. 10.1.3.1.3 Synchronization Object ‒ SYNC This object enables the synchronization of all network devices. Through the corresponding PDO configuration, you can cause the network device to process its input data or to update its outputs upon arrival of a SYNC object. Sending the SYNC object in a cyclical manner ensures that all network devices process data simultaneously. 10.1.3.1.3.1 SYNC Protocol Figure 56: SYNC Protocol 10.1.3.1.4 Emergency Object ‒ EMCY Emergency objects are triggered by an internal error situation, e.g., an I/O module is pulled during operation or an I/O module reports an error. An emergency object is sent (broadcast) from the fieldbus coupler/controller to all connected devices to notify each device of the error. The bus nodes can then take appropriate error correction measures. Manual Version 1.2.0 132 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.1.4.1 EMCY Protocol Figure 57: EMCY Protocol More information about Emergency messages A detailed description of Emergency messages is available in section “Fieldbus Communication” > … > “Error Messages (Emergency)”. 10.1.3.2 Communication States of a CANopen Fieldbus Coupler/Controller 10.1.3.2.1 CANopen State Diagram The state diagram described below illustrates the individual communication states and possible transitions relating to CAN communication. Figure 58: State Diagram of the Fieldbus Coupler/Controller Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 133 10.1.3.2.2 INITIALIZATION After a power-on or restart (module ID does not equal 0), the fieldbus coupler/controller is automatically in the INITIALIZATION state. In this state, the fieldbus coupler/controller checks all functions of its components and communication interface in a self-test. The process image is created and the object directory initialized based on the connected I/O modules and a saved configuration (if applicable). If no errors are detected during the initialization phase, the fieldbus coupler/controller automatically switches to the PREOPERATIONAL state. If errors occur, the fieldbus coupler/controller switches to the STOPPED state. During initialization, the I/O LED flashes orange first and then red with increasing frequency. If initialization and the switch to the PRE-OPERATIONAL state were completed successfully, the I/O LED lights up green and the RUN LED flashes. If errors occur (e.g., no end module), the I/O LED indicates the type of error by a red flashing sequences (see LED status display). In this case, the STOP LED lights up red. 10.1.3.2.3 PRE-OPERATIONAL In this state, communication can take place via SDOs. Communication via PDOs is not possible. The SDOs can be used to read and write entries in the object direcotyr. In this way, for example, the fieldbus coupler/controller can be reconfigured using a configuration tool. The mapping, fieldbus coupler/controller parameters, IDs, etc. can be adapted to the required conditions. The new configuration can be saved to the flash memory. The NMT service Start_Remote_Node is used to switch from the PREOPERATIONAL to OPERATIONAL state. In the PRE-OPERATIONAL state, the I/O LED lights up green and the RUN LED flashes. 10.1.3.2.4 OPERATIONAL In this state, communication can take place via SDOs and PDOs. Different configurations are not possible in this state. For example, changing the COB-ID of a valid PDO is not allowed. A detailed description can be found in the corresponding entries in the object directory. The NMT service Enter_Pre_Operational_State is used to switch from the OPERATIONAL to PRE-OPERATIONAL state. In the OPERATIONAL state, the I/O LED and RUN LED light up. Manual Version 1.2.0 134 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.2.5 STOPPED The STOPPED state reflects a fault condition. It is reached when NMT service Stop_Remote_Node has been received or when a serious internal error has occurred (e.g., I/O module was pulled during operation). In this state, communication via SDOs or PDOs is not possible. Only the NMT services and Node-Guarding/Heartbeat (if enabled) are executed. The STOPPED state can be exited via the NMT services Start_Remote_Node_Indication, Enter_Pre_Operational_State and Reset_Node. In the STOPPED state, the STOP LED lights up. 10.1.3.3 Network Management Objects 10.1.3.3.1 Module Control Protocols The NMT master can use these protocols to control the state of the NMT slave. The INITIALIZATION, PRE-OPERATIONAL, OPERATIONAL and STOPPED states are defined. It is possible to change the state of all nodes or each node individually to another state. 10.1.3.3.1.1 Start Remote Node This service is used to change the NMT slave (fieldbus coupler/controller) to the OPERATIONAL state. Figure 59: Start Remote Node Node ID = 0: All available nodes are switched to the OPERATIONAL state. 10.1.3.3.1.2 Stop Remote Node This service is used to change the NMT slave (fieldbus coupler/controller) to the STOPPED state. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 135 Figure 60: Stop Remote Node Node ID = 0: All available nodes are switched to the STOPPED state. 10.1.3.3.1.3 Enter Pre-Operational This service is used to change the NMT slave (fieldbus coupler/controller) to the PRE-OPERATIONAL state. Figure 61: Enter PRE-OPERATIONAL Node ID = 0: All available nodes are switched to the PRE-OPERATIONAL state. 10.1.3.3.1.4 Reset Node This service is used to reset the NMT slave (fieldbus coupler/controller). Figure 62: Reset Node Node ID = 0: All available nodes are reset. Manual Version 1.2.0 136 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.3.2 Error Control Protocols These protocols can be used to identify errors in the network. In this way, a master can check if a node is still in the designated state or if it has been switched to a different state (e.g., by a reset). 10.1.3.3.3 Node Guarding Protocol With Node Guarding, the NMT slave is prompted cyclically via an RTR frame to send its current state. An additional bit switch determines whether the NMT slave is still functioning correctly. Figure 63: Node Guarding Protocol 10.1.3.3.4 Heartbeat Protocol This protocol enables monitoring without RTR frames. A heartbeat generator generates a hearbeat message cyclically and n nodes receive it. In the heart message, the current state of the generator is encoded. Figure 64: Heartbeat Protocol Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 137 10.1.3.3.5 Boot-up Protocol This protocol indicates that the NMT slave has switched from the INITIALIZATION state to the PRE-OPERATIONAL state. It is executed following a hardware/software reset or following the “Reset Node” service. Figure 65: Bootup Protocol 10.1.3.4 Object Directory The object directory is the central location of a CANopen device where all configuration information is stored and accessed. The directory is organized in a table and includes three different types of CANopen objects: • Communication Profile Area (Index 0x1000 – 0x1FFF) This area includes all parameters relevant for CANopen communication. This area is the same for all CANopen devices. • Manufacturer-Specific Profile Area (Index 0x2000 – 0x5FFF) In the area, manufacturers cna implement their own company-specific objects. • Standardized Device Profile Area (Index 0x6000 – 0x9FFF) This area includes all objects that are supported by a specific device profile. The fieldbus coupler/controller supports device profile DS-401 (Device Profile for Generic I/O Modules). A logical addressing structure in the object directory is used to access communication and device parameters as well as data and functions. Every entry in the directory is identified by a 16-bit index. This index indicates the row address in the table. The maximum number of entries is 65536. If an object is composed of several components, the components are identified by an 8-bit sub-index. The sub-index indicates the column address in the table, the maximum number of entries being 256. Manual Version 1.2.0 138 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Every entry consists of: • An object name that describes the function of the object • A data type attribute that determines the data type of the entry • An access attribute that indicates whether the entry can be read, written or both The sub index 0 indicates the maximum number of the following subiindexes. The data is coded in the subsequent sub-indices. Table 97: Structure of CANopen Object Directory Index (hexadecimal) Object 0x0000 Not used 0x0001 – 0x001F Static data types 0x0020 – 0x003F Complex data types 0x0040 – 0x005F Manufacturer-specific data types 0x0060 – 0x007F Profile-specific static data types 0x0080 – 0x009F Profile-specific complex data types 0x00A0 – 0x0FFF Reserved 0x1000 – 0x1FFF Communication profile (DS 301) 0x2000 – 0x5FFF Manufacturer-specific parameters 0x6000 – 0x9FFF Parameters from the standardized device profiles 0xA000 – 0xFFFF Reserved The size of the object directory can cope with the worst case. Object entries that are not used due to the current I/O module configuration are disabled. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 139 10.1.3.4.1 Initialization After power-on, the connected I/O module configuration is determined. If a customized configuration was stored and the current I/O module configuration matches this configuration, then it is used to initialize the object directory. Otherwise, the object directory is initialized with a default configuration. 10.1.3.4.1.1 Default Configuration 10.1.3.4.1.1.1 Initialization of the Communication Profile Area All objects of this profile supported by the fieldbus coupler/controller are initialized according to the DS 301 default values (CANopen Application Layer and Communication Profile). Entering the default mapping parameters: The mapping parameters are preset based on the device profile used. The fieldbus coupler/controller supports the DS 401 profile and the procedure described there is used. The first 4 Rx-/Tx-PDOs are defined as the default PDOs. If there are more inputs/outputs on the fieldbus coupler/controller than can be covered with the default PDOs, all remaining inputs/outputs are entered from Rx/Tx-PDO 5. All digital inputs/outputs are entered first and then all analog inputs/outputs. Even if no analog I/O modules are available, it only continues with PDO 5 with more than 64 digital I/Os per input/output. PDO 2 to 4 then remain unused. In addition, a PDO is only preset with one data type, i.e., if there is a 3-byte and 4-byte I/O module, 2 PDOs are occupied with one entry. 1st Rx-PDO: The first Rx-PDO contains the first 8x8 digital outputs at the most. If there are no digital outputs, sub-index 0 has the value 0 and this PDO is not used by default. Table 98: 1. Rx-PDO: Idx S-Idx Comment 0x1600 0 Number of mapped objects 1 2 : 8 Manual Version 1.2.0 1st mapped digital output block 2nd mapped digital output block Default Value None, possible values: 0: No digital output block 1..8: 1..8 digital output blocks 0x6200 01 08 0x6200 02 08 8th mapped digital output block 0x6200 08 08 140 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 2nd Rx-PDO: The second Rx-PDO contains the 16-bit analog outputs 1 - 4 at the most. If there are no 16-bit analog outputs, sub-index 0 has the value 0 and this PDO is not used by default. Table 99: 2nd Rx-PDO Idx S-Idx Comment 0x1601 0 Number of mapped objects 1 2 3 4 1. Mapped 16-bit analog output 2nd mapped 16-bit analog output 3rd mapped 16-bit analog output 4th mapped 16-bit analog output Default Value None, possible values: 0: No analog output 1..4: 1 … 4 analog output 0x6411 01 10 0x6411 02 10 0x6411 03 10 0x6411 04 10 3rd Rx-PDO: The third Rx-PDO contains 16-bit analog outputs 5 - 8 at the most. If there are more than 4 16-bit analog outputs, sub-index 0 has the value 0 and this PDO is not used by default. Table 100: 3rd Rx-PDO: Idx S-Idx Comment 0x1602 0 Number of mapped objects 1 2 3 4 5th mapped 16-bit analog output 6th mapped 16-bit analog output 7th mapped 16-bit analog output 8th mapped 16-bit analog output Default Value None, possible values: 0: No analog output 1..4: 1 … 4 analog output 0x6411 05 10 0x6411 06 10 0x6411 07 10 0x6411 08 10 4th Rx-PDO: The fourth Rx-PDO contains 16-bit analog outputs 9 - 12 at the most. If there are more than 8 16-bit analog outputs, sub-index 0 has the value 0 and this PDO is not used by default. Table 101: 4th Rx-PDO Idx S-Idx Comment 0x1603 0 Number of mapped objects 1 2 3 4 9th mapped 16-bit analog output 10th mapped 16-bit analog output 11th mapped 16-bit analog output 12th mapped 16-bit analog output Default Value No, possible values: 0: No analog output 1..4: 1 …4 analog outputs 0x6411 09 10 0x6411 0A 10 0x6411 0B 10 0x6411 0C 10 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 141 1st Tx-PDO: The first Tx-PDO contains the first 8x8 digital inputs at the most. If there are no digital inputs, sub-index 0 has the value 0 and this PDO is not used by default. Table 102: 1st Tx-PDO: Idx S-Idx Comment 0x1A00 0 Number of mapped objects 1 2 : 8 1st mapped digital input block 2nd mapped digital input block : 8th mapped digital input block Default Value None, possible values: 0: No digital input block 1..8: 1..8 digital input blocks 0x6000 01 08 0x6000 02 08 : 0x6000 08 08 2nd Tx-PDO: The second Tx-PDO contains 16-bit analog input 1 - 4 at the most. If there are no 16-bit analog inputs, sub-index 0 has the value 0 and this PDO is not used by default. Table 103: 2nd Tx-PDO Idx S-Idx Comment 0x1A01 0 Number of mapped objects 1 2 3 4 1st mapped 16-bit analog input 2nd mapped 16-bit analog input 3rd mapped 16-bit analog input 4th mapped 16-bit analog input Default Value None, possible values: 0: No analog input 1..4: 1..4 analog inputs 0x6401 01 10 0x6401 02 10 0x6401 03 10 0x6401 04 10 3rd Tx-PDO: The third Tx-PDO contains 16-bit analog inputs 5 - 8 at the most. If there are more than 4 16-bit analog inputs, sub-index 0 has the value 0 and this PDO is not used by default. Table 104: 3rd Tx-PDO Idx S-Idx Comment 0x1A02 0 Number of mapped objects 1 2 3 4 Manual Version 1.2.0 5th mapped 16-bit analog input 6th mapped 16-bit analog input 7th mapped 16-bit analog input 8th mapped 16-bit analog input Default value None, possible values: 0: No analog input 1..4: 1..4 analog inputs 0x6401 05 10 0x6401 06 10 0x6401 07 10 0x6401 08 10 142 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 4th Tx-PDO: The fourth Tx-PDO contains 16-bit analog inputs 9 - 12 at the most. If there are more than 4 16-bit analog inputs, sub-index 0 has the value 0 and this PDO is not used by default. Table 105: 4th Tx-PDO Idx S-Idx Comment 0x1A03 0 Number of mapped objects 1 2 3 4 9th mapped 16-bit analog input 10th mapped 16-bit analog input 11th mapped 16-bit analog input 12th mapped 16-bit analog input Default Value None, possible values: 0: No analog input 1..4: 1..4 analog inputs 0x6401 09 10 0x6401 0A 10 0x6401 0B 10 0x6401 0C 10 Initialization of Manufacturer-Specific Profile Area This area is initialized as described in the object directory. Initialization of Device Profile Area All supported objects are initialized as defined in the standard DS 401. Pos : 46.2 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 143 Pos : 46.3 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Speic herfunkti on/F eldbus kommuni kati on/CANopen/Obj ekte Idx 0x1xxx F eldbus koppler/-c ontroll er 750-337, -338, - 347, -348, -837, - 838 @ 17\mod_1380269337570_21.doc x @ 132962 @ 56666666666666776666666666 @ 1 10.1.3.4.2 Communication Profile Area The following table lists all the communication profile objects supported by the fieldbus coupler/controller. Idx 0x1000 0x1001 0x1002 Name Device Type Error register Manufacturer Status Register Type Unsigned32 Unsigned8 Unsigned32 0x1003 Predefined error field 0x1005 COB-ID SYNC message Array Unsigned 32 Unsigned32 0x1006 Communication cycle period Unsigned32 0x1008 0x1009 0x100A 0x100C Manufacturer device name Manufacturer hardware version Manufacturer software version Guard time Visible string Visible string Visible string Unsigned16 0x100D 0x1010 Lifetime factor Store parameters 0x1011 Restore default parameters 0x1014 COB-ID emergency object Unsigned8 Array Unsigned 32 Array Unsigned 32 Unsigned32 0x1015 Inhibit time EMCY Unsigned32 0x1016 Consumer heartbeat time 0x1017 Producer heartbeat time Array Unsigned 32 Unsigned16 0x1018 0x1200 0x1201 0x1400 0x141F 0x1600 0x161F 0x1800 0x181F 0x1A00 0x1A1F Identity object Server SDO parameter Receive PDO communication parameter Receive PDO mapping parameter Transmit PDO communication parameter Transmit PDO mapping parameter Record identity Record SDO parameter Record PDO parameter Record PDO mapping Record PDO parameter Record PDO mapping Explanation Device profile Internal error Status Register (relevant for manufacturers) Save the last 20 errors that have occurred COB-ID for the synchronization object Max. time between 2 SYNC messages Device name Hardware version Software version Monitoring time for the “Life Guarding Protocol” Lifetime factor Parameters to store the configuration Parameter to restore the default configuration COB-ID for the emergency object Min. time between two EMCY messages Heartbeat monitoring time Time between two generated heartbeat messages Device information Parameter for server SDO Communication parameter for receive PDO Mapping parameter for the receive PDO Communication parameter for the transmit PDO Mapping parameter for the transmit PDO 10.1.3.4.2.1 Object 0x1000 – Device Type Table 106: Object 0x1000 – Device Type Idx S-Idx Name 0x1000 0 Device Type Manual Version 1.2.0 Type Unsigned32 Attribute RO Default Value - 144 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR This object indicates the implemented device profile. The CANopen fieldbus coupler/controller implemented the “Device Profile for Generic I/O Modules” (device profile no. 401). In addition, the value in index 0x1000 provides information about what type of I/O modules are plugged in. Table 107: Object 0x1000 – Structure, Device Type MSB LSB 0000.0000 0000.4321 Device Profile Device Profile Number Number 0x91 (Low Byte) 0x01 (High Byte) With bit 1 = 1, if at least on digital input is present. 2 = 1, if at least one digital output is present. 3 = 1, if at least one analog input is present. 4 = 1, if at least one analog output is present. 10.1.3.4.2.2 Object 0x1001 – Error Register Table 108: Object 0x1001 – Error Register Idx S-Idx Name 0x1001 0 Error register Type Unsigned8 Attribute RO Default Value - Internal errors are represented in this register. This register is also part of the emergency message. Table 109: Object 0x1001 – Structure, Error Register Bit Explanation 0 General error 1 Electricity 2 Voltage 3 Temperature 4 Communication 5 Device profile specific 6 Reserved 7 Manufacturer-specific If an error has arisen, bit 0 is always set. Additional bits that are set specify the error more precisely. 10.1.3.4.2.3 Object 0x1002 – Manufacturer Status Register Table 110: Object 0x1002 – Manufacturer Status Register Idx S-Idx Name Type 0x1002 0 Manufacurer Unsigned32 Status Register Attribute RO Default Value - Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 145 Control of object 0x1002 by object 5200 sub-index 6-8! Object 0x1002 can be activated and its content set by object 5200 sub-index 6-8 (see section “Fieldbus Communication”> … > “Object 0x5200 – Fieldbus Coupler/Controller Configuration”). Object 0x1002 is deactivated by default! 10.1.3.4.2.4 Object 0x1003 – Predefined Error Field Table 111: Object 0x1003 – Predefined Error Field Idx S-Idx Name Type 0x1003 0 Number of Unsigned8 errors 1 Standard error Unsigned32 field : : : 20 Standard error Unsigned32 field Attribute RW Default Value 0 RO - : RO : - Sub-index 0 contains the errors currently stored in the field. If a new error occurs, it is added to sub-index 1 and all existing errors are moved down one sub-index. A maximum of 20 error entries is supported. If more than 20 errors occur, the error at sub-index 20 is overwritten. Standard error field structure: Table 112: Object 0x1003 – Structure – Predefined Error Field Bit31 Bit16 Bit15 Additional Information Error code Bit0 The “Additional Information” corresponds to the first 2 bytes of the “Additional Code” from the Emergency telegram. The Error Code is the same as the Error Code in the Emergency telegram. By writing a 0 into sub-index 0, the complete error memory is deleted. 10.1.3.4.2.5 Object 0x1005 – COB-ID SYNC Message Table 113: Object 0x1005 – COB-ID SYNC Message Idx S-Idx Name Type 0x1005 0 COB-ID Unsigned32 SYNC Table 114: Object 0x1005 – Structure, COB-ID SYNC message Bit31 Bit11 Bit10 Reserved (always 0) COB-ID Manual Version 1.2.0 Attribute RW Bit0 Default Value 0x00000080 146 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.2.6 Object 0x1006 – Communication Cycle Period Table 115: Object 0x1006 – Communication Cycle Period Idx S-Idx Name Type 0x1006 0 Communicatio Unsigned32 n cycle period Attribute RW Default Value 0 The object defines the maximum time in µs for two consecutive SYNC messages. Internal resolution is 2ms. If this value is 0, SYNC monitoring does not take place. 10.1.3.4.2.7 Object 0x1008 – Manufacturer Device Name Table 116: Object 0x1008 – Manufacturer Device Name Idx S-Idx Name Type 0x1008 0 Manufacturer Visible string Device Name Attribute RO Default Value Fieldbus coupler/control ler item number The object specifies the device name of the fieldbus coupler/controller. 10.1.3.4.2.8 Object 0x1009 – Manufacturer Hardware Version Table 117: Object 0x1009 – Manufacturer Hardware Version Idx S-Idx Name Type 0x1009 0 Manufacturer Visible string hardware version Attribute RO The object specifies the current hardware version of the fieldbus coupler/controller. Default Value Current hardware version 10.1.3.4.2.9 Object 0x100A – Manufacturer Software Version Table 118: Object 0x100A – Manufacturer Software Version Idx S-Idx Name Type 0x100A 0 Manufacturer Visible string software version Attribute RO The object specifies the current software version of the fieldbus coupler/controller. Default Value Current software version 10.1.3.4.2.10 Object 0x100C – Guard Time Table 119: Object 0x100C – Guard Time Idx S-Idx Name 0x100C 0 Guard time Type Unsigned16 Attribute RW Default Value 0 This object specifies the Guard Time in milliseconds. An NMT master requests the state of the NMT slave in a cyclical manner. The time between two requests is the Guard Time. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 147 10.1.3.4.2.11 Object 0x100D – Life Time Factor Table 120: Object 0x100D – Life Time Factor Idx S-Idx Name 0x100D 0 Life time factor Type Unsigned8 Attribute RW Default Value 0 The Life Time Factor is part of the Node Guarding Protocol. The NMT slave checks whether it was queried within the Node Life Time (guard time multiplied by the Life Time Factor). If not, the slave must assume that the NMT master is no longer in normal operation. It then initiates a Life Guarding Event. If the Node Life Time is zero, there is no monitoring. 10.1.3.4.2.12 Object 0x1010 – Store Parameters Table 121: Object 0x1010 – Store Parameters Idx S-Idx Name Type 0x1010 0 Max. Unsigned8 supported subindex 1 Save all Unsigned32 parameters Attribute RO Default Value 1 RW 1 This object can be used to permanently store the user's settings. To do so, the signature “save” (lower case letters ASCII - MSB – 0x65 76 61 73 - LSB) must be written to index 0x1010 sub-index 1. The save operation is carried out in the background. It takes approx. 2 - 3 seconds. When done, the SDO reply telegram is sent. During the save operation, SDO communication can continue. An error message only appears if an attempt to save is made when the previous command is not yet completed. Likewise, it is not possible to save when “Restore” is still active. Once a setting has been saved, the Emergency “Changed HW configuration” is no longer sent when rebooting the fieldbus coupler/controller with changing the module configuration. Attention! If only the module ID is changed via the DIP switch after saving the configuration, the saved configuration is still used. In other words, all module IDspecific entries in the object directory (objects that are module ID dependent and that have the “rw” attribute) report with the old values (e.g., Emergency ID, etc.). Manual Version 1.2.0 148 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.2.13 Object 0x1011 – Restore Default Parameters Table 122: Object 0x1011 – Restore Default Parameters Idx S-Idx Name Type 0x1011 0 Max. supported sub-index Unsigned8 1 Set all parameters to default Unsigned32 values 2 Unsigned32 3 Unsigned32 4 Set all parameters to default Unsigned32 values once Attribute RO RW Default Value 4 1 RW RW RW 0 0 1 This object can be used to reset the parameters stored by the user to the default settings. Sub-indices 2 and 3 are not supported. The Load command is processed in the background. It takes approx. 2 - 3 seconds. When done, the SDO reply telegram is sent. During the Load operation, SDO communication can continue. An error message only appears if an attempt is made to process a load command again when the previous command is not yet completed. Likewise, it is not possible to trigger a load command when “Save” is still active. 10.1.3.4.2.13.1 Sub-Index 1 ‒ Permanent Entry Default Parameters By writing the “load” signature (lower-case letters ASCII - MSB 0x64 0x61 0x6F 0x6C LSB) to index 0x1011, sub-index 1, the factory default settings are loaded after the next and all subsequent “Power ON” operations (up to the next SAVE command). 10.1.3.4.2.13.2 Sub-Index 4 ‒ One-Time Entry of Default Paramters By writing the “load” signature (lower-case letters ASCII - MSB 0x64 0x61 0x6F 0x6C LSB) to index 0x1011, sub-index 4, the factory default settings are loaded once after the subsequent “Power ON”. The saved configuration is loaded after each subsequent “Power ON”. This can be used, for example, in the development phase to compare behaviors between the saved and default configuration without having to reset or save all parameters each time. Procedure: Replace the saved configuration by the default configuration once. -> load (Index 0x1011, Sub-Index 4) -> Reset -> Default Values (In this state, the Load command (Index 0x1011, Sub-Index 4) cannot be used again!) -> Reset -> Saved Configuration Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 149 10.1.3.4.2.14 Object 0x1014 – COB-ID Emergency Object Table 123: Object 0x1014 – COB-ID Emergency Object Idx S-Idx Name Type 0x1014 0 COB-ID Unsigned32 EMCY Attribute RW The object defines the COB-ID for the EMCY message. Table 124: Object 0x1014 – Structure, COB-ID Emergency Object Bit31 Bit 30 Bit11 Bit10 0/1 Reserved COB-ID valid/invalid (always 0) Default Value 0x80+ModuleI D Bit0 To enter a new COB-ID, bit 31 must first be set to 1 because a valide COB-ID (Bit31=0) cannot be changed according to standard DS301. 10.1.3.4.2.15 Object 0x1015 – Inhibit Time Emergency Object Table 125: Object 0x1015 – Inhibit Time Emergency Object Idx S-Idx Name Type 0x1015 0 Inhibit time Unsigned16 EMCY Attribute RW Default Value 0 This object specifies the minimum time that must elapse before another emergency is sent. An entry equal to zero deactivates delayed sending. Since with delayed transmission the entries are entered in a queue, the maximum number of consecutive fast emergencies is limited to the queue size (20 entries). If this number is exceeded, an emergency is sent immediately that reports the overflow. One unit of time is 100 µs. Example: Minimum time interval between two EMCY 30 ms Index 0x1015 = 300 = 0x12C 10.1.3.4.2.16 Object 0x1016 – Consumer Heartbeat Time Table 126: Object 0x1016 – Consumer Heartbeat Time Idx S-Idx Name Type 0x1016 0 Max. monitorable modules Unsigned8 1 1st heartbeat time entry Unsigned32 2 2nd heartbeat time entry Unsigned32 3 3rd heartbeat time entry Unsigned32 4 4th heartbeat time entry Unsigned32 5 5th heartbeat time entry Unsigned32 Attribute RO RW RW RW RW RW Default Value 5 0 0 0 0 0 This entry enables monitoring of up to 5 modules. A check is made to determine whether each module defined in this object has generated a heartbeat within the set time. If the set time has been exceeded, a heartbeat event is triggered. The heartbeat time is entered in milliseconds. If the time is 0, monitoring is deactivated. Manual Version 1.2.0 150 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 127: Object 0x1016 – Structure, Consumer Heartbeat Time MSB Bit 31-24 23-16 Value Reserved Module ID Data Type Unsigned8 LSB 15-0 Heartbeat time Unsigned16 10.1.3.4.2.17 Object 0x1017 – Producer Heartbeat Time Table 128: Object 0x1017 – Producer Heartbeat Time Idx S-Idx Name Type 0x1017 0 Producer Unsigned16 heartbeat time Attribute RW Default Value 0 This object defines the time (in milliseconds) between two transmitted heartbeats. No heartbeat is sent if the time is set to 0. As soon as a value other than 0 is entered, the heartbeat transfer begins. 10.1.3.4.2.18 Object 0x1018 – Identity Object Table 129: Object 0x1018 – Identity Object Idx S-Idx Name 0x1018 0 Max. supported entries 1 Manufacturer ID 2 Device Description 3 Revision number 4 Serial number Type Unsigned8 Unsigned32 Unsigned32 Unsigned32 Unsigned32 Attribute RO RO RO RO RO This object specifies the device being used. Default Value 4 33 3xx / 8xx akt. Rev.-Nr. Curr. serial No. The manufacturer ID contains a unique number for each manufacturer. WAGO has been assigned an ID of 33. The device description reflects the family of products concerned. The revision No. includes a specific CANopen behavior. The Major Rev. No. is increased when the functionality changes. You can use the Minor Rev. No. to distinguish between different versions with the same CANopen behavior. Table 130: Structure of the Rev. No. Bit31 Bit16 Major Rev. No. Bit15 Minor Rev. No. Bit0 The serial number is a number unique to this device family. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 151 10.1.3.4.2.19 Object 0x1200 … 0x1201 – Server SDO Table 131: Object 0x1200 … 0x1201, Server SDO Idx S-Idx Name Type 0x1200 to 0 Max. supported Unsigned8 0x1201 entries 1 COB-ID Unsigned32 Client->Server (Rx) 2 Attribute RO Default Value 2 Idx 0x1200 RO Idx 0x1200 Idx 0x1201 RW 0x600+Module ID Idx 0x1201 0x80000000 COB-ID Unsigned32 Idx 0x1200 RO Idx 0x1200 Server->Client (Tx) Idx 0x1201 RW 0x580+Module ID Idx 0x1201 0x80000000 This object is used to access the entries in the object directory. The second SDO is disabled by default. It is not permitted to change the COB-IDs of the second SDO if they are active (bit 31 = 0). Table 132: Structure of the COB-ID – Server SDO Bit31 Bit 30 Bit11 0/1 Reserved (always 0) valid/invalid Bit10 COB-ID Bit0 10.1.3.4.2.20 Object 0x1400 … 0x141F – Receive PDO Communication Parameter Table 133: Object 0x1400 … 0x141F – Receive PDO Communication Parameter Idx S-Idx Name Type Attribut Default Value e 0x1400 0 Max. supported Unsigned8 RO 2 through entries 0x141F 1 COB-ID Unsigned32 RW Idx 0x1400 0x200+Module ID Idx 0x1401 0x300+Module ID Idx 0x1402 0x400+Module ID Idx 0x1403 0x500+Module ID Idx 0x1404-141F 0x80000000 2 Transfer type Unsigned8 RW 255 This object is used to set the communication parameters of the Rx-PDOs. 32 RxPDOs are supported. The default COB-IDs from the first four PDOs are preassigned per DS301. All other PDOs are disabled. If not all default PDOs are used (e.g., fewer I/O modules are connected), the unused default PDOs are also disabled. Table 134: Structure of the COB-ID – Receive PDO Communication Parameter Bit31 Bit 30 Bit11 Bit10 0/1 Reserved (always 0) COB-ID valid/invalid Bit0 If a new COB-ID is entered, bit 31 must first be set to 1 because a valid COB-ID (Bit31=0) cannot be changed according to standard DS301. One data transfer mode (transmission type in “Index Communication Parameter”) can be defined for each PDO. Digital and analog entries are transmitted by default 'Change of Value' (COV). Manual Version 1.2.0 152 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR The following table explains the type of transfer depending on the set “Transmission Type”. Table 135: Mode for Data Transmission PDO Transmission Transfer Type 0 cyclic acyclic 1 – 240 X 241 - 251 252 - reserved - X Synchro Asynchr RTR Tx-PDO nous onous only (inputs) X If COV is transmitted with each SYNC X Transmission with each nth SYNC (x = 1 through 240) Rx-PDO (outputs) Set outputs after each SYNC as requested by the last PDO received Set outputs after each SYNC as required by the last PDO received X Not supported X Data is read again with a SYNC, but not sent, Request via RTR 253 X X Request via RTR 254 X COV 1) 255 X COV 1) 1) The data is transmitted at the interval of the “Inhibit Time” set COV COV COV 10.1.3.4.2.21 Object 0x1600 … 0x161F – Receive PDO Mapping Parameter Table 136: Object 0x1600 … 0x161F – Receive PDO Mapping Parameter Idx S-Idx Name Type Attribute Default Value 0x1600 0 Number of mapped objects Unsigned8 RW through 0x161F 1 to 8 1st object through 8th object Unsigned32 RW - This object is used to determine the data that is sent via the PDO. Sub-index 0 contains the number of objects that are valid for the PDO. Table 137: Object 0x1600 … 0x161F- Structure, Objects 1 to 8 Bit31 Bit16 Bit 15 Bit8 Index Sub-Index (Index of the object to be (Sub-index of the object to be transmitted) transmitted) Bit7 Bit0 Object Length (size of object in bits Because a maximum of 8 bytes can be transmitted in one PDO, the sum of the valid object lengths may not exceed 64 (8 bytes x 8 bits).) Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 153 10.1.3.4.2.22 Object 0x1800 … 0x181F – Transmit PDO Communication Parameter Table 138: Object 0x1800 … 0x181F – Transmit PDO Communication Parameter Idx S-Idx Name Type Attribut Default Value e 0x1800 0 Max. Unsigned8 RO 5 through supported 0x181F entries 1 COB-ID Unsigned32 RW Idx 0x1800 0x180+Module ID Idx 0x1801 0x280+Module ID Idx 0x1802 0x380+Module ID Idx 0x1803 0x480h+Module ID Idx 0x1804-181F 0x80000000 2 Transfer type Unsigned8 RW 255 3 Inhibit Time Unsigned16 RW Idx 0x1800 0 Idx 0x1801 – 181F 100 4 Reserved Unsigned8 RW 0 5 Event Timer Unsigned16 RW 0 This object is used to set the communication parameters of the Tx-PDOs. 32 TxPDOs are supported. The default COB-IDs from the first four PDOs are preassigned per DS301. All other PDOs are disabled. If not all default PDOs are used (e.g., fewer I/O modules are connected), the unused default PDOs are also disabled. “Inhibit Time” specifies the minimum time between two consecuitive PDOs with the same COB-ID. One unit of time is 100°µs. The transmitted value is rounded down internally to the nearest millisecond. If a new value is entered, the COB-ID must be set invalid (Bit31 = 1) because a new time cannot be entered when the COB-ID is valid (Bit31 = 0) according to standard DS301. Example: The minimum interval between two PDOs with the same COB-ID should be 30 ms: Sub-Index 3 = 300 = 0x12C The “Event Timer” specifies the time after which a PDO is sent, even if no change has been made to the PDO data. The time should be entered in milliseconds, and the timer is started each time an event (change of PDO data) occurs. If the time is shorter than the “Inhibit Time”, another event is generated after the “Inhibit Time” elapses! Attention The “Event Timer” can only be used for transfer types 254/255. Attention An object entry can only be mapped in max. 3 different PDOs. Manual Version 1.2.0 154 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.2.23 Object 0x1A00 … 0x1A1F, Transmit PDO Mapping Parameter Table 139: Object 0x1A00 … 0x1A1F, Transmit PDO Mapping Parameter Idx S-Idx Name Type Attribute 0x1A00 0 Number of mapped Unsigned8 RW through objects 0x1A1F 1 to 8 1st object through 8th Unsigned32 RW object Default Value - This object is used to determine the data that is sent via the PDO. Sub-index 0 contains the number of objects that are valid for the PDO. Structure of objects 1 to 8: Table 140: Object 0x1A00 … 0x1A1F-Structure, Transmit PDO Mapping Parameter Bit31 Bit16 Bit 15 Bit8 Bit7 Bit0 Index Sub-Index Object Length (Index of the object to be (Sub-index of the object to be (Size of object in bits Because a maximum of 8 bytes transmitted) transmitted) can be transmitted in one PDO, the sum of the valid object lengths may not exceed 64 (8 bytes x 8 bits).) Pos : 46.4 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 155 Pos : 46.5 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Speic herfunkti on/F eldbus kommuni kati on/CANopen/Obj ekte Idx 0x2xxx - 0x5xxx Fel dbus koppl er/-contr oller 750-3xx, - 8xx @ 17\mod_1380269640771_21.doc x @ 132966 @ 56666666666666666666666666666 @ 1 10.1.3.4.3 Manufacturer Specific Profile Area The non-standard device profile-specific I/O functionality of I/O modules and other modules, as well as other functionalities (e.g., empty module configuration, etc.) are mapped in the 'Master Specific Area' profile. The objects defined therein provide data word widths from 1 to 8 bytes. Indices 0x2000 (digital inputs), 0x2100 (digital outputs), 0x2400 (2-byte I/O module inputs) and 0x2500 (2-byte I/O module outputs) are relfected by the respective indices of device profile DS 401 (0x6000, 0x6200, 0x6401, 0x6411). This means that, for example, object 0x2000 and object 0x6000 refer to the same location in the process image. The following table lists all objects of the manufacturer profile supported by the fieldbus coupler/controller. Manual Version 1.2.0 156 Fieldbus Communication Idx 0x2000 0x2100 0x2200 0x2300 0x2400 Name Digital Inputs Digital Outputs 1-byte module inputs 1-byte module outputs 2-byte module inputs 0x2500 2-byte module outputs 0x2600 0x2700 0x2800 0x2900 0x3000 0x3100 0x3200 0x3300 0x3400 0x3500 0x3600 0x3700 0x38000x380F 0x39000x390F 0x42000x4202 0x43000x4302 0x4500 3-byte module inputs 3-byte module outputs 4-byte module inputs 4-byte module outputs 5-byte module inputs 5-byte module outputs 6-byte module inputs 6-byte module outputs 7-byte module inputs 7-byte module outputs 8-byte module inputs 8-byte module outputs Special 9+ byte input 0x5000 0x5001 0x5200 0x5201 0x5202 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Type Array Unsigned 8 Array Unsigned 8 Array Unsigned 8 Array Unsigned 8 Array Unsigned 16 Array Unsigned 16 Record Record Record Record Record Record Record Record Record Record Record Record Array Unsigned 8 Explanation Data of digital input modules Data of digital output modules Data of 1-byte input modules Data of 1-byte output modules Data of 2-byte input modules Gateway module input Data of 3-byte input modules Data of 3-byte output modules Data of 4-byte input modules Data of 4-byte output modules Data of 5-byte input modules Data of 5-byte output modules Data of 6-byte input modules Data of 6-byte output modules Data of 7-byte input modules Data of 7-byte output modules Data of 8-byte input modules Data of 8-byte output modules Data of I/O modules with more than 8 bytes of input data Array Unsigned 8 Data of I/O modules with more than 8 bytes of output data Record Input data of gateway modules Gateway module output Record Output data of gateway modules Empty module configuration Input PI Output PI Coupler configuration object Record Configuration of virtual I/O modules Record Record Record Reading the input process image Writing the output process image PDO processing, flashing indicator, disable I/O module diagnostics, selection of content for object 0x1002, data content acc. mode setting of object 0x5200/Sub6, content of SDO 0x1002 Diagnostic behavior of connected I/O modules Physical configuration of connected I/O modules Special 9+ byte output Configuration object Array of Byte diagnostics Module configuration object Array of Byte Data of 2-byte output modules Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 157 10.1.3.4.3.1 Object 0x2000 – Digital Inputs Table 141: Object 0x2000 – Digital Inputs Idx S-Idx Name Type 0x2000 0 1 …. 255 8-bit digital input block 1st digital input block …. 255th digital input block Unsigned8 Attributes Default Value RO - Unsigned8 RO - …. Unsigned8 …. RO …. - Explanation Number of 8-bit digital input blocks 1st digital input block …. 255th digital input block 10.1.3.4.3.2 Object 0x2100 – Digital Outputs Table 142: Object 0x2100 – Digital Outputs Idx S-Idx Name Type 0x2100 0 1 …. 255 8-bit digital output block 1st digital output block …. 255th digital output block Unsigned8 Attribute Default s Value RO - Unsigned8 RW 0 …. Unsigned8 …. RW …. 0 Explanation Number of 8-bit digital output blocks 1st digital output block …. 255th digital output block 10.1.3.4.3.3 Object 0x2200 – 1-Byte I/O Modules, Inputs Table 143: Object 0x2200 – 1-Byte I/O Modules, Inputs Idx S-Idx Name Type Attribute Default s Value 0x2200 0 Special 1 byte input Unsigned8 RO 1 …. 254 1st special input Unsigned8 …. …. 254th special input Unsigned8 RO …. RO …. - Explanation Number of 1-byte special channels 1st input channel …. 254th input channel 10.1.3.4.3.4 Object 0x2300 – 1-Byte I/O Modules, Outputs Table 144: Object 0x2300 – 1-Byte I/O Modules, Outputs Idx S-Idx Name Type Attribute s 0x2300 0 special 1 byte Unsigned8 RO output 1 1st special output Unsigned8 RW …. …. …. …. 254 254th special Unsigned8 RW output Manual Version 1.2.0 Default Value 0 …. 0 Explanation Number of 1-byte special channels 1st output channel …. 254th output channel 158 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.3.5 Object 0x2400 – 2-Byte I/O Modules, Inputs Table 145: Object 0x2400 – 2-Byte I/O Modules, Inputs Idx S-Idx Name Type Attributes Default Explanation Value 0x2400 0 special 2 byte output Unsigned8 RO Number of 2-byte special channels 1 1st special input Unsigned16 RO 1st input channel …. …. …. …. …. …. 254 254th special input Unsigned16 RO 254th input channel 10.1.3.4.3.6 Object 0x2500 – 2-Byte I/O Modules, Outputs Table 146: Object 0x2500 – 2-Byte I/O Modules, Outputs Idx S-Idx Name Type Attributes Default Value 0x2500 0 special 2 byte Unsigned8 RO output 1 1st special Unsigned16 RW 0 output …. …. …. …. …. 254th special Unsigned16 RW 0 output Explanation Number of 2-byte special channels 1st output channel …. 254th output channel 10.1.3.4.3.7 Object 0x2600 – 3-Byte I/O Modules, Inputs Table 147: Object 0x2600 – 3-Byte I/O Modules, Inputs Idx S-Idx Name Type Attributes Default Value 0x2600 0 special 3 byte Unsigned8 RO input 1 1st special input Unsigned24 …. …. …. …. …. 170 170th special Unsigned24 RO input Explanation Number of 3-byte special channels 1st input channel …. 170th input channel 10.1.3.4.3.8 Object 0x2700 – 3-Byte I/O Modules, Outputs Table 148: Object 0x2700 – 3-Byte I/O Modules, Outputs Idx S-Idx Name Type Attributes Default Value 0x2700 0 special 3 byte Unsigned8 RO output 1 1st special Unsigned24 RW 0 output …. …. …. …. …. 170 170th special Unsigned24 RW 0 output Explanation Number of 3-byte special channels 1st output channel …. 170. Output channel Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 159 10.1.3.4.3.9 Object 0x2800 – 4-Byte I/O Modules, Inputs Table 149: Object 0x2800 – 4-Byte I/O Modules, Inputs Idx S-Idx Name Type Attributes Default Value 0x2800 0 special 4 byte Unsigned8 RO input 1 1st special input Unsigned32 RO .... .... .... .... .... 128 128th special Unsigned32 RO input Explanation Number of 4-byte special channels 1st input channel .... 128th input channel 10.1.3.4.3.10 Object 0x2900 – 4-Byte I/O Modules, Inputs Table 150: Object 0x2900 – 4-Byte I/O Modules, Outputs Idx S-Idx Name Type Attributes Default Value 0x2900 0 special 4 byte Unsigned8 RO output 1 1st special input Unsigned32 RO 0 …. .... .... .... .... 128 128th special Unsigned32 RW 0 output Explanation Number of 4-byte special channels 1st output channel .... 128th output channel 10.1.3.4.3.11 Object 0x3000 – 5-Byte I/O Modules, Inputs Table 151: Object 0x3000 – 5-Byte I/O Modules, Inputs Idx S-Idx Name Type Attributes Default Value 0x3000 0 special 5 byte Unsigned8 RO input 1 1st special input Unsigned40 RO …. …. …. …. …. 102 102th special Unsigned40 RO input Explanation Number of 5-byte special channels 1st input channel …. 102nd input channel 10.1.3.4.3.12 Object 0x3100 – 5-Byte I/O Modules, Outputse Table 152: Object 0x3100 – 5-Byte I/O Modules, Outputs Idx S-Idx Name Type Attributes Default Value 0x3100 0 special 5 byte Unsigned8 RO output 1 1st special Unsigned40 RW 0 output .... .... .... .... .... 102 102th special Unsigned40 RW 0 output Manual Version 1.2.0 Explanation Number of 5-byte special channels 1st output channel .... 102nd output channel 160 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.3.13 Object 0x3200 – 6-Byte I/O Modules, Inputs Table 153: Object 0x3200 – 6-Byte I/O Modules, Inputs Idx S-Idx Name Type Attributes Default Value 0x3200 0 special 6 byte Unsigned8 RO input 1 1st special input Unsigned48 RO .... .... .... .... .... 85 85th special Unsigned48 RO input Explanation Number of 6-byte special channels 1st input channel .... 85th input channel 10.1.3.4.3.14 Object 0x3300 – 6-Byte I/O Modules, Outputs Table 154: Object 0x3300 – 6-Byte I/O Modules, Outputs Idx S-Idx Name Type Attributes Default Value 0x3300 0 Special 6 byte Unsigned8 RO output 1 1st special Unsigned48 RW 0 output .... .... .... .... .... 85 85th special Unsigned48 RW 0 output Explanation Number of 6-byte special channels 1st output channel .... 85th input channel 10.1.3.4.3.15 Object 0x3400 – 7-Byte I/O Modules, Inputs Table 155: Object 0x3400 – 7-Byte I/O Modules, Inputs Idx S-Idx Name Type Attributes Default Value 0x3400 0 Special 7 byte Unsigned8 RO input 1 1st special input Unsigned56 RO .... .... .... .... .... 73 73rd special Unsigned56 RO input Explanation Number of 7-byte special channels 1st input channel .... 73rd input channel 10.1.3.4.3.16 Object 0x3500 – 7-Byte I/O Modules, Outputs Table 156: Object 0x3500 – 7-Byte I/O Modules, Outputs Idx S-Idx Name Type Attributes Default Value 0x3500 0 Special 7 byte Unsigned8 RO output 1 1st special Unsigned56 RW 0 output .... .... .... .... .... 73 73th special Unsigned56 RW 0 output Explanation Number of 7-byte special channels 1st output channel .... 73rd output channel Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 161 10.1.3.4.3.17 Object 0x3600 – 8-Byte I/O Modules, Inputs Table 157: Object 0x3600 – 8-Byte I/O Modules, Inputs Idx S-Idx Name Type Attributes Default Value 0x3600 0 special 8 byte Unsigned8 RO input 1 1st special input Unsigned64 RO …. …. …. …. …. 64 64th special Unsigned64 RO input Explanation Number of 8-byte special channels 1st input channel …. 64th input channel 10.1.3.4.3.18 Object 0x3700 – 8-Byte I/O Modules, Outputs Table 158: Object 0x3700 – 8-Byte I/O Modules, Outputs Idx S-Idx Name Type Attributes Default Value 0x3700 0 Special 8 byte Unsigned8 RO output 1 1st special Unsigned64 RW 0 output …. …. …. …. …. 64 64th special Unsigned64 RW 0 output Explanation Number of 8-byte special channels 1st output channel …. 64th output channel 10.1.3.4.3.19 Object 0x3800 … 0x380F – 9+ Byte I/O Modules – Inputs Table 159: Object 0x3800 … 0x380F – 9+ Byte I/O Modules – Inputs Idx S-Idx Name Type Attributes Default Value 0x3800- 0 Special 9+ byte Unsigned8 RO 0x380F input 1 …. 48 1st data byte …. 48th data byte Unsigned8 …. Unsigned8 RO …. RO 0 …. 0 Explanation Number of data bytes of the I/O module 1st data byte …. 48th data byte These object contain I/O modules with a data width of min. 9 bytes. One I/O module is mapped per object. Each data byte is assigned to a sub-index. Each subindex can be mapped in PDOs. Attention: The respective application is responsible for data consistency. Manual Version 1.2.0 162 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.3.20 Object 0x3900 … 0x390F – 9+ Byte I/O Modules – Outputs Table 160: Object 0x3900 … 0x390F – 9+ Byte I/O Modules – Outputs Idx S-Idx Name Type Attributes Default Value 0x3900- 0 Special 9+ byte Unsigned8 RO 0x390F input 1 1st data byte Unsigned8 RW 0 …. …. …. …. …. 48 48th data byte Unsigned8 RW 0 Explanation Number of data bytes of the I/O module 1st data byte …. 48th data byte These object contain I/O modules with a data width of min. 9 bytes. One I/O module is mapped per object. Each data byte is assigned to a sub-index. Each subindex can be mapped in PDOs. Attention: The respective application is responsible for data consistency. 10.1.3.4.3.21 Object 0x4200 … 0x4202 – Gateway Module Input Table 161: Object 0x4200 … 0x4202 – Gateway Module Input Idx S-Idx Name Type Attributes Default Value 0x4200- 0 Largest subUnsigned8 RO 0x4202 index supported 1 Mailbox length Unsigned8 RO 2 Mailbox Octet String RO 3-30 Gateway Unsigned8 RW process data Explanation Max. supported subindex Size of the mailbox Mailbox Process data of the gateway module The status byte is shown per module. It takes the first position in the mailbox followed by an empty byte and then the actual mailbox data. Example: Status, 6-byte mailbox, 4 bytes of data Table 162: Data in the Input Process Image Data in the input process image S MB1 MB2 MB3 MB4 Table 163: Entries in the Object Directory Entries in the object directory Sub0 6 Sub1 8 Sub2 S Sub3 D1 Sub4 D2 Sub5 D3 Sub6 D4 - MB5 MB6 MB1 D1 MB2 MB3 D2 MB4 D3 MB5 D4 MB6 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 163 10.1.3.4.3.22 Object 0x4300 … 0x4302 – Gateway Module Output Table 164: Object 0x4300 … 0x4302 – Gateway Module Output Idx S-Idx Name Type Attributes Default Value 0x4300- 0 Largest subUnsigned8 RO 0x4302 index supported 1 Mailbox length Unsigned8 RO 2 Mailbox Octet String RW 3-30 Gateway Unsigned8 RW process data Explanation Max. supported subindex Size of the mailbox Mailbox Process data of the gateway module The control byte is shown per module. It takes the first position in the mailbox followed by an empty byte and then the actual mailbox data. Example: Control, 6-byte mailbox, 4 bytes of data Table 165: Control – 6-Byte Mailbox, 4 Bytes of Data Data in the input process image C MB1 MB2 MB3 MB4 MB5 Table 166: Entries in the Object Directory Entries in the object directory Sub0 Sub1 Sub2 Sub3 Sub4 Sub5 Sub6 6 8 C D1 D2 D3 D4 MB6 D1 D2 D3 D4 MB1 MB2 MB3 MB4 MB5 MB6 10.1.3.4.3.23 Object 0x4500 – Empty Module Configuration Table 167: Object 0x4500 – Empty Module Configuration Idx S-Idx Name Type Attributes Default Value 0x4500 0 Number of Unsigned8 RW 0 virtual I/O modules connected 1 .... 64 1st I/O module description .... 64th I/O module description Explanation Unsigned16 RW 0 0 not active 1 .. 64 number of max. I/O modules connected (physical + virtual) 1st I/O module .... Unsigned16 .... RW .... 0 .... 64th I/O module This object can be used to add virtual I/O modules to the node. You can, for example, design a maximum node configuration and then create a new node that represents a subset of the maximum configuration. From it's object entries, the new node behaves as the maximum configuration with respect to connected I/O Manual Version 1.2.0 164 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR modules. Other applications (CANopen master, etc.), designed for the maximum configuration, access any subset without changing its settings. Likewise, you can add blanks spaces from the start for possible future extensions, making subsequent mapping adjustments unnecessary. • Sub-index 0 Sub-index 0 = 0: Show virtual I/O modules not activ Sub-index 0 ≠ 0 Show virtual I/O modules active The entry specifies the number of connected I/O modules in the maximum configuration. When setting the value of 0 to > 0, the configruation as described from sub-index 1 is generated. When generating the new configuration, all previous settings that are not stored permanently are overwritten and the process image reset. For this reason, index 0x4500 should always be configured first and then all other settings (mapping, sync time, etc.). Sub-index 0 can only be set when in the PRE-OPERATIONAL state. When the new configuration is generated with no errors, an emergency is transmitted with the parameters PP=LL=SS=0. If an error occurs when generating the new configuration (e.g., more I/O modules are connected than configured), a corresponding Emergency is transmitted. The fieldbus coupler/controller starts with the default configuration based on the connected I/O modules and goes into the STOP state. • Emergency Message Error Code 0x5000 Error Register 0x81 • Additional Code 00 03 PP LL SS PP: Specifies the physical slot of the I/O module where the error has occurred LL: Specifies the logical slot (slot in the maximum configuration) of the I/O module where the error has occurred SS: Cause of the error Emergency setup in the event of a faulty configuration Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 165 Table 168: Parameter: SS (Cause of the Error) Bit 4..7 Bit 0..3 Description 0 1 Analog input/output module acc. configuration expected 0 2 Digital input/output module acc. configuration expected 0 3 Output module acc. configuration expected 0 4 Input module acc. configuration expected 0 5 Digital input/output module: Incorrect number of bits of the entire module (bits pro channel * No. of channels). N Analog input/output module: Module with n channels acc. configuration expected 0 6 More I/O modules connected than configured 0 7 Digital input module / output modules: invalid Analog input module / output modules: Incorrect number of bytes per channel Gateway I/O modules: Incorrect total size in the process image 0 8 Gateway I/O module acc. configuration expected 0 9 Incorrect specification of the mailbox size 0 10 Fewer I/O modules connected than configured Important note! If dignostic messages from I/O modules arise from the Emergence message, display of the I/O module position always refers to the logical position of the I/O module in the node. Consequently, these messages are always the same, regardless of the node configuration. Sub-Index 1..64 Sub-index 1..64 contains the configuration of the node in the maximum configuration. Each index stands for a connected I/O module (sub-index.1 1st I/O module, sub-index.2 2nd I/O module, etc.). In these indices, the respective I/O module is described in detail. Structure of the sub-index: Table 169: Structure of the Sub-Index MSB 15 14 13 12 11 10 9 Kl Reserved Bits/Bytes Manual Version 1.2.0 8 7 6 5 4 Channels 3 2 Out put LSB 1 0 Inpu A/D t 166 Fieldbus Communication 15 Kl 14 G 13 12 Total size WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 11 10 9 8 7 6 MB size 5 4 3 2 1 0 Outp Inpu A/D ut t A/D: Indicates whether an analog or digital input/output module is at issue 0 = analog, 1 = digital Input: Indicates whether an input module is at issue 0 = No input module, 1 = Input module *1) Output: Indicates whether an output module is at issue 0 = No output module, 1 = Output module *1) Channels: Indicates the number of channels of the I/O module Bits/Bytes: Specifies the number of bytes (analog input/output module) or bits (digital input/output module) per channel shown in the process image Reserved: Reserved Kl: Indicates if the I/O module is plugged in 0 = I/O module not plugged in, 1 = I/O module plugged in MB size: Indicates the size of the mailbox Total Indicates the size in bytes of the entire gateway module in the PI (mailbox size + size: process data) G Indicates whether a gateway module is at issue 0 = No gateway module, 1 = Gateway module *1) The input and output bit can be set at the same time (e.g., digital output module with diagnostics, this I/O module has input and output bits) Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 167 Example: A node with the following configuration is designed: Module Module Module Module Module Module Module 1 2 3 4 5 6 7 Figure 66: Example Configuration of a Node, Maximum Configuration Module 8 Module 9 Configuration for the maximum configuration: Table 170: Configuration for the Maximum Configuration Sub-Index Value Explanation 0 0x09 Total number of connected(9) and virtual(0) I/O modules 1 0x8063 Digital, input, 4 channels, 1 bit per channel, connected (Bl. 1) 2 0x8063 Digital, input, 4 channels, 1 bit per channel, connected (Bl. 2) 3 0x 8094 Analog, input, 2 channels, 2 bytes per channel, connected (Bl. 3) 4 0x 8094 Analog, input, 2 channels, 2 bytes per channel, connected (Bl. 4) 5 0x 8094 Analog, input, 2 channels, 2 bytes per channel, connected (Bl. 5) 6 0x 8055 Digital, output, 2 channels, 1 bit per channel, connected (Bl. 6) 7 0x 8055 Digital, output, 2 channels, 1 bit per channel, connected (Bl. 7) 8 0x 8055 Digital, output, 2 channels, 1 bit per channel, connected (Bl. 8) 9 0x 8055 Digital, output, 2 channels, 1 bit per channel, connected (Bl. 9) Manual Version 1.2.0 168 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Secondly, a node is configured that is a subset of the first. Only I/O modules 2 and 8 are used. Module Module 2 8 Figure 67: Example Configuration of a Node, Subset Configuration for extension Bl. 2 and Bl. 3, connected: Table 171: Configuration for the Extension Bl. 2 and Bl. 8, Connected: S-Idx. Value Explanation 0 0x09 Total number of connected(2) and virtual(7) I/O modules 1 0x0063 Digital, input, 4 channels, 1 bit per channel, not connected (Bl. 1) 2 0x8063 Digital, input, 4 channels, 1 bit per channel, connected (Bl. 2) 3 0x 0094 Analog, input, 2 channels, 2 bytes per channel, not connected (Bl. 3) 4 0x 0094 Analog, input, 2 channels, 2 bytes per channel, not connected (Bl. 4) 5 0x 0055 Analog, input, 2 channels, 2 bytes per channel, not connected (Bl. 5) 6 0x 0055 Digital, output, 2 channels, 1 bit per channel, not connected (Bl. 6) 7 0x 8055 Digital, output, 2 channels, 1 bit per channel, not connected (Bl. 7) 8 0x 0055 Digital, output, 2 channels, 1 bit per channel, connected (Bl. 8) 9 0x 0055 Digital, output, 2 channels, 1 bit per channel, not connected (Bl. 9) With respect to their entries in the object directory (connected I/O modules), the behavior of both nodes is identical. Thus, the behavior is identical for PDO mapping. For example, bit 4 must be set in index 0x6200, sub-index 1 to set the 1st channel of output module 8 (750-513). This procedure is the same for both configurations. Without an empty module configuration, in contrast, bit 0 must be set in the 2nd configuration, index 0x6200, sub-index 1 to set the same output channel. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 169 10.1.3.4.3.24 Object 0x5000 – Read Input Process Image Table 172: Object 0x5000 – Read Input Process Image Idx S-Idx Name Type Attribute s 0x5000 0 Number of input Unsigned16 RO bytes 1 Input segment 1 Octet_String RO 2 Input segment 2 Octet_String RO Default Value - - Explanation Number of relevent bytes in the input PI 1st input PI segment (the lowest 255 byte from the 512-byte PI) 2nd input PI segment (the highest 255 byte from the 512-byte PI. Only available if > 255 bytes of input data) Permits reading the entire input process image as a domain via SDO with access to all input data “at one time”. Important note! Because access via the SDO is slow, time-critical data should only be transferred via the PDO. 10.1.3.4.3.25 Object 0x5001 – Write Output Process Image Table 173: Object 0x5001 – Write Output Process Image Idx S-Idx Name Type Attribute s 0x5001 0 Number of output Unsigned16 RO bytes 1 Output segment 1 Octet_String RW 2 Output segment 2 Octet_String RW Default Value none none none Explanation Number of relevant bytes in the output PI 1st output PI segment (the lowest 255 byte from the 512-byte PI) 2nd output PI segment (the highest 255 byte from the 512-byte PI. Only available if > 255 bytes of output data, corresponding I/O module configuration possible) Permits writing the entire output process image as a domain via SDO “at one time”. Manual Version 1.2.0 170 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Important note! Because access via the SDO is slow, time-critical data should only be transferred via the PDO. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 171 10.1.3.4.3.26 Object 0x5200 – Fieldbus Coupler/Controller Configuration Table 174: Object 0x5200 – Fieldbus Coupler/Controller Configuration Idx S-Idx Name Type Attribute Default s Value 0x5200 0 Max. supported Unsigned8 RO sub-index 1 PDO processing Unsigned8 RW 0 Manual Version 1.2.0 2 Disable flashing Unsigned8 RW indicator “Warning Level” 0 3 Disable I/O module diagnostics globally via “Emergency Messages” Unsigned8 RW 0 4 - - - - 5 - - - - 6 Selection of Unsigned content for object 32 0x1002 RW 0 Explanation Maximum supported subindex Defines how received PDOs are processed 0: Consequent output of data, i.e., when a PDO has arrived twice, an internal data bus cycle is carried out 1: Obtain data from the last PDO Enable/disable transmission of I/O module diagnostic messages via Emergency 0: Send diagnostic messages 1: Do not send diagnostic messages Enable/disable transmission of I/O module diagnostic messages via Emergency 0: Send diagnostic messages 1: Do not send diagnostic messages Reserved, no access possible Reserved, no access possible Sub-index 5 defines how the fieldbus coupler/controller should respond to a read request of object 0x1002. 172 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 174: Object 0x5200 – Fieldbus Coupler/Controller Configuration Idx S-Idx Name Type Attribute Default Explanation s Value Table 175: Object 0x5200/Sub-Index 6 – Structure 31 Copy 30 8 7 Reserved 0 Mode Mode: The mode defines the status of object 0x1002 and the data content for object 0x5200/Sub-Index 7. • 0: Object 0x1002 disabled. Read and write access to object 0x5200/sub-index 7/sub-index 8 are not possible • 1: Object 0x1002 enabled. Object 0x5200/sub-index 7 data content according to table “Object 0x5200/Sub-Index 7 – Structure for Mode = 1” (see Sub-Index 7). • 2 … 255: reserved Copy: Defines content and access rights of object 0x5200/sub-index 8 • 0: Object 0x5200/sub-index 8 can be written by the user (read/write) • 1: Object 0x5200/sub-index 8 contains a copy of object 0x5200/sub-index 7 (read only) Attention! The data for object 0x1002 is always a copy of object 0x5200/subindex 8! 7 Data content acc. Unsigned mode selection of 32 object 0x5200/Sub6 RO 0 Sub-index 7 contains the data acc. mode setting of object 0x5200/sub-index 6. Table 176: Object 0x5200/Sub-Index 7 – Structure for Mode = 1 UINT32 Byte 1 Byte 2 Byte 3 Byte 4 8 LSB Status Byte 1 Bit 7 TxOver - Content of SDO 0x1002 Bit 6 RxOver 9PlusE Status Byte 1 Status Byte 1 Bit 5 Bit 4 Bit 3 Bit 2 SyncE MailbW GatewE EmergE SubDis PDO> PDO< HeartbE Current CANopen bus state NN Unsigned 32 RW/RO 0 MSB Status Byte 1 Bit 1 LifeE Bit 0 HwE PassiveE This value is used as the source for object 0x1002. The value depends on the “Copy” bit of object 0x5200/sub-index 6. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 173 Table 174: Object 0x5200 – Fieldbus Coupler/Controller Configuration Idx S-Idx Name Type Attribute Default Explanation s Value 9 Conversion Unsigned8 RW 0 0: Diagnostic emergency diagnostic messages are sent by the message device in the previous Emergency format (no digital 8-channel diagnostics possible; backwards compatible). 1: Diagnostic emergency messages for digital input/output I/O modules are sent channel-selected with the diagnostic value of the channel. In this format, the diagnostic messages from digital 8-channel modules are transmitted correctly (not backwards compatible). Manual Version 1.2.0 174 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.3.27 Object 0x5201 – Diagnostic Configuration Table 177: Object 0x5201 – Diagnostic Configuration Idx S-Idx Name Type Attribute s 0x5201 0 Max. supported Unsigned8 RO sub-index = Number of I/O modules 1 Diagnostic Unsigned8 RW behavior of the 1st connected I/O module Default Value - Explanation 0 Each bit within the byte represents a channel of the I/O module (bit 0 channel 0, bit 1 channel 1 ... bit 7 channel 7) Bit n = 1: No diagnostic messages are sent via Emergency (n=0...7) If all bits are set to 1 (255), transmission of diagnostic messages via Emergency for this I/O module is disabled, regardless of the number of channels of the I/O module. … 64 Maximum supported subindex = Number of I/O modules … Diagnostic behavior of the 64th connected I/O module Unsigned8 RW 0 Each bit within the byte represents a channel of the I/O module (bit 0 channel 0, bit 1 channel 1 ... bit 7 channel 7) Bit n = 1: No diagnostic messages are sent via Emergency (n=0...7) If all bits are set to 1 (255), transmission of diagnostic messages via Emergency for this I/O module is disabled, regardless of the number of channels of the I/O module. 10.1.3.4.3.28 Object 0x5202 – Module Configuration Important note! The object always refers to the physical configuration, i.e., only the physical modules and no virtual modules are considered even when using the empty module configuration. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication Table 178: Object 0x5202 – Module Configuration Idx S-Idx Name Type Attributes Default Value 0x5202 0 Max. supported Unsigned8 RO sub-index Explanation 1 Module description Unsigned64 RO - 2 Module description Module description ... Module description Unsigned64 RO - Maximum supported subindex = Number of physical I/O modules including fieldbus couplers/controllers Sub-index 1 always refers to the description of the fieldbus coupler/controller 1st I/O module Unsigned64 RO - 2nd I/O module ... ... Unsigned64 RO ... - ... 64th I/O module 3 ... 65 Manual Version 1.2.0 175 176 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Structure of the module description: Fieldbus couplers/controllers / analog input/output modules Table 179: Fieldbus Couplers/Controllers / Analog Input/Output Modules Bit 63 Bit 48 Bit 47 Bit 32 Bit 31 Bit 16 Bit 15 Bit 0 Series Part number Series extension Part number extension Example of fieldbus coupler/controller 750-3xx / 750-8xx I/O module 750-404/000-001: 750 3xx / 8xx 0 0 750 404 0 1 Digital input/output modules Table 180: Digital Input/Output Modules Bit 63 Bit 48 Bit 47 Bit 32 0 0 Bit 31 0 Example 750-501: 0 0 0 Bit 16 Bit 15 Bit 0 Digital module description: Bit 0…3: 0: Diagnostics only 1: Inputs only 2: Outputs only 3: Outputs + diagnostics 4: Not used 5: Inputs + diagnostics 6: Not used 7: Inputs + outputs + diagnostics 8: Not used 9: Not used A: Not used B: Outputs + diagnostics C: Not used D: Not used E: Not used F: Inputs + outputs Bit 4…7: Not used Bit 8…14: Data width internal in bit Bit 15: Always 1 0x8202 Pos : 46.6 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication Pos : 46.7 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Speic herfunkti on/F eldbus kommuni kati on/CANopen/Obj ekte Idx 0x6xxx F eldbus koppler/-c ontroll er 750-3xx, -8xx @ 17\mod_1380272049584_21.doc x @ 132978 @ 56666666666666666666666 @ 1 10.1.3.4.4 Standard Device Profile Area – DS 401 The fieldbus coupler supports the standard device profile Device Profile for Generic I/O Modules. The following table lists all objects of the standard profile DS 401 that are supported by the fieldbus coupler/controller. Manual Version 1.2.0 177 178 Fieldbus Communication Idx 0x6000 0x6005 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Name Read digital input 8-bit Global interrupt enable digital 8-Bit Digital interrupt mask any change 8-Bit Digital interrupt mask lowto-high 8-Bit Type Array Unsigned 8 Boolean 0x6008 Digital interrupt Mask High-to-Low 8-Bit Array Unsigned 8 0x6100 0x6200 0x6206 Array Unsigned 16 Array Unsigned 8 Array Unsigned 8 0x6300 0x6401 Read digital input 16-bit Write digital output 8-bit Error mode digital output 8bit Error value digital output 8bit Write digital output 16-bit Read analog input 16-bit 0x6411 Write analog output 16-bit Array Unsigned 16 0x6421 Analog input trigger selection Analog input global interrupt enable Analog input interrupt upper limit integer Array Unsigned 16 0x6425 Analog input interrupt lower limit integer Array Unsigned 16 0x6426 Analog input interrupt delta Array Unsigned 16 unsigned 0x6427 Analog input interrupt negative delta unsigned Array Unsigned 16 0x6428 Analog input interrupt positive delta unsigned Array Unsigned 16 0x6443 Analog output error mode Array Unsigned 8 0x6444 Analog output error value integer Error behavior Array Unsigned 16 0x6006 0x6007 0x6207 0x6423 0x6424 0x67FE Array Unsigned 8 Array Unsigned 8 Array Unsigned 8 Array Unsigned 16 Array Unsigned 16 Boolean Array Unsigned 16 Array Unsigned 8 Explanation Data of digital input modules Global release of transmission of 8bit digital input data Release of transmission for each change of 8-bit digital input data Release of transmission in occurrence of a positive edge of 8-bit digital input data Release of transmission in occurrence of a negative edge of 8bit digital input data Data of digital input modules Data of digital output modules Release of predefined error values of 8-bit digital output data Predefined error values of the 8-bit digital output data Data of digital output modules Data of the 16-bit analog input modules Data of the 16-bit analog output modules Specify trigger frequency for 16-bit analog input data Global release of transmission of 16bit analog input data Transmission of 32-bit input data when threshold value has been exceeded Transmission of 32-bit input data when threshold value has been undershot Transmission when the 16-bit input data has changed by at least the delta value Transmission when the 16-bit input data has decreased by at least the delta value Transmission when the 16-bit input data has increased by at least the delta value Enabling for predefined error values of the 16-bit output data Value in the case of error in the 16bit output data State change in the case of error Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 179 10.1.3.4.4.1 Object 0x6000 – Read Digital Input 8-Bit Table 181: Object 0x6000 – Read Digital Input 8-Bit Idx S-Idx Name Type 0x6000 0 Number of digital Unsigned8 input blocks 1 1st digital input Unsigned8 block 2 2nd digital input Unsigned8 block … … … 255 255th digital input Unsigned8 block Attribute RO Default Value - RO - RO - … RO … - This object contains the process data of the digital input modules. Sub-index 1 contains the first 8 digital input channels counted from left to right ‒ beginning from the fieldbus coupler/controller. Sub-index 2 contains the next, etc. 10.1.3.4.4.2 Object 0x6005 – Global Interrupt Enable Digital 8-Bit Table 182: Object 0x6005 – Global Interrupt Enable Digital 8-Bit Idx S-Idx Name Type Attribute 0x6005 0 Global Boolean RW interrupt enable digital 8-bit Default Value 1 This object is used to transmit digital input data via PDO. If the value = 1, the transmission is generally enabled; it depends only on objects 0x6006 … 0x6008 and the PDO's transmission type. If the value = 0, no digital input data is transmitted, independent of objects 0x6006...0x6008. 10.1.3.4.4.3 Object 0x6006 – Digital Interrupt Mask Any Change 8-Bit Table 183: Object 0x6006 – Digital Interrupt Mask Any Change 8-bit Idx S-Idx Name Type Attribute 0x6006 0 Number of digital Unsigned8 RO input blocks 1 Mask 1st input Unsigned8 RW block 2 Mask 2nd input Unsigned8 RW block .... .... .... .... 64 Mask 64th input Unsigned8 RW block Default Value 255 255 .... 255 This object is used to determine which digital input channel transmits its data with a change. Condition for this is that the transmission is generally enabled (object 0x6005 = 1). 0 = Transmission with change disabled (per channel) 1 = Transmission with change enabled (per channel) Example: Sub-index 0 = 1, sub-index 1 = 65 = 0x41 only channels 1 and 7 transmit data with change Manual Version 1.2.0 180 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.4.4 Object 0x6007 – Digital Interrupt Mask Low-to-High 8-Bit Table 184: Object 0x6007 – Digital Interrupt Mask Low-to-High 8-Bit Idx 0x6007 S-Idx 0 1 2 .... 64 Name Number of digital input blocks Unsigned8 Mask 1st input block Mask 2nd input block .... Mask 64th input block Type Unsigned8 Attribute RO Default Value - Unsigned8 RW 0 Unsigned8 RW 0 .... Unsigned8 .... RW .... 0 This object is used to determine which digital input channel transmits its data with a positive edge (0 to 1 change). Condition for this is that the transmission is generally enabled (object 0x6005 = 1). This object has the OR link for object 0x6006. 0 = Transmission with positive edge disabled (per channel) 1 = Transmission with positive edge enabled (per channel) Example: Index 0x6006 sub-index 0 = 1, sub-index 1 = 65 = 0x41 Index 0x6007 sub-index 0 = 1 sub-index 1 = 33 =0x21 Channels 1 and 7 always transmit their data with change Channel 6 is only transmitted with a positive edge 10.1.3.4.4.5 Object 0x6008 – Digital Interrupt Mask High-to-Low 8-Bit Table 185: Object 0x6008 – Digital Interrupt Mask High-to-Low 8-Bit Idx 0x6008 S-Idx 0 1 2 .... 64 Name Number of digital input blocks Mask 1st input block Mask 2nd input block .... Mask 64th input block Type Unsigned8 Attribute RO Default Value - Unsigned8 RW 0 Unsigned8 RW 0 .... Unsigned8 .... RW .... 0 This object is used to determine which digital input channel transmits its data with a negative edge (1 to 0 change). Condition for this is that the transmission is generally enabled (object 0x6005 = 1). This object has the OR link for object 0x6006. 0 = Transmission with negative edge disabled (per channel) 1 = Transmission with negative edge enabled (per channel) Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Example: Fieldbus Communication 181 Index 0x6006 sub-index 0 = 1, sub-index 1 = 65 = 0x41 Index 0x6008 sub-index 0 = 1 sub-index 1 = 33 =0x21 Channels 1 and 7 always transmit their data with change Channel 6 is only transmitted with a negative edge 10.1.3.4.4.6 Object 0x6100 – Read Digital Input 16-Bit Table 186: Object 0x6100 – Read Digital Input 16-Bit Idx S-Idx Name Type 0x6100 0 Number of digital Unsigned8 input blocks 1 1st digital input Unsigned16 block 2 2nd digital input Unsigned16 block … … … 128 128th digital input Unsigned16 block Attribute RO Default Value - RO - RO - … RO … - This object contains the process data of the digital input modules. Sub-index 1 contains the first 16 digital input channels counted from left to right ‒ beginning from the fieldbus coupler/controller. Sub-index 2 contains the next, etc. 10.1.3.4.4.7 Object 0x6200 – Write Digital Output 8-Bit Table 187: Object 0x6200 – Write Digital Output 8-Bit Idx S-Idx Name Type 0x6200 0 Number of digital Unsigned8 output blocks 1 1st digital output Unsigned8 block 2 2nd digital output Unsigned8 block .... .... .... 255 255th digital output Unsigned8 block Attribute RO Default Value - RW 0 RW 0 .... RW .... 0 This object contains the process data of the digital output modules. Sub-index 1 contains the first 8 digital output channels counted from left to right ‒ beginning from the fieldbus coupler/controller. Sub-index 2 contains the next, etc. Manual Version 1.2.0 182 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.4.8 Object 0x6206 – Error Mode Digital Output 8-Bit Table 188: Object 0x6206 – Error Mode Digital Output 8-Bit Idx S-Idx Name Type 0x6206 0 Number of digital Unsigned8 output blocks 1 Mask 1st digital Unsigned8 output block 2 Mask 2nd digital Unsigned8 output block .... .... .... 64 Mask 64th digital Unsigned8 output block Attribute RO Default Value - RW 255 RW 255 .... RW .... 255 This object is used to define if the outputs switch to a predefined fault condition (see object 0x6207) in case of error (e.g., fieldbus coupler/controller switches to the Stopped state, Node-Guarding has failed, etc.). When the error is corrected, the outputs remain in their current state, i.e., the set fault condition of the output channels remains unchanged. 0 = Outputs remain unchanged (per channel) 1 = Outputs switch to a predefined fault condition (per channel) 10.1.3.4.4.9 Object 0x6207 – Error Value Digital Output 8-Bit Table 189: Object 0x6207 – Error Value Digital Output 8-Bit Idx 0x6207 S-Idx 0 1 2 .... 64 Name Number of digital output blocks Mask 1st digital output block Mask 2nd digital output block .... Mask 64th digital output block Type Unsigned8 Attribute RO Default Value - Unsigned8 RW 0 Unsigned8 RW 0 .... Unsigned8 .... RW .... 0 This object is used to define the values that the outputs should adopt in the error occurs. This requires that the corresponding bit is set in object 0x6206. 0 = Output to 0 (per channel) 1 = Output to 1 (per channel) Example: Index 0x6206 sub-index 0 = 1, sub-index 1 = 65 = 0x41 Index 0x6207 sub-index 0 = 1 sub-index 1 = 33 = 0x21 Channel 1 is set to 1, channel 7 is set to 0, all other output channels remain unchanged if an error occurs Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 183 10.1.3.4.4.10 Object 0x6300 – Write Digital Output 16-Bit Table 190: Object 0x6300 – Write Digital Output 16-Bit Idx S-Idx Name Type 0x6300 0 Number of digital Unsigned8 output blocks 1 1st digital output Unsigned16 block 2 2nd digital output Unsigned16 block .... .... .... 128 128th digital output Unsigned16 block Attribute RO Default Value - RW 0 RW 0 .... RW .... 0 This object contains the process data of the digital output modules. Sub-index 1 contains the first 16 digital output channels counted from left to right ‒ beginning from the fieldbus coupler/controller. Sub-index 2 contains the next, etc. 10.1.3.4.4.11 Object 0x6401 – Read Analog Input 16-Bit Table 191: Object 0x6401 – Read Analog Input 16-Bit Idx 0x6401 S-Idx 0 1 .... 254 Name Number of analog input channels (16bit) 1th channel .... 254th channel Type Unsigned8 Attribute RO Default Value - Unsigned16 .... Unsigned16 RO .... RO .... - This object contains the process data of the analog input modules. Sub-index 1 contains the first analog input channel counted from left to right ‒ beginning from the fieldbus coupler/controller. Sub-index 2 the second, etc. Manual Version 1.2.0 184 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.4.12 Object 0x6411 – Write Analog Output 16-Bit Table 192: Object 0x6411 – Write Analog Output 16-Bit Idx S-Idx Name Type 0x6411 0 Number of analog Unsigned8 output channels (16-bit) 1 1th channel Unsigned16 .... .... .... 254 254th channel Unsigned16 Attribute RO Default Value - RW .... RW 0 .... 0 This object contains the process data of the analog output modules. Sub-index 1 contains the first analog input channel counted from left to right ‒ beginning from the fieldbus coupler/controller. Sub-index 2 the second, etc. 10.1.3.4.4.13 Object 0x6421 – Analog Input Interrupt Trigger Selection Table 193: Object 0x6421 – Analog Input Interrupt Trigger Selection Idx S-Idx Name Type Attribute 0x6421 0 Number of analog Unsigned8 RO input channels (16bit) 1 Trigger 1th channel Unsigned8 RW .... .... .... .... 128 Trigger 128th Unsigned8 RW channel Default Value 7 .... 7 This object is used to determine the condition of the transmission. The transmission requires a 1 to be entered in object 0x6423, thus releasing general transmission. Table 194: Object 0x6421 – Structure of Sub-Index 1..128 Bit Transmission Requirement 0 1 2 3 4 5 to 7 Threshold value exceeded Threshold value undershot Change of the input value is greater than the delta value to the last transmission Reduction in input value by more than delta value from last transmission Increase in input value by more than delta value from last transmission Reserved Configuration Sub-Index 0x6424 0x6425 0x6426 0x6427 0x6428 - 10.1.3.4.4.14 Object 0x6423 – Analog Input Global Interrupt Enable Table 195: Object 0x6423 – Analog Input Global Interrupt Enable Idx S-Idx Name Type Attribute 0x6423 0 Analog input global Unsigned8 RW interrupt enable Default Value 0 This object is used to transmit analog input data via PDO. If the value = 1, the transmission is generally enabled; it depends only on object 0x6421 and the Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 185 PDO's transmission type. If the value = 0, no analog input data is transmitted, independent of object 0x6421. Attention! Transmission of analog input data is disabled by default. 10.1.3.4.4.15 Object 0x6424 – Analog Input Interrupt Upper Limit Integer Table 196: Object 0x6424 – Analog Input Interrupt Upper Limit Integer Idx S-Idx Name Type Attribute 0x6424 0 Number of analog Unsigned8 RO input channels (16bit) 1 Threshold value of Unsigned16 RW 1th channel .... .... .... .... 128 Threshold 128th Unsigned16 RW channel Default Value 0 .... 0 This object makes threshold monitoring possible when configured in object 0x6423. If an input value is greater than or equal to the specified threshold value, transmission occurs as long as another trigger condition (e.g., object 0x6426) is not set. Figure 68: Threshold Value Monitoring 10.1.3.4.4.16 Object 0x6425 – Analog Input Interrupt Lower Limit Integer Table 197: Object 0x6425 – Analog Input Interrupt Lower Limit Integer Idx S-Idx Name Type Attribute 0x6425 0 Number of analog Unsigned8 RO input channels (16bit) 1 Threshold value of Unsigned16 RW 1th channel .... .... .... .... 128 Threshold 128th Unsigned16 RW channel Default Value 0 .... 0 This object makes threshold monitoring possible when configured in object 0x6423. If an input value is less than or equal to the specified threshold value, transmission occurs as long as another trigger condition (e.g., object 0x6426) is not set. Manual Version 1.2.0 186 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Figure 69: Threshold Value Monitoring 10.1.3.4.4.17 Object 0x6426 – Analog Input Interrupt Delta Unsigned Table 198: Object 0x6426 – Analog Input Interrupt Delta Unsigned Idx S-Idx Name Type Attribute 0x6426 0 Number of analog Unsigned8 RO input channels (16bit) 1 Delta value 1st Unsigned16 RW channel .... .... .... .... 128 Delta value 128th Unsigned16 RW channel Default Value 0 .... 0 By defining this object, the value that is to be retransmitted must be larger or smaller than the previously sent value by at least the delta value. This object can, for example, be linked with object 0x6424 so that transmission only takes place after both the set threshold value and the delta function are achieved. Figure 70: Threshold Value Monitoring Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 187 10.1.3.4.4.18 Object 0x6427 – Analog Input Interrupt Negative Delta Unsigned Table 199: Object 0x6427 – Analog Input Interrupt Negative Delta Unsigned Idx S-Idx Name Type Attribute 0x6427 0 Number of analog Unsigned8 RO input channels (16bit) 1 Delta value 1st Unsigned16 RW channel .... .... .... .... 128 Delta value 128th Unsigned16 RW channel Default Value - .... 0 By defining this object, the value that is to be retransmitted must be smaller than the previously sent value by at least the delta value. Figure 71: Threshold Value Monitoring 10.1.3.4.4.19 Object 0x6428 – Analog Input Interrupt Positive Delta Unsigned Table 200: Object 0x6428 – Analog input interrupt positive delta unsigned Idx S-Idx Name Type Attribute 0x6428 0 Number of analog Unsigned8 RO input channels (16bit) 1 Delta value 1st Unsigned16 RW channel .... .... .... .... 128 Delta value 128th Unsigned16 RW channel Default Value 0 .... 0 By defining this object, the value that is to be retransmitted must be larger than the previously sent value by at least the delta value. Figure 72: Threshold Value Monitoring Manual Version 1.2.0 188 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.4.4.20 Object 0x6443 – Analog Output Error Mode Table 201: Object 0x6443 – Analog Output Error Mode Idx S-Idx Name Type 0x6443 0 Number of analog Unsigned8 output channels (16-bit) 1 Error mode 1st Unsigned8 channel .... .... .... 128 Error mode 128 Unsigned8 channel Attribute RO Default Value - RW 1 .... RW .... 1 This object is used to define if the outputs switch to a predefined fault condition (see object 0x6444) in case of error (e.g., fieldbus coupler/controller switches to the Stopped state, Node-Guarding has failed, etc.). When the error is corrected, the outputs remain in their current state, i.e., the set fault condition of the output channels remains unchanged. All analog outputs not covered with object 0x6444 (e.g., 6-byte analog input/output modules) are always set to 0 in case of error. 0 = Output remains unchanged 1 = Output switches to a predefined fault condition 10.1.3.4.4.21 Object 0x6444 – Analog Output Error Value Integer Table 202: Object 0x6444 – Analog Output Error Value Integer Idx S-Idx Name Type 0x6444 0 Number of analog Unsigned8 output channels (16-bit) 1 Error value of 1st Unsigned16 channel .... .... .... 128 Error value 128th Unsigned16 channel Attribute RO Default Value - RW 0 .... RW .... 0 This object is used to define the values that the outputs should adopt in the error occurs. This requires that the corresponding bit is set in object 0x6443. 10.1.3.4.4.22 Object 0x67FE – Error Behavior Table 203: Object 0x67FE – Error Behavior Idx S-Idx Name 0x67FE 0 Max. supported sub-index 1 General communication error Type Unsigned8 Attribute RO Default Value 1 Unsigned8 RW 0 This object is used to determine in which state the module switches in the event of a communication error (e.g., Node Guarding failure). Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 189 Table 204: Object 0x67FE – Structure of a Communication Error Entry: General communication error Action 0 Switches to the PRE-OPERATIONAL state (only if the current state was OPERATIONAL) 1 No state change 2 Switch to STOPPED state Pos : 46.8 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 190 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 46.9 /Serie 750 (WAGO-I/O-SYST EM)/F unktions beschr eibung/Speic herfunkti on/F eldbus kommuni kati on/CANopen/Einl eitung: Objekte Idx 0xAxxx F eldbusc ontroller 750- 8xx @ 17\mod_1380521454691_21.doc x @ 133004 @ 5 @ 1 10.1.3.4.5 Reserved Area In the reserved object directory area Index 0xA000 - 0xFFFF, the data of the IEC61131-3 variables is entered in the programmable fieldbus controller (CANopen Contr.640/832KB DSUB /XTR). Indices 0xA000 to 0xA8FF are used for assignment with IEC-61131-3 variables. Pos : 46.10 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/Speic herfunkti on/Fel dbus kommuni kati on/CAN open/Hi nweis: Die IEC 61131-3 Ei ngangs vari abl en sind defini ert aus Sicht des CAN Buss es, ... @ 17\mod_1380523407202_21.doc x @ 133018 @ @ 1 Definition of input and output variables The IEC-61131-3 input variables are defined from the perspective of the CAN bus. These are output variables from the perspective of the PFC. Accordingly, the IEC-61131-3 output variables are input variables for the PFC. Pos : 46.11 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/Speic herfunkti on/Fel dbus kommuni kati on/CAN open/Obj ekte Idx 0xAxxx Fel dbusc ontroll er 750-837, - 838 @ 17\mod_1380524807466_21.doc x @ 133021 @ 66666 @ 1 The following table lists all communication profile objects supported by the fieldbus controller (CANopen Contr.640/832KB DSUB /XTR). Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication Table 205: Communication Profile Area Idx Name Type 0xA000 Integer8 input variables Array Integer 8 0xA040 0xA080 Unsigned8 input variables Boolean input variables 0xA0C0 Integer16 input variables Array Integer 16 0xA100 Unsigned16 input Array Unsigned 16 variables Integer24 input variables Array Integer 24 0xA140 0xA180 0xA1C0 0xA200 0xA240 0xA280 0xA2C0 0xA300 Boolean Unsigned24 input Array Unsigned 24 variables Integer32 input variables Array Integer 32 Unsigned32 input variables Float32 input variables Array Unsigned 32 Array Floating Point 32 Unsigned40 input Array Unsigned 40 variables Integer40 input variables Array Integer 40 0xA340 Unsigned48 input Array Unsigned 48 variables Integer48 input variables Array Integer 48 0xA380 Unsigned56 0xA3C0 Integer56 input variables Array Integer 56 0xA400 Integer64 input variables Array Integer 64 0xA440 Unsigned64 input Array Unsigned 64 variables Integer8 output variables Array Integer 8 0xA480 0xA4C0 0xA500 0xA540 0xA580 0xA5C0 0xA600 0xA640 0xA680 Manual Version 1.2.0 Array Unsigned 8 Array Unsigned 56 Unsigned8 output Array Unsigned 8 variables Boolean output variables Boolean Integer16 output variables Unsigned16 output variables Integer24 output variables Unsigned24 output variables Integer32 output variables Unsigned32 output variables Array Integer 16 Array Unsigned 16 Array Integer 24 Array Unsigned 24 Array Integer 32 Array Unsigned 32 191 Explanation Data from 8-bit Integer input variables Data from 8-bit Unsigned input variables Data from Boolean input variables Data from 16-bit Unsigned input variables Data from 16-bit Unsigned input variables Data from 24-bit Integer input variables Data from 24-bit Unsigned input variables Data from 32-bit Integer input variables Data from 32-bit Unsigned input variables Data from 32-bit Floating Point input variables Data from 40-bit Unsigned input variables Data from 40-bit Integer input variables Data from 48-bit Unsigned input variables Data from 48-bit Integer input variables Data from 56-bit Unsigned input variables Data from 56-bit Integer input variables Data from 64-bit Integer input variables Data from 64-bit Unsigned input variables Data from 8-bit Integer output variables Data from 8-bit Unsigned output variables Data from Boolean output variables Data from 16-bit Integer output variables Data from 16-bit Unsigned output variables Data from 24-bit Integer output variables Data from 24-bit Unsigned output variables Data from 32-bit Integer output variables Data from 32-bit Unsigned output variables 192 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 0A6C0 Float32 output variables Array Floating Point 32 0xA700 Unsigned40 output variables Integer40 output variables Unsigned48 output variables Integer48 output variables Unsigned56 output variables Integer56 output variables Integer64 output variables Unsigned64 output variables 0x740 0xA780 0xA7C0 0xA800 0xA840 0xA880 0xA8C0 Array Unsigned 40 Array Integer 40 Array Unsigned 48 Array Integer 48 Array Unsigned 56 Array Integer 56 Array Integer 64 Array Unsigned 64 Data from 32-bit Floating Point output variables Data from 40-bit Unsigned output variables Data from 40-bit Integer output variables Data from 48-bit Unsigned output variables Data from 48-bit Integer output variables Data from 56-bit Unsigned output variables Data from 56-bit Integer output variables Data from 64-bit Integer output variables Data from 64-bit Unsigned output variables 10.1.3.4.5.1 Object 0xA000, Integer8 IEC 61131-1 Input Variables Table 206: Object 0xA000, Integer8 IEC-61131-1 input variables Idx S-Idx Name Type 0xA000 0 Number of input data blocks Unsigned8 1 1st input data block Integer8 2 2nd input data block Integer8 … … … 0xA002 2 512th input data block Integer8 Attribute RO RO RO … RO Default Value … - This object contains the process data of the Integer8 input variables. Sub-index 1 contains the first 8 bits of input data. Sub-index 2 contains the next, etc. 10.1.3.4.5.2 Object 0xA040, Unsigned8 IEC 61131-1 Input Variables Table 207: Object 0xA000, Integer8 IEC-61131-1 input variables Idx S-Idx Name Type 0xA040 0 Number of input data blocks Unsigned8 1 1st input data block Unsigned8 2 2nd input data block Unsigned8 … … … 0xA042 2 512th input data block Unsigned8 Attribute RO RO RO … RO Default Value … - This object contains the process data of the Unsigned8 input variables. Sub-index 1 contains the first 8 bits of input data. Sub-index 2 contains the next, etc. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 193 10.1.3.4.5.3 Object 0xA080, Boolean IEC-61131-1 Input Variables Table 208: Object 0xA000, Boolean IEC-61131-1 input variables Idx S-Idx Name Type 0xA080 0 Number of input data blocks Unsigned8 1 1st input data block Boolean 2 2nd input data block Boolean … … … 0xA082 2 512th input data block Boolean Attribute RO RO RO … RO Default Value … - This object contains the process data of the Boolean input variables. Sub-index 1 contains the first 8 bits of input data, which are combined into one byte. Subindex 2 contains the next, etc. 10.1.3.4.5.4 Object 0xA0C0, Integer16 IEC-61131-1 Input Variables Table 209: Object 0xA0C0, Integer16 IEC-61131-1 input variables Idx S-Idx Name Type 0xA0C0 0 Number of input data blocks Unsigned8 1 1st input data block Integer 16 2 2nd input data block Integer 16 … … … 0xA0C1 1 512th input data block Integer 16 Attribute RO RO RO … RO Default Value … - This object contains the process data of the Integer16 input variables. Sub-index 1 contains the first 16 bits of input data. Sub-index 2 contains the next, etc. 10.1.3.4.5.5 Object 0xA101 to 0xA8C0 IEC-61131-1 Input/Output Variables All of the following objects are structured analogously to the ones previously described. Each index has a maximum of 256 sub-indices (sub-index 0-255). The number of data entries is given in sub-index 0, and the data is stored in blocks in the subsequent sub-indices. The size of the blocks depends on the data width of the associated data type. Table 210: Sub-indexing of variable data in the object directory S-Idx Contents 0 Number of data blocks 1 First data block with data width of corresponding data type 2 Second data block with data width of corresponding data type … … This object contains the process data of the Integer16 input variables. Sub-index 1 contains the first 16 bits of input data. Sub-index 2 contains the next, etc. Information Manual Version 1.2.0 Additional information An overview of the maximum indices for the variable data is available in section “Maximum Indices” for the programmable fieldbus controllers 750837 and 750-838. 194 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 46.12 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 195 Pos : 46.13 /Serie 750 ( WAGO-I/O-SYST EM)/Funkti onsbesc hrei bung/Speic herfunkti on/Fel dbus kommuni kati on/CAN open/C ANopen - Kapi tel ende F eldbus koppler/-c ontroller 750- xxx @ 17\mod_1380270737336_21.doc x @ 132974 @ 455555444455 @ 1 10.1.3.5 PDO Transmission Data transmission via PDO is only possible in the OPERATIONAL state. When switching to the OPERATIONAL state, all Tx-PDOs are transmitted once with the transmission type 254 and 255. Special transmission type 254 and 255 (index 0x1800 ... 0x181F, sub-index 2) Please note that due to the default value (=FALSE) that is specified by the device profile DS401 object 0x6423 (Analogue Input Global Interrupt Enable), analog changes are not transmitted. This prevents the CAN bus from being overloaded with CAN messages. To prevent an overflow when setting object 0x6423 = TRUE, a correspondingly long Inhibit Time can be selected. In addition, there is the option to reduce the amount of messages by configuring the objects for the threshold value monitoring (objects 0x6421, 0x6424, 0x6425) and for the delta functions (objects 0x6426, 0x6427, 0x6428). 10.1.3.5.1 Mapping This object is used to determine which data is transmitted via PDOs. If no stored customer-specific configuration is used and no other settings are made, the objec directory is assigned with a default configuration according to device profile DS 401 (see section “Fieldbus Communication” > … > “Initialization”). If the fieldbus coupler/controller is in the PRE-OPERATIONAL state, it's mapping can be modified via SDOs instead based on the application. Additional information An example for creating a customized mapping configuration is explained in the section “Commissioning”. Manual Version 1.2.0 196 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.5.2 Transmit PDO1 The following diagram shows an overview of the relevant objects and their connection for PDO transmission of digital inputs. Figure 73: PDO Transmission of Digital Input Module Data Index 0x1800 Object name Transmit PDO communication parameter 0x1A00 Transmit PDO mapping parameters 0x6000 0x6005 Read digital input 8-bit Global interrupt enable digital 8-bit 0x6006 Digital interrupt mask any change 8-Bit 0x6007 Digital interrupt mask low-to-high 8-bit 0x6008 Digital interrupt mask high-to-low 8-bit Description Communication parameters for the transmit PDOs Mapping parameters for the transmit PDOs Data of digital input modules Global release of the transmission of 8-bit digital input data Release of transmission for each change of 8-bit digital input modules Enabling transmission in occurerence of a positive edge of 8-bit digital input data Release of transmission in occurrence of a negative edge of 8-bit digital input data Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 197 10.1.3.5.3 Receive PDO1 The following diagram shows an overview of the relevant objects and their connection for PDO transmission of digital outputs. Figure 74: PDO Transmission of Digital Output Module Data Index 0x1400 0x1600 0x6200 0x6206 0x6207 Manual Version 1.2.0 Object name Receive PDO communication parameter Description Communication parameter for receive PDO Transmit PDO mapping parameters Mapping parameters for the transmit PDOs Write digital output 8-bit Data of digital output modules Error mode output 8-bit Release of predefined error values of 8-bit digital output data Error value digital output 8- Predefined error values of the 8-bit digital bit output data 198 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.5.4 Transmit PDO2 The following diagram shows an overview of the relevant objects and their connection for PDO transmission of analog inputs. Figure 75: PDO Transmission of Analog Input Module Data Index 0x1801...3 Object name Description Transmit PDO communication parameter Communication parameters for the transmit PDO 0x1A01…3 Transmit PDO mapping parameters Mapping parameters for the transmit PDOs 0x6401 Read analog input 16-bit Specify trigger frequency for 16-bit analog input data 0x6423 Analog input global interrupt enable Global release of transmission of 16-bit analog input data 0x6424 Analog input interrupt upper limit integer Transmission of 16-bit input data when threshold value has been exceeded 0x6425 Analog input interrupt lower limit integer Transmission of 16-bit input data when threshold value has been undershot 0x6426 Analog input interrupt delta unsigned Transmission when the 16-bit input data has changed by at least the delta value 0x6427 Analog input interrupt negative delta Transmission when the 16-bit input data unsigned has decreased by at least the delta value 0x6428 Analog input interrupt positive delta Transmission when the 16-bit input data unsigned has increased by at least the delta value Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 199 10.1.3.5.5 Receive PDO2 The following diagram shows an overview of the relevant objects and their connection for PDO transmission of analog output. Figure 76: PDO Transmission of Analog Output Module Data Index 0x1401…3 0x1601…3 0x6411 0x6443 0x6444 Manual Version 1.2.0 Object name Description Receive PDO communication parameter Communication parameter for receive PDO Transmit PDO mapping parameters Mapping parameter for the transmit PDO Write analog output 16-bit Data of the 16-bit analog output modules Analog output error mode Enabling for predefined error values of the 16-bit output data Analog output error value integer Value in the case of error in the 16-bit output data 200 Fieldbus Communication 10.1.3.6 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR SYNC Monitoring If the “Communication Cycle Period” value does not equal 0, and if the fieldbus coupler/controller is in the OPERATIONAL state, monitoring takes place at the first arrival of a SYNC message. Failure of the SYNC telegram: The RUN LED flashes rapidly to indicate that no SYNC telegram is received within the monitoring time (Communication Cycle Period). At the same time, an Emergency telegram (Error Code: 0x8100, Error Register: 0x81, Additional Code: 00 04 00 00 00) is transmitted. If the MASTER causes a state change to come about, the failure of the SYNC telegram is indicated nonetheless. The LEDs indicate normal operating status only after repeated receipt of the SYNC message in the OPERATIONAL state. An Emergency telegram (Error Code: 0x0000, Error Register: 0x81, Additional Code: 00 04 00 000 ) is transmitted again to indicate that SYNC monitoring is working again. 10.1.3.7 Node Guarding Node Guarding starts for the fieldbus coupler/controller when the first “Remote Transmit Request” telegram (RTR) is received with the COB ID for “Node Guarding” (0x700+moduleID). If the fieldbus coupler/controller receives no corresponding telegram, it does not monitor the “Node Guarding”. Node Guarding is switched off by default because 0 is entered in the respective indices (0x100C = Guard-Time, 0x100D = Life Time Factor). The NMT master prompts the fieldbus coupler/controller at regular time intervals. This period is called the Guard Time (index 0x100C). The internal state of the fieldbus coupler/controller can be found in the reply telegram. If an RTR request arrives and the Guard Time has not been set, Node Guarding is not monitored, but the fieldbus coupler/controller responds with its internal state. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 201 The states are coded as follows: Table 211: States State: PRE-OPERATIONAL OPERATIONAL STOP Value: 127 5 4 The Life Time is the product of the Guard Time (index 0x100C) and the Life Time Factor (index 0x100D). Failure of Node Guarding: The RUN LED flashes rapidly to indicate that no Node Guarding telegram is received within the Life Time. At the same time, an Emergency telegram (Error Code: 0x8130, Error Register: 0x11, Additional Code: 0x00 04 00 000 0) is transmitted, the outputs are set according to objects 0x6206, 0x6207, 0x6443 and 0x6444 and the fieldbus coupler/controller switches to the predefined state according to object 0x67FE. Once the Node Guarding protocol is recorded again, an Emergency telegram (Error Code: 0x0000, Error Register: 0x11, Additional Code: 00 04 00 000 0) is transmitted again to indicate that Node Guarding is enabled again. The outputs and fieldbus coupler/controller state remain unchanged. Only the node guarding protocol or the heartbeat protocol may be used. The Heartbeat protocol is always used if the Heartbeat Producer Time is configured. Manual Version 1.2.0 202 Fieldbus Communication 10.1.3.8 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Heartbeat Monitoring This protocol makes it possible to carry out module monitoring without using RTR frames. The heartbeat generator generates a message in a cyclical manner (time interval defined in object 0x1017), in which it transmits the state of the module. Transmission begins immediately after configuration of object 0x1017. The message can be evaluated by one or more heartbeat consumers (object 0x1016). Up to 5 modules can be monitored simultaneously. Monitoring begins with the first arrival of a heartbeat telegram (separately for each module to be monitored). Failure of the heartbeat: The RUN LED flashes rapidly to indicate that no Heartbeat telegram is received within the time configured (object 0x1016). At the same time, an Emergency telegram (Error Code: 0x8130, Error Register: 0x11, Additional Code: 0x00 05 KK 00 00, KK node number that triggered the EMCY) is transmitted. The outputs are set according to objects 0x6206, 0x6207, 0x6443 and 0x6444 and the fieldbus coupler/controller switches to the predefined state according to object 0x67FE. Once the Heartbeat protocol is recorded again, an Emergency telegram (Error Code: 0x0000, Error Register: 0x11, Additional Code: 0x00 05 KK 00 00) is transmitted again to indicate that the Heartbeat is enabled again. The outputs and fieldbus coupler/controller state remain unchanged. If several modules are monitored, the blink code for the heartbeat failure only stops when the last heartbeat resumes. Only the node guarding protocol or the heartbeat protocol may be used. The Heartbeat protocol is always used if the Heartbeat Producer Time is configured. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 10.1.3.9 Fieldbus Communication 203 Error Messages (Emergency) Emergency messages are always transmitted when a critical error situation in the device has occured / has been resolved or important information must be communicated to other devices. The structure and meaning of the entries in the Emergency object are explained in the following table. They are encoded in the bus telegram in the order low byte / high byte. After the error has been corrected, an Emergency object is also transmitted (Error Code = 0x0000, the Error Register and Additional Code function as described in the “EMCY-CODE” table below). After power-on, an Emergency object is transmitted when the loaded settings are the default settings. There can be two reasons for this: • No settings have been saved (index 0x1010). • The fieldbus coupler/controller has discarded the saved settings because I/O modules were plugged in or pulled. Table 212: EMCY-CODE Byte: 0 1 2 Name Error code Error register 0x0000* 0x00 Manual Version 1.2.0 3 7 Additional code 00 00 00 00 00 0x5000* 0x81 00 01 00 00 00 0x5000* 0x81 00 02 00 00 00 0x5000* 0x81 00 03 PP LL SS 0x5000* 0x81 00 09 00 00 00 0x5000* 0x81 00 0A 01 00 00 0x5000* 0x81 00 0A 02 00 00 Explanation The “predefined error field” index 0x1003, sub-index 0 has been set to zero or all errors have been corrected. Modified hardware configuration after power-own or reset node/communication of the fieldbus coupler/controller has reinitialized because there is no saved configuration or the saved configuration does not match the current configuration. Flash error An error occurred when saving the configuration to the flash. Programmed configuration does not match the actual configuration. PP: Physical slot of the I/O module where the error occurred LL: Logical slot of the I/O module where the error occurred SS: Error cause Queue overflow for Emergency messages (only occurs when the inhibit time is used for emergency) Max. number of gateway I/O modules exceeded or max. PI size exceeded by gateway I/O modules Max. mailbox size exceeded 204 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 212: EMCY-CODE Byte: 0 1 2 Name Error code Error register 3 7 Additional code 0x8100* 0x81 00 04 00 00 00 0x8110* 0x11 00 01 00 00 00 0x8110* 0x11 00 02 00 00 00 0x8120* 0x11 00 03 00 00 00 0x8130* 0x11 00 04 00 00 00 0x8130* 0x11 00 05 KK 00 00 0x8210* 0x81 00 05 SS II NN 0x8220* 0x81 00 08 SS II NN 0xFF00* 0x81 00 06 PP 00 00 Explanation The time between two synch objects is longer than the Communication_Cycle_Period Internal receive buffer overflow, state change as defined in object 0x67FE. The outputs are switched as defined in Error Mode/Value Objects. Internal transmit buffer overflow, state change as defined in object 0x67FE. The outputs are switched as defined in Error Mode/Value Objects. CAN fieldbus coupler/controller in “Error Passive Mode” The duration between two NodeGuarding Telegrams is longer than the Guard_Time X Life_Time_Factor. The time between two heartbeat telegrams is longer than configured. KK: Node that triggered the timeout PDO was transmitted with a smaller number of bytes than configured in the Communication Profile. The PDO data was discarded; i.e., the outputs remain unchanged. SS: Target value, configured value (e.g., in index 0x1600 sub-index 0) II: Actual value, number of bytes sent NN: Number of PDOs (1..32) PDO was transmitted with a larger number of bytes than configured in the Communication Profile. Only the first n-data is used (n = total length configured in object directory). SS: Target value, configured value (total length of all valid configured objects in bytes) II: Actual value, number of bytes sent NN: Number of PDOs (1..32) Internal data buse error, switch to STOP state - PP: Position of the I/O module Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 212: EMCY-CODE Byte: 0 1 2 Name Error code Error register 0xFF00* 0x81 3 7 Additional code DD 07 PP SK NN Fieldbus Communication 205 Explanation Diagnostic message - DD: Diagnostic byte - PP: Position of the I/O module - SK: Error status and channel number - NN: Number of current I/O module errors * Byte 0 = Low Byte and Byte 1 = High Byte Example: Error Code 0x8220: Byte 0 = 0x20, Byte 1= 0x82 10.1.3.9.1 Diagnostic Messages of the I/O Modules If an error occurs in an I/O module that supports diagnostics, the diagnostic status of the respective channel is transmitted via the Emergency message. Figure 77: Structure of the “Additional Code” Display of max. 255 errors! If 255 or more errors occur, the number of I/O module errors displayed remains at 255! The counter value is represented as 0xFF even with an increasing number if I/O module errors. All I/O module errors beyond 255 are counted internally. The counter value remains unchanged at 0xFF. Manual Version 1.2.0 206 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Updating the EMCY message with parallel diagnostics! If a diagnostic is resolved on one channel at the same time a new diagnostic arises, an EMCY message is transmitted with updated DD and SK bit 7 = 1. Example 1: • 2-channel analog input module 750-465, plugged into position 14, the current on channel 0 is greater than 20 mA Figure 78: Structure of Emergency Telegram 1 • If an error in addition to the first error occurs on a 2-channel digital output module 750-506, there is a wire break on channel 1, the I/O module is at position 17. Figure 79: Structure of Emergency Telegram 2 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR • Fieldbus Communication 207 The error (wire break on the 2-channel digital output module 750-506) is corrected. Figure 80: Structure of Emergency Telegram 3 Diagnostic data is shown in the process image! Please note that the diagnostic data is shown in the process image for digital input/output modules with diagnostics. A 2-channel digital output module 750-506 sends 4 bits total for the error case described above to the output process image (1 bit per channel and 1 bit unused) and 49 bits total to the input process image (2 bit diagnostics per channel - wire break, short circuit). Example 2: • Proportional valve module 750-632 (1 channel, 2 outputs), plugged in at position 4, error at both outputs. Figure 81: Example – Error at Proportional Valve Module • Manual Version 1.2.0 Error at output 2 has been corrected, error at output 1 remains (750-632) 208 Fieldbus Communication WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Figure 82: Example – Error at Proportional Valve Module • All errors at 750-632 (Proportional Valve Module) corrected Figure 83: Example – Error at Proportional Valve Module 10.1.3.9.2 Layout of the Module-Specific Diagnostic Bits of the Digital Input/Output Modules The layout of module-specific diagnostic bits for digital input/output modules can be modified via object 0x5200, sub-index 9. In the default layout, the diagnostic bits are written to byte DD according to their significance in the entire input process image of the I/O module. This representation is not suitable for digital input/output modules with an input process image > 8 bits, e.g., 750-439 (8-channel DI NAMUR). Table 213: DD in the Default Layout (750-506) Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic Diagnostic Diagnostic Diagnostic bit S3 bit S2 bit S1 bit S0 channel 2 channel 2 channel 1 channel 1 | | | | | | | DD=0x01 | | DD=0x02 | DD=0x04 DD=0x08 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Fieldbus Communication 209 For I/O modules whose diagnostics cannot be displayed in the default layout, DD contains a 0xFF. To display the diagnostics for I/O modules not suitable for the default layout, the EMCY layout can be switched to an alternative representation via object 0x5200 sub-index 9. In the alternative layout, the module-specific diagnostic bits are interpreted channel-by-channel. For I/O modules with one bit diagnostic per channel, DD can only take the values 0x01 and 0x00. Table 214: DD in the Alternative Layout (750-506) Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic Diagnostic Diagnostic Diagnostic bit S3 bit S2 bit S1 bit S0 channel 2 channel 2 channel 1 channel 1 | | | | | | | DD=0x01 | | DD=0x02 | DD=0x01 DD=0x02 Pos : 47 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 210 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 48 /Serie 750 ( WAGO-I/O-SYST EM)/Ger ätebesc hrei bung/Ei nlei tung/Bus kl emmen - Ü berschrift 1, Ü bersicht - Ü bersc hrift 2, und allgemei ne Ei nleitung @ 4\mod_1237537660059_21.doc x @ 28770 @ 12 @ 1 11 I/O Modules 11.1 Overview For modular applications with the WAGO-I/O-SYSTEM 750/753, different types of I/O modules are available • Digital Input Modules • Digital Output Modules • Analog Input Modules • Analog Output Modules • Specialty Modules • System Modules For detailed information on the I/O modules and the module variations, refer to the manuals for the I/O modules. You will find these manuals on the WAGO web pages under www.wago.com. More Information about the WAGO-I/O-SYSTEM Current information on the modular WAGO-I/O-SYSTEM is available in the Internet under: www.wago.com. Pos : 49 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 211 Pos : 50.1 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/C ANopen/Aufbau der Prozes sdaten für CAN open - Einl eitung @ 9\mod_1284112721703_21.doc x @ 64561 @ 2 @ 1 11.2 Structure of Process Data for CANopen The process image uses a byte structure (without word alignment) for the CANopen fieldbus coupler/controller. The internal mapping method for data greater than one byte conforms to Intel formats. The following section describes the representation for WAGO-I/O SYSTEM 750 and 753 Series I/O modules in the process image of the fieldbus coupler/controller, as well as the configuration of the process values. In the CANopen object directory, the entire input process image can be read via index 0x5000. The entire output process image can be written via index 0x5001. Pos : 50.2 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/C ANopen/PA CAN open - D Is, DOs- Einl eitung (byteweis e) @ 18\mod_1389691931133_21.doc x @ 141660 @ 3 @ 1 Equipment damage due to incorrect address! To prevent any damage to the device in the field, you must always take the process data for all previous byte or bit-oriented I/O modules into account when addressing an I/O module at any position in the fieldbus node. 11.2.1 Digital Input Modules Digital input modules output one bit as the process value per signal channel that indicates the status of the respective channel. Bits that represent input process values are entered in the input process image. Digital input modules with diagnostics have one or more diagnostic bits available in addition to the process data. The diagnostic bits are evaluated by the fieldbus coupler/controller. In the event of a diagnostic message, the fieldbus coupler/controller enters the state of the diagnostic bit in the diagnostic status word. The entries in the diagnostic status word are made channel-specific. If analog input modules are in the node, the digital data is grouped in bytes and added to the analog input data in the input process image. Pos : 50.3 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/C ANopen/PA CAN open - D Is, DOs XTR @ 18\mod_1394540431634_21.doc x @ 147665 @ 3 @ 1 1-Channel Digital Input Modules with Diagnostics Table 215: 1-Channel Digital Input Modules with Status Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Status bit S1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. Manual Version 1.2.0 Bit 0 Data bit DI 1 212 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 2-Channel Digital Input Modules Table 216: 2-Channel Digital Input Modules Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Data bit Data bit DI 2 DI 1 Channel 2 Channel 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. 2-Channel Digital Input Modules with Diagnostics Table 217: 2-Channel Digital Input Modules with Diagnostics Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Data bit Data bit DI 2 DI 1 Channel 2 Channel 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. 2-Channel Digital Input modules with Diagnostics and Output Data In addition to process values for input process image, the digital input module provide 4 bits of data in the output process image. Table 218: 2-Channel Digital Input Modules with Diagnostics and Output Data Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Data bit Data bit DI 2 DI 1 Channel 2 Channel 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. Output process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Acknowledg Acknowledg ment bit Q 2 ment bit Q 1 Channel 2 Channel 1 Bit 1 Bit 0 0 0 Object 0x6200 (0x2100 also possible) is used for the digital outputs. 4-Channel Digital Input Modules Table 219: 4-Channel Digital Input Modules Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Data bit DI 4 Channel 4 Bit 2 Bit 1 Bit 0 Data bit Data bit Data bit DI 3 DI 2 DI 1 Channel 3 Channel 2 Channel 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 213 8-Channel Digital Input Modules Table 220: 8-Channel Digital Input Modules Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit DI 8 DI 7 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 Channel 8 Channel 7 Channel 6 Channel 5 Channel 4 Channel 3 Channel 2 Channel 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. 16-Channel Digital Input Modules Table 221: 16-Channel Digital Input Modules Input process image Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit DI 16 DI 15 DI 14 DI 13 DI 12 DI 11 DI 10 DI 9 DI 8 DI 7 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. 11.2.2 Digital Output Modules The digital output modules contain one bit as the process value per channel that indicates the status of the respective channel. These bits are mapped into the output process image. Digital output modules with diagnostics have one or more diagnostic bits available. The diagnostic bits are evaluated by the fieldbus coupler/controller. In the event of a diagnostic message, the fieldbus coupler enters the state of the diagnostic bit in the diagnostic status word. The entries in the diagnostic status word are made channel-specific. If analog output modules are in the node, the digital data is grouped in bytes and added after the analog output data in the output process image. 1-Channel Digital Output Modules with Input Data In addition to the process value bit in the output process image, the digital output modules also provides 1 bit that is represented in the input process image. This status image shows “Manual operation”. Table 222: 1-Channel Digital Output Modules with Input Data Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 not used Object 0x6000 (0x2000 also possible) is used for the digital inputs. Manual Version 1.2.0 Bit 0 Status bit “Manual operation” 214 I/O Modules Output process image Bit 7 Bit 6 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 not used Object 0x6200 (0x2100 also possible) is used for the digital outputs. Bit 0 Controls DO 1 Channel 1 2-Channel Digital Output Modules Table 223: 2-Channel Digital Output Modules Output process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Controls Controls DO 2 DO 1 Channel 2 Channel 1 Object 0x6200 (0x2100 also possible) is used for the digital outputs. 2-Channel Digital Output Modules with Input Data Table 224: 2-Channel Digital Output Modules with Input Data Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic Diagnostic bit S 2 bit S 1 channel 2 channel 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. Output process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Controls Controls DO 2 DO 1 Channel 2 Channel 1 Object 0x6200 (0x2100 also possible) is used for the digital outputs. 2-Channel Digital Output Modules with Input Data and 2-bit Error Code In addition to the 4-bit process values in the output process image, this digital output modules provide 4 bits of data in the input process image. A diagnostic bit for each output channel indicates an overload, a short circuit or a wire breakage via 2-bit error code. Table 225: 4-Channel Digital Output Modules with Input Data Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic Diagnostic Diagnostic Diagnostic bit S 3 bit S 2 bit S 1 bit S 0 channel 2 channel 2 channel 1 channel 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Output process image Bit 7 Bit 6 Bit 5 Bit 4 I/O Modules Bit 3 Bit 2 not used not used 215 Bit 1 Bit 0 Controls Controls DO 2 DO 1 Channel 2 Channel 1 Object 0x6200 (0x2100 also possible) is used for the digital outputs. 4-Channel Digital Output Modules Table 226: 4-Channel Digital Output Modules Output process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Controls Controls Controls DO 4 DO 3 DO 2 Channel 4 Channel 3 Channel 2 Object 0x6200 (0x2100 also possible) is used for the digital outputs. Bit 0 Controls DO 1 Channel 1 4-Channel Digital Output Modules with Input Data In addition to the 4-bit process values in the output process image, the digital output modules provide 4 bits of data in the input process image. A diagnostic bit for each output channel indicates an overload, short circuit or wire breakage. Table 227: 4-Channel Digital Output Modules with Input Data Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic Diagnostic Diagnostic Diagnostic bit S 3 bit S 2 bit S 1 bit S 0 channel 4 channel 3 channel 2 channel 1 Diagnostic bit S = '0' no error Diagnostic bit S = '1' wire break, short circuit or overload Object 0x6000 (0x2000 also possible) is used for the digital inputs. Output process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Controls Controls DO 4 DO 3 Channel 4 Channel 3 Bit 1 Bit 0 Controls Controls DO 2 DO 1 Channel 2 Channel 1 Object 0x6200 (0x2100 also possible) is used for the digital outputs. 8-Channel Digital Output Modules Table 228: 8-Channel Digital Output Modules Output process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Controls Controls Controls Controls Controls Controls Controls DO 8 DO 7 DO 6 DO 5 DO 4 DO 3 DO 2 Channel 8 Channel 7 Channel 6 Channel 5 Channel 4 Channel 3 Channel 2 Object 0x6200 (0x2100 also possible) is used for the digital outputs. Manual Version 1.2.0 Bit 0 Controls DO 1 Channel 1 216 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 8-Channel Digital Output Modules with Input Data In addition to the 8-bit process values in the output process image, the digital output modules provide 8 bits of data in the input process image. A diagnostic bit for each output channel indicates an overload, short circuit or wire breakage. Table 229: 8-Channel Digital Output Modules with Input Data Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic Diagnostic Diagnostic Diagnostic Diagnostic Diagnostic Diagnostic Diagnostic bit S 7 bit S 6 bit S 5 bit S 4 bit S 3 bit S 2 bit S 1 bit S 0 channel 8 channel 7 channel 6 channel 5 channel 4 channel 3 channel 2 channel 1 Diagnostic bit S = '0' no error Diagnostic bit S = '1' wire break, short circuit or overload Object 0x6000 (0x2000 also possible) is used for the digital inputs. Output process image Bit 7 Bit 6 Bit 5 Bit 4 Controls Controls Controls Controls DO 8 DO 7 DO 6 DO 5 Channel 8 Channel 7 Channel 6 Channel 5 Bit 3 Bit 2 Controls Controls DO 4 DO 3 Channel 4 Channel 3 Bit 1 Bit 0 Controls Controls DO 2 DO 1 Channel 2 Channel 1 Object 0x6200 (0x2100 also possible) is used for the digital outputs. 16-Channel Digital Output Modules Table 230: 16-Channel Digital Output Modules Output process image Bit Bit Bit Bit Bit Bit 15 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 14 13 12 11 10 Controls Controls Controls Controls Controls Controls Controls Controls Controls Controls Controls Controls Controls Controls Controls Controls DO 16 DO 15 DO 14 DO 13 DO 12 DO 11 DO 10 DO 9 DO 8 DO 7 DO 6 DO 5 DO 4 DO 3 DO 2 DO 1 Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel Channel 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 Object 0x6200 (0x2100 also possible) is used for the digital outputs. 8-Channel Digital Input/Output Modules The digital input/output modules provide 8-bit process values in the input and output process image. Table 231: 8-Channel Digital Input/Output Modules Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Data bit Data bit Data bit Data bit Data bit Data bit Data bit Data bit DI 8 DI 7 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 Channel 8 Channel 7 Channel 6 Channel 5 Channel 4 Channel 3 Channel 2 Channel 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. Output process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Controls Controls Controls Controls Controls Controls Controls DO 8 DO 7 DO 6 DO 5 DO 4 DO 3 DO 2 Channel 8 Channel 7 Channel 6 Channel 5 Channel 4 Channel 3 Channel 2 Object 0x6200 (0x2100 also possible) is used for the digital outputs. Bit 0 Controls DO 1 Channel 1 Pos : 50.4 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/C ANopen/PA CAN open - AIs- Einl eitung C ANopen (INTEL, byteweis e) @ 9\mod_1284119149176_21.doc x @ 64570 @ 3 @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 11.2.3 I/O Modules 217 Analog Input Modules The analog input modules provide 16-bit measured values. In the input process image, 16-bit measured values for each channel are mapped in Intel format byte by byte for the CANopen fieldbus coupler/controller. Pos : 50.5 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/Infor mation - Infor mationen zum Steuer-/Statusbyteaufbau @ 4\mod_1238055708743_21.doc x @ 29070 @ @ 1 Information on the structure of control and status bytes For detailed information on the structure of a particular I/O module’s control/status bytes, please refer to that module’s manual. Manuals for each module can be found on the Internet at www.wago.com. Pos : 50.6 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/Sofer n in dem Knoten auc h Digitalei ngangs kl emmen g estec kt, z u AIs @ 8\mod_1279112061364_21.doc x @ 59903 @ @ 1 When digital input modules are also present in the node, the analog input data is always mapped into the Input Process Image in front of the digital data. Pos : 50.7 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/C ANopen/PA CAN open - AIs (INT EL, byteweis e) XTR @ 18\mod_1394542302203_21.doc x @ 147668 @ @ 1 1-Channel Analog Input Modules Table 232: 1-Channel Analog Input Modules Input process image SubOffset Byte designation index 0 D0 n 1 D1 2 D2 n+1 3 D3 Remark Measured value UD Measured value Uref These I/O modules occupy 2x2 bytes. Object 0x6401 (0x2400 also possible) is used for 2-byte specialty module inputs. One sub-index is assigned per measured value. 2-Channel Analog Input Modules Table 233: 2-Channel Analog Input Modules Input process image SubOffset Byte designation index 0 D0 n 1 D1 2 D2 n+1 3 D3 Remark Measured value channel 1 Measured value channel 2 These I/O modules occupy 2x2 bytes. Object 0x6401 (0x2400 also possible) is used for 2-byte specialty module inputs. 1 sub-index is assigned to 1 channel. Manual Version 1.2.0 218 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 4-Channel Analog Input Modules Table 234: 4-Channel Analog Input Modules Input process image SubOffset Byte designation index 0 D0 n 1 D1 2 D2 n+1 3 D3 4 D4 n+2 5 D5 6 D6 n+3 7 D7 Remark Measured value channel 1 Measured value channel 2 Measured value channel 3 Measured value channel 4 These I/O modules occupy 4x2 bytes. Object 0x6401 (0x2400 also possible) is used for 2-byte specialty module inputs. 1 sub-index is assigned to 1 channel. 8-Channel Analog Input Modules Table 235: 8-Channel Analog Input Modules Input process image SubOffset Byte designation index 0 D0 n 1 D1 2 D2 n+1 3 D3 4 D4 n+2 5 D5 6 D6 n+3 7 D7 8 D8 n+4 9 D9 10 D10 n+5 11 D11 12 D12 n+6 13 D13 14 D14 n+7 15 D15 Remark Measured value channel 1 Measured value channel 2 Measured value channel 3 Measured value channel 4 Measured value channel 5 Measured value channel 6 Measured value channel 7 Measured value channel 8 These I/O modules occupy 8x2 bytes. Object 0x6401 (0x2400 also possible) is used for 2-byte specialty module inputs. 1 sub-index is assigned to 1 channel. Pos : 50.8 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/C ANopen/PA CAN open - AOs-Einl eitung C AN open (INT EL, byteweis e) @ 9\mod_1284119357336_21.doc x @ 64573 @ 3 @ 1 11.2.4 Analog Output Modules The analog output modules contain 16-bit output values per channel. In the output process image, 16-bit output values for each channel are mapped in Intel format byte by byte for the CANopen fieldbus coupler/controller. Pos : 50.9 /Serie 750 (WAGO-I/O-SYST EM)/Proz ess abbild Mapping/Sofer n in dem Knoten auc h Digitalausgangs klemmen gestec kt si nd, z u AOs @ 8\mod_1279112179255_21.doc x @ 59906 @ @ 1 When digital output modules are also present in the node, the analog output data is always mapped into the Output Process Image in front of the digital data. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules Pos : 50.10 /Serie 750 ( WAGO-I/O-SYST EM)/Pr ozessabbild M appi ng/Informati on - Informati onen z um Steuer-/Status byteaufbau @ 4\mod_1238055708743_21.doc x @ 29070 @ @ 1 Information on the structure of control and status bytes For detailed information on the structure of a particular I/O module’s control/status bytes, please refer to that module’s manual. Manuals for each module can be found on the Internet at www.wago.com. Pos : 50.11 /Serie 750 ( WAGO-I/O-SYST EM)/Pr ozessabbild M appi ng/CAN open/PA CAN open - AOs (INTEL, byteweis e) XTR @ 18\mod_1394542414638_21.doc x @ 147671 @ @ 1 2-Channel Analog Output Modules Table 236: 2-Channel Analog Output Modules Output process image SubOffset Byte designation index 0 D0 n 1 D1 2 D2 n+1 3 D3 Remark Output value channel 1 Output value channel 2 These I/O modules occupy 2x2 bytes. Object 0x6411 (0x2500 also possible) is used for 2-byte specialty module inputs. 1 sub-index is assigned to 1 channel. 4-Channel Analog Output Modules Table 237: 4-Channel Analog Output Modules Output process image SubOffset Byte designation index 0 D0 n 1 D1 2 D2 n+1 3 D3 4 D4 n+2 5 D5 6 D6 n+3 7 D7 Remark Output value channel 1 Output value channel 2 Output value channel 3 Output value channel 4 These I/O modules occupy 4x2 bytes. Object 0x6411 (0x2500 also possible) is used for 2-byte specialty module inputs. 1 sub-index is assigned to 1 channel. Manual Version 1.2.0 219 220 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 8-Channel Analog Output Modules Table 238: 8-Channel Analog Output Modules Output process image SubOffset Byte designation index 0 D0 n 1 D1 2 D2 n+1 3 D3 4 D4 n+2 5 D5 6 D6 n+3 7 D7 8 D8 n+4 9 D9 10 D10 n+5 11 D11 12 D12 n+6 13 D13 14 D14 n+7 15 D15 Remark Output value channel 1 Output value channel 2 Output value channel 3 Output value channel 4 Output value channel 5 Output value channel 6 Output value channel 7 Output value channel 8 These I/O modules occupy 8x2 bytes. Object 0x6411 (0x2500 also possible) is used for 2-byte specialty module inputs. 1 sub-index is assigned to 1 channel. Pos : 50.12 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 221 Pos : 50.13 /Serie 750 ( WAGO-I/O-SYST EM)/Pr ozessabbild M appi ng/CAN open/PA CAN open - Sonder kl emmen (Intel, byteweise) ( 750-338/0440-000, -838/040-000) XTR @ 18\mod_1395128803813_21.doc x @ 148171 @ 3 @ 1 11.2.5 Specialty Modules In addition to the data bytes, the control/status byte is also displayed for select I/O modules. This byte is used for the bi-directional data exchange of the I/O module with the higher-level control system. The control byte controls the I/O module's behavior and operation. The status byte reports the I/O module's status. It is possible to set the counter with the control byte or indicate a range overflow/underflow with the status byte. The control/status byte is always in the low byte in the process image. Information about the control/status byte structure Please refer to the corresponding description of the I/O modules for the structure of the control/status bytes. You can find a manual with the relevant I/O module description at: http://www.wago.com The following list of I/O modules is not limited to XTR I/O modules (see instructions for mixed operation). Counter Modules • Counter modules with 5 bytes of user data (4 data bytes, 1 control/status byte), 32-bit counter values The counter modules occupy 5 bytes of user data in the input and output process image, 4 data bytes and 1 additional control/status byte. The I/O modules then provide 32-bit counter values. Three words are assigned in the process image via word alignment. Table 239: Counter modules – 5 bytes of user data; 32-bit counter values – input Input process image SubOffset Byte designation Remark index 0 S Status byte 1 not used 2 D0 n 3 D1 Counter value 4 D2 5 D3 These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. One sub-index is assigned per I/O module. Manual Version 1.2.0 222 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 240: Counter modules – 5 bytes of user data; 32-bit counter values – output Output process image SubOffset Byte designation Remark index 0 C Status byte 1 not used 2 D0 n 3 D1 Counter value 4 D2 5 D3 These I/O modules occupy 1x6 bytes. Object 0x3300 is used for 6-byte specialty module outputs. One sub-index is assigned per I/O module. • Counter modules with 5 bytes of user data (4 data bytes, 1 control/status byte), 16-bit counter values In the input and output process image, the counter modules occupy 5 bytes of user data, 4 data bytes and 1 additional control/status byte. The I/O modules then provide 16-bit counter values per counter. Three words are assigned in the process image via word alignment. Table 241: Counter modules – 5 bytes of user data; 16-bit counter values – input Input process image SubOffset Byte designation Remark index 0 S Status byte 1 not used 2 D0 n Counter value of counter 1 3 D1 4 D2 Counter value of counter 2 5 D3 These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. One sub-index is assigned per I/O module. Table 242: Counter modules – 5 bytes of user data; 16-bit counter values – output Output process image SubOffset Byte designation Remark index 0 C Steuerbyte 1 nicht genutzt 2 D0 n Zählersetzwert Zähler 1 3 D1 4 D2 Zählersetzwert Zähler 2 5 D3 These I/O modules occupy 1x6 bytes. Object 0x3300 is used for 6-byte specialty module outputs. One sub-index is assigned per I/O module. • Counter modules with 6 bytes of user data (4 data bytes, 2 control/status bytes); 16-bit counter values Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 223 In the input and output process image, counter modules occupy 6 bytes of user data, 4 data bytes and two additional control/status bytes. The I/O modules then provide 16-bit counter values. 6 bytes are occupied in the process image. Table 243: Counter modules – 6 bytes of user data; 16-bit counter values – input Input process image SubOffset Byte designation Remark index 0 S0 Status byte of counter 1 n 1 D0 Counter value of counter 1 2 D1 3 S1 Status byte of counter 2 n+1 4 D2 Counter value of counter 2 5 D3 These I/O modules occupy 2x3 bytes. Object 0x2600 is used for 3-byte specialty module inputs. 1 sub-index is assigned to 1 channel. Table 244: Counter modules – 6 bytes of user data; 16-bit counter values – output Output process image SubOffset Byte designation Remark index 0 C0 Status byte of counter 1 n 1 D0 Counter value of counter 1 2 D1 3 C1 Status byte of counter 2 n+1 4 D2 Counter value of counter 2 5 D3 These I/O modules occupy 2x3 bytes. Object 0x2700 is used for 3-byte specialty module outputs. 1 sub-index is assigned to 1 channel. 3-Phase Power Measurement Modules • 3-phase power measurement modules with 9 bytes of user data (6 data bytes, 3 control/status bytes) In the input and output process image, the 3-phase power measurement modules occupy 9 bytes of user data, 6 data bytes and 3 additional control/status bytes. 12 bytes are occupied in the process image. Manual Version 1.2.0 224 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 245: 3-phase power measurement modules – 9 bytes of user data Input and Output process image SubOffset Byte designation Remark index 0 C0/S0 Control/status byte of channel 1 1 Empty byte n 2 D0 Counter value of channel 1 3 D1 Counter value of channel 1 4 C1/S1 Control/status byte of channel 2 5 Empty byte n+1 6 D2 Counter value of channel 2 7 D3 Counter value of channel 2 8 C2/S2 Control/status byte of channel 3 9 Empty byte n+2 10 D4 Counter value of channel 3 11 D5 Counter value of channel 3 These I/O modules occupy 3x4 bytes. Object 0x2800 is used for 4-byte specialty module inputs. Object 0x2900 is used for 4-byte specialty module outputs. 1 subindex is assigned to 1 channel. • 3-phase power measurement modules with 24 bytes of user data (16 data bytes, 8 control/status bytes) In the input and output process image, the 3-phase power measurement modules occupy 24 bytes of user data, 16 data bytes and 8 additional control/status bytes. 24 bytes are occupied in the process image. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules Table 246: 3-phase power measurement module – 24 bytes of user data – input Input process image SubOffset Byte designation Remark index n 0 S0 Status word n+1 1 S1 n+2 2 S2 Expanded status word 1 n+3 3 S3 n+4 4 S4 Expanded status word 2 n+5 5 S5 n+6 6 S6 Expanded status word 3 n+7 7 S7 n+8 8 D0 n+9 9 D1 Process value 1 n+10 10 D2 n+11 11 D3 n+12 12 D4 n+13 13 D5 Process value 2 n+14 14 D6 n+15 15 D7 n+16 16 D8 n+17 17 D9 Process value 3 n+18 18 D10 n+19 19 D11 n+20 20 D12 n+21 21 D13 Process value 4 n+22 22 D14 n+23 23 D15 Manual Version 1.2.0 225 226 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 247: 3-phase power measurement module – 24 bytes of user data – output Output process image SubOffset Byte designation Remark index n 0 C0 Control word n+1 1 C1 n+2 2 C2 Expanded control word 1 n+3 3 C3 n+4 4 C4 Expanded control word 2 n+5 5 C5 n+6 6 C6 Expanded control word 3 n+7 7 C7 n+8 8 D0 n+9 9 D1 n+10 10 D2 n+11 11 D3 n+12 12 D4 n+13 13 D5 n+14 14 D6 n+15 15 D7 not used n+16 16 D8 n+17 17 D9 n+18 18 D10 n+19 19 D11 n+20 20 D12 n+21 21 D13 n+22 22 D14 n+23 23 D15 These I/O modules occupy 24 bytes. Object 0x380n is used for 9+ byte specialty module inputs. Object 0x390n is used for 9+ byte specialty module outputs. One I/O module is mapped per object. Each data byte assigned to one sub-index. Pulse Width Modules In the input and output process image, pulse width modules occupy 6 bytes of user data, 4 data bytes and two additional control/status bytes. 6 bytes are occupied in the process image. Table 248: Pulse width modules Input and Output process image SubOffset Byte designation index 0 C0/S0 n 1 D0 2 D1 3 C1/S1 n+1 4 D2 5 D3 Remark Control/status byte of channel 1 Data value of channel 1 Control/status byte of channel 2 Data value of channel 2 These I/O modules occupy 2x3 bytes. Object 0x2600 is used for 3-byte specialty module inputs. Object 0x2700 is used for 3-byte specialty module outputs. 1 subindex is assigned to 1 channel. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 227 Serial Interfaces with an Alternative Data Format The process image of the / 003-000 variants depends on the parameterized operating mode! The operating mode of the configurable /003-000 I/O module versions can be set. The structure of the process image of this I/O module then depends on which operating mode is set. In the input and output process image, I/O modules with serial interface, which are set to the alternative data format, occupy 4 bytes of user data, 3 data bytes and 1 additional control/status byte. 4 bytes are occupied in the process image. Table 249: Serial interfaces with alternative data format Input and Output process image SubOffset Byte designation index 0 C/S n 1 D0 2 D1 n+1 3 D2 Remark Control/status byte Data bytes These I/O modules occupy 2x2 bytes. Object 0x6401 (0x2400 also possible) is used for 2-byte specialty module inputs. Object 0x6411 (0x2500 also possible) is used for 2-byte specialty module outputs. 2 sub-indexes are occupied per I/O module. Serial Interface with Standard Data Format In the input and output process image, the I/O modules with serial interface, which are set to the standard data format, occupy 6 bytes of user data, 5 data bytes and 1 additional control/status byte. 6 bytes are occupied in the process image. Table 250: Serial interface with standard data format Input and Output process image SubOffset Byte designation index 0 C/S 1 D0 2 D1 n 3 D2 4 D3 5 D4 Remark Control/status byte Data bytes These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. Object 0x3300 is used for 6-byte specialty module outputs. One sub-index is assigned per I/O module. KNX/EIB/TP1 module In the input and output process image, the KNX/TP1 module occupies 24 bytes of user data in router and device mode, 20 data bytes and 1 control/status byte. Even Manual Version 1.2.0 228 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR though the additional bytes S1 or C1 are transferred as data bytes, they are used as extended status and control bytes. The opcode is used for the data read/write command and for triggering specific functions of the KNX/EIB/TP1 module. Access to the process image is not possible in router mode. Telegrams can only be tunneled. In device mode, access to the KNX data can only be performed via special function blocks of the IEC application. Configuration using the ETS engineering tool software is not required for KNX. Table 251: Input/output process image of the KNX/EIB/TP1-module Input and Output process image Subindex n n+1 n+2 n+3 n+4 … n+23 Offset Byte designation Remark 0 1 2 3 4 … 23 C0/S0 C1/S1 OP D0 … D19 nicht genutzt Steuer-/Statusbyte Erweitertes Steuer-/Statusbyte Opcode Datenbyte 0 … Datenbyte 19 These I/O modules occupy 24 bytes. Object 0x380n is used for 9+ byte specialty module inputs. Object 0x390n is used for 9+ byte specialty module outputs. One I/O module is mapped per object. Each data byte assigned to one sub-index. RS-232/RS-485 Serial Interface • Serial transmission mode The data to be sent and received is stored in up to 46 input and output bytes. The data flow is controlled with the control/status byte. The input bytes form the memory area for up to 46 characters, which were received by the interface. The characters to be sent are passed in the output bytes. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 229 Table 252: Input/output process image, serial interface, serial transmission mode Input and Output process image Subindex n n+8 … n+23 n+24 … n+47 • 0 1 2 3 4 … 7 8 … 23 24 … 47 Byte designation Remark S0/C0 S1/C1 D0 D1 D2 … D5 D6 … D21 D22 … D45 Control/status byte S0 Control/status byte S1 Data byte 0 Data byte 1 Data byte 2 … Data byte 5 Data byte 6 … Data byte 21 Data byte 22 … Data byte 45 8 bytes 24 bytes 48 bytes Data exchange mode The data to be sent and received is stored in up to 47 input and output bytes. The data flow is controlled with the control/status byte. Table 253: Input/output process image, serial interface, data exchange mode Sub- Offset index 0 1 2 n 3 … 7 8 bytes n+8 8 … … n+23 23 24 bytes n+24 24 … … n+47 47 48 bytes Input and Output process image Byte designation Remark S0/C0 D0 D1 D2 … D6 D7 … D22 D23 … D46 Control/status byte S0 Data byte 0 Data byte 1 Data byte 2 … Data byte 6 Data byte 7 … Data byte 22 Data byte 23 … Data byte 46 These I/O modules occupy either 1x8 bytes, 1x24 bytes or 1x48 bytes. Object 0x3600 is used for 8-byte specialty module inputs. Object 0x3700 is used for specialty module outputs. One sub-index is assigned per I/O module. For 24 bytes or 48 bytes, object 0x380n is used for 9+ byte specialty module inputs and object 0x390n for 9+ byte specialty module outputs. One I/O module is mapped per object. Each data byte assigned to one sub-index. Data exchange module In the input and output process image, data exchange modules occupy 4 data bytes. 4 bytes are occupied in the process image. Manual Version 1.2.0 230 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 254: Data exchange modules Input and Output process image SubOffset Byte designation index 0 D0 n 1 D1 2 D2 n+1 3 D3 Remark Data bytes These I/O modules occupy 2x2 bytes. Object 0x6401 (0x2400 also possible) is used for 2-byte specialty module inputs. Object 0x6411 (0x2500 also possible) is used for 2-byte specialty module outputs. 2 sub-indexes are occupied per I/O module. SSI Transmitter Interface I/O Modules with an Alternative Data Format The process image of the / 003-000 variants depends on the parameterized operating mode! The operating mode of the configurable /003-000 I/O module versions can be set. The structure of the process image of this I/O module then depends on which operating mode is set! In the input process image, SSI transmitter interface modules with status occupy 4 data bytes. Two words are assigned in the process image via word alignment. Table 255: SSI transmitter interface modules with alternative data format Input process image SubOffset Byte designation Remark index 0 D0 n 1 D1 Data bytes 2 D2 n+1 3 D3 These I/O modules occupy 2x2 bytes. Object 0x6401 (0x2400 also possible) is used for 2-byte specialty module inputs. Two sub-indexes are occupied per I/O module. SSI Transmitter Interface Modules with Standard Data Format In the input process image, the SSI transmitter interface modules with status appear with 5 bytes of user data, 4 data bytes and 1 additional status byte. 6 bytes are occupied in the process image. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 256: SSI transmitter interface modules with standard data format Input process image SubOffset Byte designation index 0 S 1 2 D0 n 3 D1 4 D2 5 D3 I/O Modules 231 Remark Status byte not used Data bytes These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. One sub-index is assigned per I/O module. Distance and Angle Measurement The I/O modules occupy 5 bytes in the input process image and 3 bytes in the output process image. 6 bytes are occupied in the process image. Table 257: Distance and angle measurement modules Input process image SubOffset Byte designation index 0 S 1 D0 2 D1 n 3 4 D2 5 D3 Remark Status byte Counter word not used Latch word These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. One sub-index is assigned per I/O module. Table 258: Distance and angle measurement modules Output process image SubOffset Byte designation index 0 C 1 D0 2 D1 n 3 4 5 - Remark Control byte Counter word not used These I/O modules occupy 1x6 bytes. Object 0x3300 is used for 6-byte specialty module outputs. One sub-index is assigned per I/O module. • Incremental encoder interface The I/O module occupies 5 bytes in the input process image, or 6 bytes in cycle duration measurement operating mode, and 3 bytes in the output process image. 6 bytes are occupied in the process image. Manual Version 1.2.0 232 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 259: Incremental encoder interface – Input Input process image SubOffset Byte designation Remark index 0 S Status byte 1 D0 Counter word 2 D1 n 3 D2*) (Cycle duration) 4 D3 Latch word 5 D4 *) If the control byte sets the operating mode to cycle duration measurement, D2 together with D3/D4 provides a 24-bit value for the cycle duration. These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. One sub-index is assigned per I/O module. Table 260: Incremental encoder interface – Output Output process image SubOffset Byte designation index 0 C 1 D0 2 D1 n 3 4 5 - Remark Status byte Counter word not used These I/O modules occupy 1x6 bytes. Object 0x3300 is used for 6-byte specialty module outputs. One sub-index is assigned per I/O module. • Incremental encoder interface with 6 bytes of user data The incremental encoder interface module occupies 6 bytes of user data in the input and output area of the process image, 4 data bytes and two additional control/status bytes. 6 bytes are occupied in the process image. Table 261: Incremental encoder interface – 6 bytes of user data Input and Output process image SubOffset Byte designation index 0 C0/S0 n 1 D0 2 D1 3 C1/S1 n+1 4 D2 5 D3 Remark Control/status byte 1 Data values Control/status byte 2 Data values These I/O modules occupy 2x3 bytes. Object 0x2600 is used for 3-byte specialty module inputs. Object 0x2700 is used for 3-byte specialty module outputs. Two sub-indexes are occupied per I/O module. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR • I/O Modules 233 Digital impulse interface In the input and output process image, the digital impulse interface module occupies 4 bytes of user data, 3 data bytes and 1 additional control/status byte. 4 bytes are occupied in the process image. Table 262: Digital impulse interface 750-635 Input and Output process image SubOffset Byte designation index 0 C0/S0 1 D0 n 2 D1 3 D2 Remark Control/status byte Data values These I/O modules occupy 1x4 bytes. Object 0x2800 is used for 4-byte specialty module inputs. Object 0x2900 is used for 4-byte specialty module outputs. One sub-index is assigned per I/O module. RTC module In both the input and output process image, the RTC module occupies 6 bytes of user data, 4 data bytes and 1 additional control/status byte, as well as 1 command byte (ID) each. 6 bytes are occupied in the process image. Table 263: RTC Module Input and Output process image SubOffset Byte designation index 0 C/S 1 ID 2 D0 n 3 D1 4 D2 5 D3 Remark Control/status byte Command byte Data bytes These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. Object 0x3300 is used for 6-byte specialty module outputs. 1 subindex is occupied per I/O module. Stepper module The stepper module makes a 12-byte input/output process image available. The data to be sent and received is stored in up to 7 input/output bytes depending on the operating mode. If the mailbox is activated, the first 6 data bytes are overlaid with mailbox data. Manual Version 1.2.0 234 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 264: Input process image, stepper module with mailbox deactivated Input and Output process image Subindex n Offset Byte designation Remark 0 1 2 3 4 5 6 7 8 9 10 11 C0/S0 D0 D1 D2 D3 D4 D5 D6 C3/S3 C2/S2 C1/S1 Control/status byte Reserved Data bytes Control/status byte Control/status byte Control/status byte Table 265: Output process image, stepper module with mailbox activated Input and Output process image Subindex n Offset Byte designation Remark 0 1 2 3 4 5 6 7 8 9 10 11 C0/S0 MBX0 MBX1 MBX2 MBX3 MBX4 MBX5 C3/S3 C2/S2 C1/S1 Control/status byte Reserved Mailbox bytes (mailbox activated) Reserved Control/status byte Control/status byte Control/status byte These I/O modules occupy 1x12 bytes. Object 0x4200 is used for gateway module inputs. Object 0x4300 is used for gateway module outputs. 1 sub-index is occupied per I/O module. DALI / DSI Master Module In the input and output process image, the DALI/DSI master module occupies 6 data bytes, 5 data bytes and 1 additional control/status byte. 6 bytes are occupied in the process image. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 266: DALI/DSI master module – Input Input process image SubOffset Byte designation index 0 S 1 D0 2 D1 n 3 D2 4 D3 5 D4 I/O Modules 235 Remark Status byte DALI response DALI address Message 3 Message 2 Message 1 These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. One sub-index is assigned per I/O module. Table 267: DALI/DSI master module – Output Output process image SubOffset Byte designation index 0 C 1 D0 2 D1 n 3 D2 4 D3 5 D4 Remark Control byte DALI command, DSI dimming value DALI address Parameter 2 Parameter 1 Command extension These I/O modules occupy 1x6 bytes. Object 0x3300 is used for 6-byte specialty module outputs. One sub-index is assigned per I/O module. DALI Multi-Master Module The DALI Multi-Master module occupies a total of 24 bytes in the input and output process image. The DALI Multi-Master module can be operated in “Easy” mode (default) and “Full” mode. “Easy” mode is used to transmit simply binary signals for lighting control. Configuration or programming via DALI master module is unnecessary in “Easy” mode. Changes to individual bits of the process image are converted directly into DALI commands for a pre-configured DALI network. 22 bytes of the 24-byte process image can be used directly for switching of ECGs, groups or scenes in the Easy mode. Switching commands are transmitted via DALI and group addresses, where each DALI and each group address is represented by a 2-bit pair. The structure of the process data is described in detail in the following tables. Manual Version 1.2.0 236 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 268: Overview of input process image in the “Easy” mode Input process image Subindex Offset Byte designation Remark Status, activate broadcast Bit 0: 1-/2-button mode Bit 2: Broadcast status ON/OFF Bit 1,3-7: res. n 0 S n+1 1 - n+2 2 DA0…DA3 n+3 3 DA4…DA7 n+4 4 DA8…DA11 n+5 5 DA12…DA15 n+6 6 DA16…DA19 n+7 7 DA20…DA23 n+8 8 DA24…DA27 Bit pair for DALI address DA0: n+9 9 DA28…DA31 Bit 1: n+10 10 DA32…DA35 n+11 11 DA36…DA39 n+12 12 DA40…DA43 Bit not set = No error n+13 13 DA44…DA47 Bit pairs DA1 to DA63 similar to DA0. n+14 14 DA48…DA51 n+15 15 DA52…DA55 n+16 16 DA56…DA59 n+17 17 DA60…DA63 n+18 18 GA0…GA3 Bit pair for DALI group address GA0: n+19 19 GA4…GA7 Bit 1: Bit set = ON n+20 20 GA8…GA11 n+21 21 GA12…GA15 n+22 22 n+23 23 n+24 24 - n+25 25 - Bit set = ON Bit not set = OFF Bit 2: Bit set = Error Bit not set = OFF Bit 2: Bit set = Error Bit not set = No error Bit pairs GA1 to GA15 similar to GA0. Not used DA = DALI address GA = Group address Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 237 Table 269: Overview of the output process image in the “Easy” mode Output process image Subindex Offset Byte designation Remark Broadcast ON/OFF and activate: Bit 0: Broadcast ON Bit 1: Broadcast OFF Bit 2: Broadcast ON/OFF/dimming Bit 3: Broadcast short ON/OFF Bit 4…7: reserved res. n 0 S n+1 1 - n+2 2 DA0…DA3 n+3 3 DA4…DA7 n+4 4 DA8…DA11 n+5 5 DA12…DA15 n+6 6 DA16…DA19 n+7 7 DA20…DA23 n+8 8 DA24…DA27 Bit pair for DALI address DA0: n+9 9 DA28…DA31 Bit 1: n+10 10 DA32…DA35 n+11 11 DA36…DA39 n+12 12 DA40…DA43 long: dimming, darker n+13 13 DA44…DA47 Bit pairs DA1 to DA63 similar to DA0. n+14 14 DA48…DA51 n+15 15 DA52…DA55 n+16 16 DA56…DA59 n+17 17 DA60…DA63 n+18 18 GA0…GA3 Bit pair for DALI group address GA0: n+19 19 GA4…GA7 Bit 1: short: GA switch ON n+20 20 GA8…GA11 n+21 21 GA12…GA15 n+22 22 long: dimming, darker n+23 23 Bit pairs GA1 to GA15 similar to GA0. n+24 24 Bit 0…7 n+25 25 Bit 8…15 DA = DALI address GA = Group address short: DA switch ON long: dimming, brighter Bit 2: short: DA switch OFF long: dimming, brighter Bit 2: short: GA switch OFF Switch to scene 0…15 These I/O modules occupy 25 bytes. Object 0x380n is used for 9+ byte specialty module inputs. Object 0x390n is used for 9+ byte specialty module outputs. One I/O module is mapped per object. Each data byte assigned to one sub-index. Manual Version 1.2.0 238 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR LON® FTT module The process image of the LON® FTT module consists of a control/status byte and 23 bytes of bidirectional communication data that is processed by the WAGOI/O-PRO function block “LON_01.lib”. This block is required for the function of the LON® FTT module and makes a user interface available on the control side. EnOcean Radio Receiver I/O Module In the input and output process image, the EnOcean radio receiver I/O module occupies 4 bytes of user data, 3 data bytes and 1 additional control/status byte. However, the 3 bytes of output data are not used. 4 bytes are occupied in the process image. Table 270: EnOcean radio receiver I/O module Input process image SubOffset Byte designation index 0 S n 1 D0 2 D1 n+1 3 D2 Table 271: EnOcean radio receiver I/O module Output process image SubOffset Byte designation index 0 C n 1 2 n+1 3 - Remark Status byte Data bytes Remark Control byte not used These I/O modules occupy 2x2 bytes. Object 0x6401 (0x2400 also possible) is used for 2-byte specialty module inputs. Object 0x6411 (0x2500 also possible) is used for 2-byte specialty module outputs. 2 sub-indexes are occupied per I/O module. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 239 Bluetooth® RF Transceiver The size of the process image for the Bluetooth® I/O module can be set at a fixed size of 12, 24 or 48 bytes. It consists of one control byte (input) or one status byte (output), one empty byte, one 6-, 12- or 18-byte overlayable mailbox (mode 2) and the Bluetooth® process data with a size of 4 to 46 bytes. The Bluetooth® I/O module uses between 12 to 48 bytes in the process image. The size of the input and output process images are always the same. The first byte contains the control/status byte; the second contains an empty byte. Process data attach to this directly when the mailbox is hidden. When the mailbox is visible, the first 6, 12 or 18 bytes of process data are overlaid by the mailbox data, depending on their size. Bytes in the area behind the optionally visible mailbox contain basic process data. The internal structure of the Bluetooth® process data can be found in the documentation for the Bluetooth® RF transceiver. Table 272: Bluetooth® RF transceiver Input and Output process image Process 12 bytes image size 1 status/cControl byte 1 empty byte n PDO 6 bytes mailbox or 6 bytes process data 4 bytes process data n+1 PDO 4 bytes empty (reserved) n+2 PDO free for next I/O module n+3 PDO n+4 PDO n+5 PDO n+6 PDO - 24 bytes 48 bytes 1 status/control byte 1 empty byte 6 bytes mailbox or 6 bytes process data 1 status/control byte 1 empty byte 6 bytes mailbox or 6 bytes process data 8 bytes process data 8 bytes process data 8 bytes process data free for next I/O module - 8 bytes process data 8 bytes process data 2 bytes process data 8 bytes process data free for next I/O module These I/O modules appear as follows depending on the data width set: Data width 1x12 Byte Gateway 1 Input 1x12 Byte Gateway 1 Output 1x24 Byte Gateway 1 Input 1x24 Byte Gateway 1 Output 1x48 Byte Gateway 1 Input 1x48 Byte Gateway 1 Output Object 0x4200 0x4300 0x4200 0x4300 0x4200 0x4300 One sub-index is assigned per I/O module. MP Bus Master Module In the input and process image, the MP Bus Master module occupies 8 bytes of user data, 6 data bytes and two additional control/status bytes. 8 bytes are occupied in the process image. Manual Version 1.2.0 240 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 273: MP Bus Master module Input and Output process image SubOffset Byte designation index 0 C0/S0 1 C1/S1 2 D0 3 D1 n 4 D2 5 D3 6 D4 7 D5 Remark Control/status byte Additional control/status byte Data bytes These I/O modules occupy 1x8 bytes. Object 0x3600 is used for 8-byte specialty module inputs. Object 0x3700 is used for 8-byte specialty module outputs. 1 subindex is occupied per I/O module. Vibration Velocity/Bearing Condition Monitoring VIB I/O In both input and the output process image, the vibration velocity/bearing condition monitoring VIB I/O module occupies 12 bytes of user data: 8 data bytes and 4 additional control/status bytes. 12 bytes are occupied in the process image. Table 274: Vibration velocity/bearing condition monitoring VIB I/O Input and Output process image SubOffset Byte designation index n n+1 n+2 n+3 0 C0/S0 1 2 D0 D1 3 C1/S1 4 5 D2 D3 6 C2/S2 7 8 D4 D5 9 C3/S3 10 11 D6 D7 Remark Control/status byte (log. channel 1, sensor input 1) Data bytes (log. channel 1, sensor input 1) Control/status byte (log. channel 2, sensor input 2) Data bytes (log. channel 2, sensor input 2) Control/status byte (log. channel 3, sensor input 1) Data bytes (log. channel 3, sensor input 1) Control/status byte (log. channel 4, sensor input 2) Data bytes (log. channel 4, sensor input 2) These I/O modules occupy 4x3 bytes. Object 0x2600 is used for 3-byte specialty module inputs. Object 0x2700 is used for 3-byte specialty module outputs. 1 subindex is occupied per logical channel. DC Drive Controller e I/O module occupies 6 bytes of input and output data in the process image. The position data to be sent and received is stored in 4 output bytes and 4 input bytes. 2 control/status bytes are used to control the I/O module and drive. In addition to Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 241 the position data in the input process image, extended status information can be shown. Table 275: DC drive controller input process image Input process image Subindex n Offset Byte designation 0 1 S0 S1 2 3 4 5 D0 S2 D1 D2 D3 S3 S4 S5 Remark Status byte S0 Status byte S1 Actual position Ext. status byte S2 (LSB) Actual position Ext. status byte S3 Actual position Ext. status byte S4 Actual position Ext. status byte S5 (MSB) Table 276: DC drive controller output process image Output process image Subindex Offset Byte designation Remark n 0 1 2 3 4 5 C0 C1 D0 D1 D2 D3 Control byte C0 Control byte C1 Setpoint position (LSB) Setpoint position Setpoint position Setpoint position (MSB) These I/O modules occupy 1x6 bytes. Object 0x3200 is used for 6-byte specialty module inputs. Object 0x3300 is used for 6-byte specialty module outputs. 1 subindex is occupied per I/O module. Manual Version 1.2.0 242 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 4-Channel I/O-Link Master In the input and output process image, the I/O module occupies 24 bytes of user data, 20 data bytes and 4 additional control/status bytes, mailbox bytes and SIO bytes. Table 277: 4-channel IO-Link-Master input/output process image Input and Output process image Subindex Offset 0 n n+8 n+9 n+10 n+11 n+12 n+13 n+14 n+15 n+16 n+17 n+18 n+19 n+20 n+21 n+22 n+23 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 4 bytes 6 bytes 8 bytes 10 bytes 12 bytes 16 bytes 20 bytes 24 bytes Byte designation Remark S0/C0 Control/status byte FC0 MB0 SIO D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16 D17 D18 D19 Acyclic channel Register byte 0 Mailbox byte Register byte 1 SIO Byte Data byte 0 Data byte 1 Data byte 2 Data byte 3 Data byte 4 Data byte 5 Data byte 6 Data byte 7 Data byte 8 Data byte 9 Data byte 10 Data byte 11 Data byte 12 Data byte 13 Data byte 14 Data byte 15 Data byte 16 Data byte 17 Data byte 18 Data byte 19 These I/O modules appear as follows depending on the data width set: Data width 1x4 bytes of input data 1x4 bytes of output data 1x6 bytes of input data 1x6 bytes of output data 1x10/12/16/20/24 bytes of input data 1x10/12/16/20/24 bytes of output data Object 0x2800 0x2900 0x3200 0x3300 0x380n 0x390n Sub-index 1 sub-index is occupied per I/O module. One I/O module is mapped per object. Each data byte assigned to one sub-index. CAN Gateway The length of the process image of the CAN Gateway I/O module can adjusted to a fixed size of 8, 12, 16, 20, 24, 32, 40 or 48 bytes. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 243 “Sniffer” and “Transparent” Operating Modes Table 278: CAN Gateway input/output process image Input and Output process image Subindex n n+8 n+9 n+10 n+11 n+12 n+13 n+14 n+15 n+16 n+17 n+18 n+19 n+20 n+21 n+22 n+23 n+24 … n+31 n+32 … n+47 Offset 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 … 31 32 … 47 8 bytes 12 bytes 16 bytes 20 bytes 24 bytes 32 bytes 48 bytes Byte designation Remark S0/C0 MBX0 MBX1 MBX2 MBX3 MBX4 MBX5 MBX6 D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 D16 … D23 D24 … D39 Control/status byte Mailbox byte 0 Mailbox byte 1 Mailbox byte 2 Mailbox byte 3 Mailbox byte 4 Mailbox byte 5 Mailbox byte 6 Data byte 0 Data byte 1 Data byte 2 Data byte 3 Data byte 4 Data byte 5 Data byte 6 Data byte 7 Data byte 8 Data byte 9 Data byte 10 Data byte 11 Data byte 12 Data byte 13 Data byte 14 Data byte 15 Data byte 16 … Data byte 23 Data byte 24 … Data byte 39 These I/O modules appear as follows depending on the data width set: Data width 1x8 bytes of input data 1x8 bytes of output data 1x12/16/20/24/32/40/48 bytes of input data 1x12/16/20/24/32/40/48 bytes of output data Manual Version 1.2.0 Object 0x3600 0x3700 0x380n 0x390n Sub-index 1 sub-index is occupied per I/O module. One I/O module is mapped per object. Each data byte assigned to one sub-index. 244 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR “Mapped” Operating Mode Table 279: CAN Gateway input/output process image Input and Output process image Subindex n n+8 n+9 n+10 n+11 n+12 n+13 n+14 n+15 n+16 n+17 n+18 n+19 n+20 n+21 n+22 n+23 n+24 … n+31 n+32 … n+47 Offset 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 … 31 32 … 47 8 bytes 12 bytes 16 bytes 20 bytes 24 bytes 32 bytes 48 bytes Byte designation Remark S0/C0 MBX0 MBX1 MBX2 MBX3 MBX4 MBX5 MBX6 T D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14 D15 … D22 D23 … D38 Control/status byte Mailbox byte 0 Mailbox byte 1 Mailbox byte 2 Mailbox byte 3 Mailbox byte 4 Mailbox byte 5 Mailbox byte 6 Toggle bit Data byte 0 Data byte 1 Data byte 2 Data byte 3 Data byte 4 Data byte 5 Data byte 6 Data byte 7 Data byte 8 Data byte 9 Data byte 10 Data byte 11 Data byte 12 Data byte 13 Data byte 14 Data byte 15 … Data byte 22 Data byte 23 … Data byte 38 These I/O modules appear as follows depending on the data width set: Data width 1x8 bytes of input data 1x8 bytes of output data 1x12/16/20/24/32/40/48 bytes of input data 1x12/16/20/24/32/40/48 bytes of output data Object 0x3600 0x3700 0x380n 0x390n Sub-index 1 sub-index is occupied per I/O module. One I/O module is mapped per object. Each data byte assigned to one sub-index. Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 245 Proportional Valve Module The proportional valve module occupies 6 bytes in 1-channel mode (1 valve), 12 bytes in 2-channel mode (2 valves). 1-channel mode Table 280: Proportional Valve Module input process image Input process image Subindex n Offset Byte designation Remark 0 1 2 3 4 5 S0 MBX_ST MBX_DATA V1_STATUS V1_ACTUAL_L V1_ACTUAL_H Status byte Mailbox status byte Mailbox data Valve 1 control Valve 1, actual value, low byte Valve 1, actual value, high byte Table 281: Proportional Valve Module output process image Output process image Subindex Offset Byte designation Remark n 0 1 2 3 4 5 C0 MBX_CTRL MBX_DATA V1_CONTROL V1_SETPOINTVALUE_L V1_SETPOINTVALUE_H Control byte Mailbox control byte Mailbox data Valve 1 control Valve 1, setpoint, low byte Valve 1, setpoint, high byte These I/O modules occupy 1x6 bytes. Object 0x3800 is used for 6-byte specialty module inputs. Object 0x3900 is used for 6-byte specialty module outputs. One sub-index is assigned per I/O module. Manual Version 1.2.0 246 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR 2-channel mode Table 282: Proportional Valve Module input process image Input process image Subindex n n+1 n+2 n+3 n+4 n+5 n+6 n+7 n+8 n+9 n+10 n+11 Offset Byte designation Remark 0 1 2 3 4 5 6 7 8 9 10 11 S0 MBX_ST MBX_DATA1 MBX_DATA2 MBX_DATA3 MBX_DATA4 V1_STATUS V2_STATUS V1_ACTUAL_L V1_ACTUAL_H V2_ACTUAL_L V2_ACTUAL_H Status byte Mailbox status byte Mailbox data Valve 1 control Valve 2 control Valve 1, actual value, low byte Valve 1, actual value, low byte Valve 2, actual value, low byte Valve 2, actual value, low byte Table 283: Proportional Valve Module output process image Subindex n n+1 n+2 n+3 n+4 n+5 n+6 n+7 n+8 n+9 n+10 n+11 Output process image Offset Byte designation Remark 0 1 2 3 4 5 6 7 8 9 10 11 C0 MBX_CTRL MBX_DATA1 MBX_DATA2 MBX_DATA3 MBX_DATA4 V1_CONTROL V2_CONTROL V1_SETPOINTVALUE_L V1_SETPOINTVALUE_H V2_SETPOINTVALUE_L V2_SETPOINTVALUE_H Control byte Mailbox control byte Mailbox data Valve 1 control Valve 2 control Valve 1, setpoint, low byte Valve 1, setpoint, high byte Valve 2, setpoint, low byte Valve 2, setpoint, high byte These I/O modules occupy 12 bytes. Object 0x380n is used for 9+ byte specialty module inputs. Object 0x390n is used for 9+ byte specialty module outputs. One I/O module is mapped per object. Each data byte assigned to one sub-index. Pos : 50.14 /Serie 750 ( WAGO-I/O-SYST EM)/Pr ozessabbild M appi ng/CAN open/PA CAN open - ASI- Klemme und Sys temkl emmenanfang XTR @ 18\mod_1395137972234_21.doc x @ 148174 @ 3 @ 1 AS Interface Master The maximum process image of the AS-Interface Master I/O module is 48 bytes. The mailbox size is limited to 6 bytes when using a CANopen fieldbus coupler/controller. Each PDO can take up to 8 bytes of data. The first PDO assigned to an AS-interface Master I/O module contains the status/control byte, 1 empty byte and up to 6 bytes for the mailbox or process data. The following PDOs contain AS-Interface process data. The subsequent table shows assignment of the process image size to the number of occupied PDOs when the mailbox is shown permanently (mode 1). Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 247 Table 284: AS-Interface Master, number of occupied PDOs when the mailbox is visible permanently Process image size n. PDO n+1. PDO n+2. PDO n+3. PDO n+4. PDO Input and Output Process Image 24 bytes 32 bytes 12 bytes 20 bytes 40 bytes 48 bytes 1 status/ Control byte 1 empty byte 6 bytes Mailbox 4 bytes Process data (flags and Slave 1/1A Slave 7/7A) 4 bytes empty (reserved) free for next I/O module 1 status/ Control byte 1 empty byte 6 bytes Mailbox 8 bytes Process data (flags and Slave 1/1A – Sl. 15/15A) 1 status/ Control byte 1 empty byte 6 bytes Mailbox 8 bytes Process data (flags and Slave 1/1A – Sl. 15/15A) 1 status/ Control byte 1 empty byte 6 bytes Mailbox 8 bytes Process data (flags and Slave 1/1A – Sl. 15/15A) 1 status/ Control byte 1 empty byte 6 bytes Mailbox 8 bytes Process data (flags and Slave 1/1A – Sl. 15/15A) 1 status/ Control byte 1 empty byte 6 bytes Mailbox 8 bytes Process data (flags and Slave 1/1A – Sl. 15/15A) 4 bytes Process data (Sl. 16/16A – Sl. 23/23A) 4 bytes empty (reserved) free for next I/O module 8 bytes Process data (Sl. 16/16A – Sl. 31/31A) 8 bytes Process data (Sl. 16/16A – Sl. 31/31A) 8 bytes Process data (Sl. 16/16A – Sl. 31/31A) 8 bytes Process data (Sl. 16/16A – Sl. 31/31A) free for next I/O module 8 bytes Process data (Slave 1B – Slave 15B) free for next I/O module 8 bytes Process data (Slave 1B – Slave 15B) 8 bytes Process data (Slave 16B – Slave 31B) free for next I/O module 8 bytes Process data (Slave 1B – Slave 15B) 8 bytes Process data (Slave 16B – Slave 31B) 8 bytes (reserved) *) free for next I/O module n+5. PDO n+6. PDO *) Free for data from slaves with analog process data with “Auto-populate ON”. The nth PDO corresponds to the first PDO occupied by the AS-Interface Master I/O module. It contains the status/control byte, 1 empty byte and up to 6 bytes of mailbox data. If the length of the permanently visible mailbox is 0 bytes, the nth PDO contains only the status/control byte and an empty byte. If the process image of the AS-Interface Master I/O module is 12 or 20 bytes, the last PDO is not fully occupied. Another I/O module then begins with the next PDO. Process Image Size When Transmitting Process Data If the mailbox size is 6 bytes and 62 AS-Interface slaves are connected, a process image size of 40 bytes is sufficient to transmit all process data. The I/O module then occupies five PDOs. In the operating mode where the mailbox can be hidden (mode 2), the following assignment of the process image size to the number of occupied PDOs applies. Manual Version 1.2.0 248 I/O Modules WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 285: AS-Interface Master, number of occupied PDOs when the mailbox is hidden Process image size n. PDO n+1. PDO n+2. PDO n+3. PDO 12 bytes 20 bytes 1 status/control byte 1 empty byte 6 byte of mailbox or 6 byte of process data Slave 1/1A (flags or slave – Sl. 11/11A) 1/1A – Sl. 11/11A) 4 bytes process 8 bytes process data (Sl. 12/12A data (Sl. 12/12A – Sl. 19/19A) 4 – Sl. 27/27A) bytes empty (reserved) free for next I/O 4 bytes process module data (Sl. 28/28A – Slave 3B) 4 bytes empty (reserved) free for next I/O module 1 empty byte 6 bytes of mailbox or 6 bytes of process data (flags and 24 bytes 32 bytes 40 bytes 48 bytes 1 status/control byte 1 empty byte 6 byte of mailbox or 6 byte of process data (flags or slave 1/1A – Sl. 11/11A) 8 bytes process data (Sl. 12/12A – Sl. 27/27A) 1 status/control byte 1 empty byte 6 byte of mailbox or 6 byte of process data (flags or slave 1/1A – Sl. 11/11A) 8 bytes process data (Sl. 12/12A – Sl. 27/27A) 1 status/control byte 1 empty byte 6 byte of mailbox or 6 byte of process data (flags or slave 1/1A – Sl. 11/11A) 8 bytes process data (Sl. 12/12A – Sl. 27/27A) 1 status/control byte 1 empty byte 6 byte of mailbox or 6 byte of process data (flags or slave 1/1A – Sl. 11/11A) 8 bytes process data (Sl. 12/12A – Sl. 27/27A) 8 bytes process 8 bytes process 8 bytes process 8 bytes process data (Sl. 28/28A data (Sl. 28/28A data (Sl. 28/28A data (Sl. 28/28A – Slave 11B) – Slave 11B) – Slave 11B) – Slave 11B) free for next I/O module n+4. PDO 8 bytes process data (Slave 12B – Slave 27B) free for next I/O module n+5. PDO n+6. PDO 8 bytes process data (Slave 12B – Slave 27B) 2 bytes process data (Slave 28B – Slave 31B) 6 bytes empty (reserved) free for next I/O module 8 bytes process data (Slave 12B – Slave 27B) 2 bytes process data (Slave 28B -Slave 31B) 6 bytes empty (reserved) 8 bytes (reserved) *)(re free for next I/O module *) Free for data from slaves with analog process data with “Auto-populate ON”. The nth PDO contains the status/control byte, 1 empty byte and 6 bytes of mailbox data when the mailbox is visible or the first 6 bytes of process data. The following PDOs contain the remaining process data. No access to the first 6 bytes of process data! When the mailbox is visible, the first 6 bytes of process data (flags and slave 1/1A to slave 11/11A) cannot be accessed. If the process image of the AS-Interface Master I/O module is 12, 20, 40 or 58 bytes, the last PDO is not fully occupied. Another I/O module then begins with the next PDO. These I/O modules occupy 1x 12...48 bytes. Object 0x4200-0x4202 is used for gateway module inputs. Object 0x4300-0x4302 is used for gateway module outputs. One index is occupied per I/O module, where sub-index 1 contains the mailbox size, sub-index 2 the mailbox and sub-index 3 up to 48 the process data. 11.2.6 System Modules System Modules with Diagnostics Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR I/O Modules 249 Power supply modules with diagnostics provide 2 bits to monitor the power supply. Table 286: System modules with diagnostics Input process image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Diag. bit S2 Fuse Object 0x6000 (0x2000 also possible) is used for the digital inputs. Bit 0 Diag. bit S1 Voltage Pos : 50.15 /Serie 750 ( WAGO-I/O-SYST EM)/Pr ozessabbild M appi ng/ETH ERNET - EtherNet/IP - M ODBU S/TC P/PA ETH ERN ET - MOD BU S/TC P T eil 3 Bi när e Platzhalter klemmen - letzte Kl emme XTR @ 18\mod_1395138085663_21.doc x @ 148287 @ 3 @ 1 11.2.7 Binary Spacer Modules The binary spacer module can operate as a 2-channel digital input module or output module and, depending on the setting, occupies 1, 2, 3 or 4 bits per channel. Accordingly, 2, 4, 6 or 8 bits are occupied either in the input process image or in the output process image. Table 287: Binary Spacer Modules (with the Behavior of a 2 DI) Input or Output Process Image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 (Data bit (Data bit (Data bit (Data bit (Data bit (Data bit DI 8) DI 7) DI 6) DI 5) DI 4) DI 3) Pos : 50.16 /Serie 750 ( WAGO-I/O-SYST EM)/Pr ozessabbild M appi ng/CAN open/PA CAN open - Binäre Platz halter klemmen 750-622 - Z usatz C ANopen @ 9\mod_1284120620400_21.doc x @ 64582 @ @ 1 Bit 1 Data bit DI 2 Bit 0 Data bit DI 1 Object 0x6000 (0x2000 also possible) is used for the digital inputs. Object 0x6200 (0x2100 also possible) is used for the digital outputs. Pos : 51 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 250 Use in Hazardous Environments WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 52.1 /All e Seri en ( Allgemei ne Module)/Ü bers chriften/Ebene 1Eins atz in expl osionsgefährdeten Bereic hen - Übersc hrift 1 @ 3\mod_1224075191281_21.doc x @ 24084 @ 1 @ 1 12 Use in Hazardous Environments Pos : 52.2 /Serie 750 (WAGO-I/O-SYST EM)/Eins atz in Ex- Ber eichen/Ei ns atz ber eich Serie 750 @ 3\mod_1234272230203_21.doc x @ 27500 @ @ 1 The WAGO-I/O-SYSTEM 750 (electrical equipment) is designed for use in Zone 2 hazardous areas. The following sections include both the general identification of components (devices) and the installation regulations to be observed. The individual subsections of the “Installation Regulations” section must be taken into account if the I/O module has the required approval or is subject to the range of application of the ATEX directive. Pos : 52.3 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Use in Hazardous Environments 251 Pos : 52.4 /Serie 750 (WAGO-I/O-SYST EM)/Eins atz in Ex- Ber eichen/Beis piel hafter Aufbau der Kennz eic hnung - Übersc hrift 2 @ 3\mod_1224157499140_21.doc x @ 24182 @ 2 @ 1 12.1 Marking Configuration Examples Pos : 52.5 /Serie 750 (WAGO-I/O-SYST EM)/Eins atz in Ex- Ber eichen/Kennz eic hnung für Europa gemäß ATEX und IEC- EX - Übersc hrift 3 @ 3\mod_1224157620203_21.doc x @ 24185 @ 3 @ 1 12.1.1 Marking for Europe According to ATEX and IEC-Ex Pos : 52.6 /Serie 750 (WAGO-I/O-SYST EM)/Eins atz in Ex- Ber eichen/Beis piel bedruc kung der ATEX- und IEC- Ex-zug elass enen Bus klemmen gemäß C ENELEC und IEC_2013 @ 14\mod_1360569228625_21.doc x @ 111294 @ @ 1 Figure 84: Side Marking Example for Approved I/O Modules According to ATEX and IECEx Figure 85: Text Detail – Marking Example for Approved I/O Modules According to ATEX and IECEx. Manual Version 1.2.0 252 Use in Hazardous Environments WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 288: Description of Marking Example for Approved I/O Modules According to ATEX and IECEx Printing on Text TÜV 07 ATEX 554086 X IECEx TUN 09.0001 X Dust II 3D Ex tc Dc IIIC T 135°C Mining I M2 Ex d Mb I Gases II 3G Ex nA Gc nC Gc IIC T4 Description Approving authority and certificate numbers Equipment group: All except mining Category 3 (Zone 22) Explosion protection mark Type of protection and equipment protection level (EPL):protection by enclosure Explosion group of dust Max. surface temperature of the enclosure (without a dust layer) Equipment group: Mining Category: High level of protection Explosion protection mark Type of protection and equipment protection level (EPL): Flameproof enclosure Explosion group for electrical equipment for mines susceptible to firedamp Equipment group: All except mining Category 3 (Zone 2) Explosion protection mark Type of protection and equipment protection level (EPL): Non-sparking equipment Type of protection and equipment protection level (EPL): Sparking apparatus with protected contacts. A device which is so constructed that the external atmosphere cannot gain access to the interior Explosion group of gas and vapours Temperature class: Max. surface temperature 135°C Pos : 52.7 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Use in Hazardous Environments 253 Pos : 52.8 /Serie 750 (WAGO-I/O-SYST EM)/Eins atz in Ex- Ber eichen/Beis piel bedruc kung der Ex-i- und IEC-Ex-i-zug elas senen Bus klemmen gemäß C ENELEC und IEC _2013 @ 14\mod_1360569320118_21.doc x @ 111298 @ @ 1 Figure 86: Side Marking Example for Approved Ex i I/O Modules According to ATEX and IECEx. Figure 87: Text Detail – Marking Example for Approved Ex i I/O Modules According to ATEX and IECEx. Manual Version 1.2.0 254 Use in Hazardous Environments WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 289: Description of Marking Example for Approved Ex i I/O Modules According to ATEX and IECEx Inscription Text TÜV 07 ATEX 554086 X IECEx TUN 09.0001X TÜV 12 ATEX 106032 X IECEx TUN 12.0039 X Dust II 3(1)D 3(2)D Ex tc Dc [ia Da] [ib Db] IIIC T 135°C Mining I M2 (M1) Ex d Mb [ia Ma] I Description Approving authority and certificate numbers Equipment group: All except mining Category 3 (Zone 22) equipment containing a safety device for a category 1 (Zone 20) equipment Category 3 (Zone 22) equipment containing a safety device for a category 2 (Zone 21) equipment Explosion protection mark Type of protection and equipment protection level (EPL): protection by enclosure Type of protection and equipment protection level (EPL): associated apparatus with intrinsic safety circuits for use in Zone 20 Type of protection and equipment protection level (EPL): associated apparatus with intrinsic safety circuits for use in Zone 21 Explosion group of dust Max. surface temperature of the enclosure (without a dust layer) Equipment Group: Mining Category: High level of protection with electrical circuits which present a very high level of protection Explosion protection mark with Type of protection and equipment protection level (EPL): Flameproof enclosure Type of protection and equipment protection level (EPL): associated apparatus with intrinsic safety electrical circuits Explosion group for electrical equipment for mines susceptible to firedamp Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Use in Hazardous Environments 255 Table 289: Description of Marking Example for Approved Ex i I/O Modules According to ATEX and IECEx Gases II 3(1)G 3(2)G Ex nA Gc [ia Ga] [ia Gb] IIC T4 Pos : 52.9 /Dokumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 Equipment group: All except mining Category 3 (Zone 2) equipment containing a safety device for a category 1 (Zone 0) equipment Category 3 (Zone 2) equipment containing a safety device for a category 2 (Zone 1) equipment Explosion protection mark Type of protection and equipment protection level (EPL): Non-sparking equipment Type of protection and equipment protection level (EPL): associated apparatus with intrinsic safety circuits for use in Zone 0 Type of protection and equipment protection level (EPL): associated apparatus with intrinsic safety circuits for use in Zone 1 Explosion group of gas and vapours Temperature class: Max. surface temperature 135°C 256 Use in Hazardous Environments WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 52.10 /Serie 750 ( WAGO-I/O-SYST EM)/Ei ns atz i n Ex-Bereic hen/Kennz eichnung für Ameri ka gemäß N EC 500 - Übersc hrift 3 @ 3\mod_1224158423187_21.doc x @ 24188 @ 3 @ 1 12.1.2 Marking for America According to NEC 500 Pos : 52.11 /Serie 750 ( WAGO-I/O-SYST EM)/Ei ns atz i n Ex-Bereic hen/Beispi elbedruc kung gemäß NEC 500_2013 @ 14\mod_1360580302684_21.doc x @ 111353 @ @ 1 Figure 88: Side Marking Example for I/O Modules According to NEC 500 Figure 89: Text Detail – Marking Example for Approved I/O Modules According to NEC 500 Table 290: Description of Marking Example for Approved I/O Modules According to NEC 500 Printing on Text CL I DIV 2 Grp. ABCD Op temp code T4 Description Explosion protection group (condition of use category) Area of application Explosion group (gas group) Temperature class Pos : 52.12 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Use in Hazardous Environments 257 Pos : 52.13 /Alle Serien (Allgemeine M odul e)/Übersc hriften/Ebene 2Erric htungs bes timmungen - Ü bersc hrift 2 @ 3\mod_1232453624234_21.doc x @ 26370 @ 2 @ 1 12.2 Installation Regulations Pos : 52.14 /Alle Serien (Allgemeine M odul e)/Ei ns atz i n Ex-Bereic hen/Errichtungsbes timmungen Ei nleitung_2013 @ 14\mod_1360582328318_21.doc x @ 111371 @ @ 1 For the installation and operation of electrical equipment in hazardous areas, the valid national and international rules and regulations which are applicable at the installation location must be carefully followed. Pos : 52.15 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 258 Use in Hazardous Environments WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 52.16 /Serie 750 ( WAGO-I/O-SYST EM)/Ei ns atz i n Ex-Bereic hen/Besonder e Beding ung en für den sic her en Ex- Betrieb gem. AT EX-Z ertifi kat TÜV 14 ATEX 148929_X @ 21\mod_1416995371807_21.doc x @ 169118 @ 3 @ 1 12.2.1 Special Conditions for Safe Use (TÜV 14 ATEX 148929 X) 1. 2. 3. 4. Pos : 52.17 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 The modules of the WAGO-I/O-SYSTEM 750-*** have to been erected in such a way, that corresponding to EN 60079-15 a degree of protection of at least IP 54 according to EN 60529 is achieved. Measures have to been taken, external to the modules, to provide a transient protection that ensures that the rated voltage, connected to the power supply terminals, is not exceeded by more than 40 %. The connecting and disconnecting of the non-intrinsically safe circuits is only permitted if no explosive atmosphere exists. This although applies for the all switches, interfaces (Fieldbus, Ethernet, Serial) and the SD-card. The ambient temperature range is: 0 °C ≤ Tamb ≤ +60 °C The ambient temperature range for modules with suffix extension /025-**** is: -20 °C ≤ Tamb ≤ +60 °C Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Use in Hazardous Environments 259 Pos : 52.18 /Serie 750 ( WAGO-I/O-SYST EM)/Ei ns atz i n Ex-Bereic hen/Besonder e Beding ung en für den sic her en Ex- Betrieb gem. AT EX-Z ertifi kat TÜV 12 ATEX 106032x_2013_2 @ 15\mod_1368620479454_21.doc x @ 119782 @ 3 @ 1 12.2.2 Special Conditions for Safe Use (ATEX Certificate TÜV 12 ATEX 106032 X) 1. 2. 3. 4. Pos : 52.19 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 For use as Gc- or Dc-apparatus (in zone 2 or 22) the Field bus Independent I/O Modules WAGO-I/O-SYSTEM 750-*** Ex i shall be erected in an enclosure that fulfils the requirements of the applicable standards (see the marking) EN 60079-0, EN 60079-11, EN 60079-15 and EN 60079-31. For use as group I electrical apparatus M2 the apparatus shall be erected in an enclosure that ensures a sufficient protection according to EN 60079-0 and EN 60079-1 and the degree of protection IP64. The compliance of these requirements and the correct installation into an enclosure or a control cabinet of the devices shall be certified by an ExNB. Measures have to be taken outside of the device that the rating voltage is not being exceeded of more than 40 % because of transient disturbances. The connecting and disconnecting of the non-intrinsically safe circuits is only permitted during installation, for maintenance or for repair purposes. The temporal coincidence of explosion hazardous atmosphere and installation, maintenance resp. repair purposes shall be excluded. For the type the following shall be considered: The Interface circuits shall be limited to overvoltage category I/II (non mains/mains circuits) as defined in EN 60664-1. 260 Use in Hazardous Environments WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 52.20 /Serie 750 ( WAGO-I/O-SYST EM)/Ei ns atz i n Ex-Bereic hen/Besonder e Beding ung en für den sic her en Ex- Betrieb gem. IEC-Ex-Z ertifi kat TUN 14.0035 X_2014 @ 21\mod_1416995779884_21.doc x @ 169122 @ 3 @ 1 12.2.3 Special Conditions for Safe Use (IEC-Ex Certificate TUN 14.0035X) 1. 2. 3. 4. Pos : 52.21 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 The modules of the WAGO-I/O-SYSTEM 750-*** have to been erected in such a way, that corresponding to IEC 60079-15 a degree of protection of at least IP 54 according to IEC 60529 is achieved. Measures have to been taken, external to the modules, to provide a transient protection that ensures that the rated voltage, connected to the power supply terminals, is not exceeded by more than 40 %. The connecting and disconnecting of the non-intrinsically safe circuits is only permitted if no explosive atmosphere exists. This although applies for the all switches, interfaces (Fieldbus, Ethernet, Serial) and the SD-card. The ambient temperature range is: 0 °C ≤ Tamb ≤ +60 °C The ambient temperature range for modules with suffix extension /025-**** is: -20 °C ≤ Tamb ≤ +60 °C Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Use in Hazardous Environments 261 Pos : 52.22 /Serie 750 ( WAGO-I/O-SYST EM)/Ei ns atz i n Ex-Bereic hen/Besonder e Beding ung en für den sic her en Ex- Betrieb gem. IEC-Ex-Z ertifi kat TUN 12.0039 X_2013_2 @ 15\mod_1368620821493_21.doc x @ 119790 @ 3 @ 1 12.2.4 Special Conditions for Safe Use (IEC-Ex Certificate IECEx TUN 12.0039 X) 1. 2. 3. 4. Pos : 52.23 /D okumentati on allgemei n/Gli ederungsel emente/---Seitenwec hs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 For use as Gc- or Dc-apparatus (in zone 2 or 22) the Field bus independent I/O Modules WAGO-I/O-SYSTEM 750-*** Ex i shall be erected in an enclosure that fulfils the requirements of the applicable standards (see the marking) IEC 60079-0, IEC 60079-11, IEC 60079-15, IEC 60079-31. For use as group I electrical apparatus M2 the apparatus shall be erected in an enclosure that ensures a sufficient protection according to IEC 60079-0 and IEC 60079-1 and the degree of protection IP64. The compliance of these requirements and the correct installation into an enclosure or a control cabinet of the devices shall be certified by an ExCB. Measures have to be taken outside of the device that the rating voltage is not being exceeded of more than 40 % because of transient disturbances. The connecting and disconnecting of the non-intrinsically safe circuits is only permitted during installation, for maintenance or for repair purposes. The temporal coincidence of explosion hazardous atmosphere and installation, maintenance resp. repair purposes shall be excluded. For the type the following shall be considered: The Interface circuits shall be limited to overvoltage category I/II (non mains/mains circuits) as defined in IEC 60664-1. 262 Use in Hazardous Environments WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 52.24 /Serie 750 ( WAGO-I/O-SYST EM)/Ei ns atz i n Ex-Bereic hen/Errichtungsbesti mmung en AN SI ISA 12.12.01_2013_2_für 750-439, -633, - 663/000-003 @ 21\mod_1417518338537_21.doc x @ 169812 @ 3 @ 1 12.2.5 Special Conditions for Safe Use according to ANSI/ISA 12.12.01 A. B. C. D. E. F. G. H. I. J. K. L. “This equipment is suitable for use in Class I, Division 2, Groups A, B, C, D or non-hazardous locations only.” “This equipment is to be fitted within tool-secured enclosures only.” “WARNING Explosion hazard - substitution of components may impair suitability for Class I, Div. 2.” “WARNING – Do not disconnect equipment unless power has been switched off or the area is known to be non-hazardous” has to be placed near each operator accessible connector and fuse holder. When a fuse is provided, the following information shall be provided: “A switch suitable for the location where the equipment is installed shall be provided to remove the power from the fuse.” For devices with EtherCAT/Ethernet connectors “Only for use in LAN, not for connection to telecommunication circuits.” “WARNING - Use Module 750-642 only with antenna module 758-910.” For Couplers/Controllers and Economy bus modules only: The instructions shall contain the following: “The configuration interface Service connector is for temporary connection only. Do not connect or disconnect unless the area is known to be non-hazardous. Connection or disconnection in an explosive atmosphere could result in an explosion.” Modules containing fuses only: “WARNING - Devices containing fuses must not be fitted into circuits subject to over loads, e.g. motor circuits.” Modules containing SD card reader sockets only: “WARNING - Do not connect or disconnect SD-Card while circuit is live unless the area is known to be free of ignitable concentrations of flammable gases or vapors.” The modules 750-439, 750-538, 750-633, 750-663/000-003 shall only be supplied with 750-606 or 750-625/000-001. Module 750-538 only “In Hazardous Locations, Non-Incendive only when installed per Control Drawing No. 750-538”. Pos : 52.25 /D okumentati on allgemei n/Gli ederungsel emente/------Leerz eile------ @ 3\mod_1224662755687_0.doc x @ 24460 @ @ 1 Pos : 52.26 /D okumentati on allgemei n/Gli ederungsel emente/------Leerz eile------ @ 3\mod_1224662755687_0.doc x @ 24460 @ @ 1 Pos : 52.27 /Serie 750 ( WAGO-I/O-SYST EM)/Ei ns atz i n Ex-Bereic hen/Infor mati on: Zer tifizier ungs nachweis @ 7\mod_1274279547729_21.doc x @ 56649 @ @ 1 Additional Information Proof of certification is available on request. Also take note of the information given on the operating and assembly instructions. The manual, containing these special conditions for safe use, must be readily available to the user. === Ende der Liste für T extmar ke Inhalt_mitte === Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR List of Figures 263 Pos : 54 /D okumentation allgemei n/Verz eic hniss e/Abbil dungs verz eic hnis - Übersc hrift oG und Verz eichnis @ 3\mod_1219222916765_21.doc x @ 21080 @ @ 1 List of Figures Figure 1: Fieldbus Node (Example) ...................................................................... 18 Figure 2: Marking Area for Serial Numbers ......................................................... 19 Figure 3: Isolation for Fieldbus Couplers/Controllers (Example)......................... 21 Figure 4: System Voltage for Fieldbus Couplers/Controllers (Example) ............. 22 Figure 5: System Supply for Fieldbus Coupler/Controller ................................... 23 Figure 6: Field Supply for Fieldbus Couplers/Controllers (Example) .................. 26 Figure 7: Fuse Modules for Automotive Fuses, Series 282 .................................. 27 Figure 8: Fuse Modules for Automotive Fuses, Series 2006 ................................ 27 Figure 9: Fuse Modules with Pivotable Fuse Carrier, Series 281 ......................... 28 Figure 10: Fuse Modules with Pivotable Fuse Carrier, Series 2002 ..................... 28 Figure 11: Power Supply Concept......................................................................... 29 Figure 12: Power Supply Example........................................................................ 31 Figure 13: Carrier Rail Contact (Example) ........................................................... 35 Figure 14: Cable Shield at Ground Potential......................................................... 36 Figure 15: Examples of the WAGO Shield Connecting System........................... 37 Figure 16: Application of the WAGO Shield Connecting System ....................... 37 Figure 17: View ..................................................................................................... 39 Figure 18: Device supply ...................................................................................... 41 Figure 19: Pin Assignment for D-Sub Fieldbus Connection (Male) ..................... 41 Figure 20: Display Elements ................................................................................. 43 Figure 21: Service Interface (Closed and Opened Flap) ....................................... 45 Figure 22: Mode Selector Switch (Closed and Open Damper of the Service Port).............................................................................................................. 45 Figure 23: Example: Saving the Baud Rate 125 kBd ............................................ 48 Figure 24: Setting the Station Address (Setting 0 Here) ....................................... 49 Figure 25: Spacing................................................................................................. 63 Figure 26: Release Tab of Extended ECO Fieldbus Coupler (Example) .............. 65 Figure 27: Insert I/O Module (Example) ............................................................... 66 Figure 28: Snap the I/O Module into Place (Example) ......................................... 66 Figure 29: Removing the I/O Module (Example) ................................................. 67 Figure 30: Data Contacts ....................................................................................... 68 Figure 31: Example for the Arrangement of Power Contacts ............................... 69 Figure 32: Connecting a Conductor to a CAGE CLAMP® ................................... 70 Figure 33: Controller operating system ................................................................. 72 Figure 34: Memory areas and data exchange ........................................................ 76 Figure 35: Fieldbus specific data exchange for a CANopen fieldbus controller ...................................................................................................... 78 Figure 36: Correlation between IEC-61131-3 variables and PFC variables ......... 85 Figure 37: All Slide Switches in the “OFF” Position for Checking and Setting the Baud Rate ............................................................................................... 97 Figure 38: Setting Baud Rate 125 kBd .................................................................. 98 Figure 39: Saving the Baud Rate 125 kBd ............................................................ 98 Figure 40: Setting Module ID 1 ............................................................................ 98 Figure 41: Display Elements ............................................................................... 103 Figure 42: Node Status – I/O LED Signaling...................................................... 106 Figure 43: Error Message Coding ....................................................................... 106 Figure 44: Cable Cross-Section Based on the Cable Length and the Number of Nodes ..................................................................................................... 116 Manual Version 1.2.0 264 List of Figures WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Figure 45: Connection Priciple of a WAGO Fieldbus Node to the CAN Bus .... 117 Figure 46: Principle of Measurement for Checking the CAN Bus Before Cabling ....................................................................................................... 118 Figure 47: Bus Topology of a CANopen Network ............................................. 119 Figure 48: Rx-PDO ............................................................................................. 122 Figure 49: Tx-PDO .............................................................................................. 122 Figure 50: SDO Protocol ..................................................................................... 123 Figure 51: Initiate SDO ....................................................................................... 124 Figure 52: Download SDO Segment ................................................................... 125 Figure 53: Initiate SDO Upload .......................................................................... 126 Figure 54: Upload SDO Segment ........................................................................ 127 Figure 55: Abort SDO Transfer........................................................................... 128 Figure 56: SYNC Protocol .................................................................................. 131 Figure 57: EMCY Protocol ................................................................................. 132 Figure 58: State Diagram of the Fieldbus Coupler/Controller ............................ 132 Figure 59: Start Remote Node ............................................................................. 134 Figure 60: Stop Remote Node ............................................................................. 135 Figure 61: Enter PRE-OPERATIONAL ............................................................. 135 Figure 62: Reset Node ......................................................................................... 135 Figure 63: Node Guarding Protocol .................................................................... 136 Figure 64: Heartbeat Protocol ............................................................................. 136 Figure 65: Bootup Protocol ................................................................................. 137 Figure 66: Example Configuration of a Node, Maximum Configuration ........... 167 Figure 67: Example Configuration of a Node, Subset ........................................ 168 Figure 68: Threshold Value Monitoring ............................................................. 185 Figure 69: Threshold Value Monitoring ............................................................. 186 Figure 70: Threshold Value Monitoring ............................................................. 186 Figure 71: Threshold Value Monitoring ............................................................. 187 Figure 72: Threshold Value Monitoring ............................................................. 187 Figure 73: PDO Transmission of Digital Input Module Data ............................. 196 Figure 74: PDO Transmission of Digital Output Module Data .......................... 197 Figure 75: PDO Transmission of Analog Input Module Data ............................ 198 Figure 76: PDO Transmission of Analog Output Module Data .......................... 199 Figure 77: Structure of the “Additional Code” ................................................... 205 Figure 78: Structure of Emergency Telegram 1 .................................................. 206 Figure 79: Structure of Emergency Telegram 2 .................................................. 206 Figure 80: Structure of Emergency Telegram 3 .................................................. 207 Figure 81: Example – Error at Proportional Valve Module ................................ 207 Figure 82: Example – Error at Proportional Valve Module ................................ 208 Figure 83: Example – Error at Proportional Valve Module ................................ 208 Figure 84: Side Marking Example for Approved I/O Modules According to ATEX and IECEx ...................................................................................... 251 Figure 85: Text Detail – Marking Example for Approved I/O Modules According to ATEX and IECEx. ............................................................... 251 Figure 86: Side Marking Example for Approved Ex i I/O Modules According to ATEX and IECEx. ............................................................... 253 Figure 87: Text Detail – Marking Example for Approved Ex i I/O Modules According to ATEX and IECEx. ............................................................... 253 Figure 88: Side Marking Example for I/O Modules According to NEC 500 ..... 256 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR List of Figures 265 Figure 89: Text Detail – Marking Example for Approved I/O Modules According to NEC 500............................................................................... 256 Pos : 55 /D okumentation allgemei n/Glieder ungs elemente/---Seitenwechs el--- @ 3\mod_1221108045078_0.doc x @ 21810 @ @ 1 Manual Version 1.2.0 266 List of Tables WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 56 /D okumentation allgemei n/Verz eic hniss e/Tabell enverz eichnis - Übersc hrift oG und Verz eichnis @ 3\mod_1219222958703_21.doc x @ 21084 @ @ 1 List of Tables Table 1: Number Notation ..................................................................................... 13 Table 2: Font Conventions .................................................................................... 13 Table 3: Legend for Figure “System Voltage for Fieldbus Couplers/Controllers” ...................................................................................................................... 22 Table 4: Alignment ................................................................................................ 23 Table 5: Legend for Figure “Field Supply for Fieldbus Couplers/Controllers”.... 26 Table 6: Filter Modules for 24 V Power Supply ................................................... 29 Table 7: Legend for Figure “Power Supply Example” ......................................... 32 Table 8: WAGO Power Supply Units ................................................................... 33 Table 9: WAGO Ground Wire Terminals ............................................................. 34 Table 10: Legend for Figure “View CANopen Fieldbus Controller” ................... 40 Table 11: Pin Assignment of the CANopen Interface .......................................... 42 Table 12: Display Elements Fieldbus Status ......................................................... 43 Table 13: Display Elements Node Status .............................................................. 43 Table 14: Display Elements Supply Voltage ........................................................ 43 Table 15: Legend for Figure “Service Interface (Closed and Opened Flap)” ....... 45 Table 16: Legend for Figure „Mode Selector Switch“.......................................... 46 Table 17: Mode Selector Switch Positions, Static Positions on PowerOn/Reset .. 46 Table 18: Mode Selector Switch Positions, Dynamic Positions During Ongoing Operation....................................................................................... 47 Table 19: Baud Rate Setting .................................................................................. 49 Table 20: Technical Data – Device ....................................................................... 50 Table 21: Technical Data – System Data .............................................................. 51 Table 22: Technical Data – Supply ....................................................................... 52 Table 23: Technical Data – Accessories ............................................................... 52 Table 24: Technical Data – Field Wiring .............................................................. 53 Table 25: Technical Data – Power Jumper Contacts ............................................ 53 Table 26: Technical Data – Data Contacts ............................................................ 53 Table 27: Technical Data – Mechanical Conditions ............................................. 53 Table 28: Technical Data – Climatic Environmental Conditions ......................... 53 Table 29: Climatic and Mechanical Environmental Conditions ........................... 56 Table 30: EMC – Immunity to Interference .......................................................... 57 Table 31: EMC – Emission of Interference........................................................... 58 Table 32: WAGO DIN Rail................................................................................... 63 Table 33: Data width of the I/O modules .............................................................. 73 Table 34: Data Width of the I/O Modules ............................................................. 79 Table 35: Indexing of the I/O Modules in the Object Directory ........................... 79 Table 36: Sub-Indexing of the I/O Module Data in the Object Directory ............ 80 Table 37: For 1. Indexing the Data from the Five 2-Channel Digital Input Modules........................................................................................................ 80 Table 38: For 2. Indexing the Data from the 4-Channel Digital Output Module.. 80 Table 39: For 3. Indexing the Data from the two 2-Channel analog output modules ........................................................................................................ 81 Table 40: Indexing of IEC-61131-3 variable data in the object directory ............ 82 Table 41: Sub-indexing of IEC-61131-3 variable data in the object directory ..... 83 Table 42: Indexing of data from the 11 Boolean input variables .......................... 83 Table 43: Indexing of data from the 5 output variables, Integer24 ....................... 83 Table 44: Access to the PFC variable data from the fieldbus ............................... 84 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR List of Tables 267 Table 45: Access to PFC output variables............................................................. 86 Table 46: Access to PFC input variables............................................................... 87 Table 47: Examples of variable definitions with associated object directory entries ........................................................................................................... 88 Table 48: Maximum indices and sub-indices for the definition of IEC-61131-3 variables ....................................................................................................... 88 Table 49: Example – maximum indices ................................................................ 89 Table 50: Absolute addressing .............................................................................. 89 Table 51: Address range of the I/O module data................................................... 90 Table 52: Address range of the fieldbus variables ................................................ 90 Table 53: Address flags ......................................................................................... 90 Table 54: Examples of absolute addresses ............................................................ 90 Table 55: CIA405.LIB .......................................................................................... 93 Table 56: Deactivate PDO Mapping ................................................................... 100 Table 57: Writing the Mapping Parameter Structure .......................................... 100 Table 58: Tx-PDO Mapping Parameter Structure, index 0x1A01 ...................... 100 Table 59: Mapping the 3rd Analog Input Channel.............................................. 101 Table 60: Mapping the 5th Analog Input Channel .............................................. 101 Table 61: Mapping the 1st Digital Input Group .................................................. 101 Table 62: Number of Mapping Objects = 3, Enter in Sub-Index 0 ..................... 101 Table 63: Disable PDO........................................................................................ 101 Table 64: Entering the Communication Parameters............................................ 102 Table 65: Sub-Index 3: Inhibit Time = 0............................................................. 102 Table 66: Sub-Index 2: Transmission Type = 3 .................................................. 102 Table 67: Sub-Index 1: Set COB-ID = 432 of the PDO and set PDO from Invalid to Valid .......................................................................................... 102 Table 68: LED Assignment for Diagnostics ....................................................... 103 Table 69: Fieldbus Diagnostics – Solution in Event of Error ............................. 104 Table 70: Node Status Diagnostics – Solution in Event of Error ........................ 105 Table 71: Blink code table for the 'I/O' LED signaling, error code 1 ................. 108 Table 72: Blink code table for the I/O LED signaling, Error Code 2 ................. 109 Table 73: Blink code table for the I/O LED signaling, Error Code 3 ................. 110 Table 74: Blink code table for the I/O LED signaling, Error Code 4 ................. 111 Table 75: Blink code table for the I/O LED signaling, Error Code 5 ................. 111 Table 76: Blink code table for the I/O LED signaling, Error Code 6 ................. 112 Table 77: Blink code table for the I/O LED signaling, Error Code 9 ................. 112 Table 78: Blink code table for the I/O LED signaling, Error Code 10 ............... 112 Table 79: Blink code table for the I/O LED signaling, Error Code 11 ............... 112 Table 80: Power supply status diagnostics – solution in event of error .............. 113 Table 81: Maximum Bus Lengths Dependent on Preset Baud Rate ................... 115 Table 82: Measurement ....................................................................................... 118 Table 83: COB-ID Assignment ........................................................................... 121 Table 84: Communication Objects ...................................................................... 121 Table 85: Initiate SDO ........................................................................................ 124 Table 86: Download SDO Segment .................................................................... 125 Table 87: Initiate SDO Upload ............................................................................ 126 Table 88: Upload SDO Segment ......................................................................... 127 Table 89: Abort SDO Transfer ............................................................................ 128 Table 90: Structure of Support Abort Domain Transfer Messages ..................... 128 Table 91: Abort SDO Transfer Error Codes ....................................................... 128 Manual Version 1.2.0 268 List of Tables WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 92: Operation of SDOs on the Telegram Level – Telegram Structure...... 129 Table 93: Read Index 0x1000 Sub-Index 0; Device Type .................................. 130 Table 94: Read Index 0x1008 Sub-Index 0; Manufacturer Device Name .......... 130 Table 95: Read Index 0x6000 Sub-Index 1; First 8-Bit Digital Input Block ...... 130 Table 96: Write Index 0x6200 Sub-Index 1; First 8-Bit Digital Output Block .. 131 Table 97: Structure of CANopen Object Directory............................................. 138 Table 98: 1. Rx-PDO: .......................................................................................... 139 Table 99: 2nd Rx-PDO ........................................................................................ 140 Table 100: 3rd Rx-PDO: ..................................................................................... 140 Table 101: 4th Rx-PDO....................................................................................... 140 Table 102: 1st Tx-PDO: ...................................................................................... 141 Table 103: 2nd Tx-PDO ...................................................................................... 141 Table 104: 3rd Tx-PDO ....................................................................................... 141 Table 105: 4th Tx-PDO ....................................................................................... 142 Table 106: Object 0x1000 – Device Type........................................................... 143 Table 107: Object 0x1000 – Structure, Device Type .......................................... 144 Table 108: Object 0x1001 – Error Register ........................................................ 144 Table 109: Object 0x1001 – Structure, Error Register ........................................ 144 Table 110: Object 0x1002 – Manufacturer Status Register ................................ 144 Table 111: Object 0x1003 – Predefined Error Field ........................................... 145 Table 112: Object 0x1003 – Structure – Predefined Error Field ........................ 145 Table 113: Object 0x1005 – COB-ID SYNC Message ....................................... 145 Table 114: Object 0x1005 – Structure, COB-ID SYNC message ...................... 145 Table 115: Object 0x1006 – Communication Cycle Period................................ 146 Table 116: Object 0x1008 – Manufacturer Device Name .................................. 146 Table 117: Object 0x1009 – Manufacturer Hardware Version ........................... 146 Table 118: Object 0x100A – Manufacturer Software Version ........................... 146 Table 119: Object 0x100C – Guard Time ........................................................... 146 Table 120: Object 0x100D – Life Time Factor ................................................... 147 Table 121: Object 0x1010 – Store Parameters .................................................... 147 Table 122: Object 0x1011 – Restore Default Parameters ................................... 148 Table 123: Object 0x1014 – COB-ID Emergency Object .................................. 149 Table 124: Object 0x1014 – Structure, COB-ID Emergency Object .................. 149 Table 125: Object 0x1015 – Inhibit Time Emergency Object ............................ 149 Table 126: Object 0x1016 – Consumer Heartbeat Time ..................................... 149 Table 127: Object 0x1016 – Structure, Consumer Heartbeat Time .................... 150 Table 128: Object 0x1017 – Producer Heartbeat Time ....................................... 150 Table 129: Object 0x1018 – Identity Object ....................................................... 150 Table 130: Structure of the Rev. No.................................................................... 150 Table 131: Object 0x1200 … 0x1201, Server SDO ............................................ 151 Table 132: Structure of the COB-ID – Server SDO ............................................ 151 Table 133: Object 0x1400 … 0x141F – Receive PDO Communication Parameter ................................................................................................... 151 Table 134: Structure of the COB-ID – Receive PDO Communication Parameter ................................................................................................... 151 Table 135: Mode for Data Transmission ............................................................. 152 Table 136: Object 0x1600 … 0x161F – Receive PDO Mapping Parameter ...... 152 Table 137: Object 0x1600 … 0x161F- Structure, Objects 1 to 8........................ 152 Table 138: Object 0x1800 … 0x181F – Transmit PDO Communication Parameter ................................................................................................... 153 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR List of Tables 269 Table 139: Object 0x1A00 … 0x1A1F, Transmit PDO Mapping Parameter ..... 154 Table 140: Object 0x1A00 … 0x1A1F-Structure, Transmit PDO Mapping Parameter ................................................................................................... 154 Table 141: Object 0x2000 – Digital Inputs ......................................................... 157 Table 142: Object 0x2100 – Digital Outputs ...................................................... 157 Table 143: Object 0x2200 – 1-Byte I/O Modules, Inputs ................................... 157 Table 144: Object 0x2300 – 1-Byte I/O Modules, Outputs ................................ 157 Table 145: Object 0x2400 – 2-Byte I/O Modules, Inputs ................................... 158 Table 146: Object 0x2500 – 2-Byte I/O Modules, Outputs ................................ 158 Table 147: Object 0x2600 – 3-Byte I/O Modules, Inputs ................................... 158 Table 148: Object 0x2700 – 3-Byte I/O Modules, Outputs ................................ 158 Table 149: Object 0x2800 – 4-Byte I/O Modules, Inputs ................................... 159 Table 150: Object 0x2900 – 4-Byte I/O Modules, Outputs ................................ 159 Table 151: Object 0x3000 – 5-Byte I/O Modules, Inputs ................................... 159 Table 152: Object 0x3100 – 5-Byte I/O Modules, Outputs ................................ 159 Table 153: Object 0x3200 – 6-Byte I/O Modules, Inputs ................................... 160 Table 154: Object 0x3300 – 6-Byte I/O Modules, Outputs ................................ 160 Table 155: Object 0x3400 – 7-Byte I/O Modules, Inputs ................................... 160 Table 156: Object 0x3500 – 7-Byte I/O Modules, Outputs ................................ 160 Table 157: Object 0x3600 – 8-Byte I/O Modules, Inputs ................................... 161 Table 158: Object 0x3700 – 8-Byte I/O Modules, Outputs ................................ 161 Table 159: Object 0x3800 … 0x380F – 9+ Byte I/O Modules – Inputs ............. 161 Table 160: Object 0x3900 … 0x390F – 9+ Byte I/O Modules – Outputs .......... 162 Table 161: Object 0x4200 … 0x4202 – Gateway Module Input ........................ 162 Table 162: Data in the Input Process Image........................................................ 162 Table 163: Entries in the Object Directory ......................................................... 162 Table 164: Object 0x4300 … 0x4302 – Gateway Module Output ..................... 163 Table 165: Control – 6-Byte Mailbox, 4 Bytes of Data ...................................... 163 Table 166: Entries in the Object Directory ......................................................... 163 Table 167: Object 0x4500 – Empty Module Configuration................................ 163 Table 168: Parameter: SS (Cause of the Error) ................................................... 165 Table 169: Structure of the Sub-Index ................................................................ 165 Table 170: Configuration for the Maximum Configuration ................................ 167 Table 171: Configuration for the Extension Bl. 2 and Bl. 8, Connected: ........... 168 Table 172: Object 0x5000 – Read Input Process Image ..................................... 169 Table 173: Object 0x5001 – Write Output Process Image .................................. 169 Table 174: Object 0x5200 – Fieldbus Coupler/Controller Configuration .......... 171 Table 175: Object 0x5200/Sub-Index 6 – Structure ............................................ 172 Table 176: Object 0x5200/Sub-Index 7 – Structure for Mode = 1 ..................... 172 Table 177: Object 0x5201 – Diagnostic Configuration ...................................... 174 Table 178: Object 0x5202 – Module Configuration ........................................... 175 Table 179: Fieldbus Couplers/Controllers / Analog Input/Output Modules ....... 176 Table 180: Digital Input/Output Modules ........................................................... 176 Table 181: Object 0x6000 – Read Digital Input 8-Bit ........................................ 179 Table 182: Object 0x6005 – Global Interrupt Enable Digital 8-Bit .................... 179 Table 183: Object 0x6006 – Digital Interrupt Mask Any Change 8-bit ............. 179 Table 184: Object 0x6007 – Digital Interrupt Mask Low-to-High 8-Bit ............ 180 Table 185: Object 0x6008 – Digital Interrupt Mask High-to-Low 8-Bit ............ 180 Table 186: Object 0x6100 – Read Digital Input 16-Bit ...................................... 181 Table 187: Object 0x6200 – Write Digital Output 8-Bit..................................... 181 Manual Version 1.2.0 270 List of Tables WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 188: Object 0x6206 – Error Mode Digital Output 8-Bit ........................... 182 Table 189: Object 0x6207 – Error Value Digital Output 8-Bit ........................... 182 Table 190: Object 0x6300 – Write Digital Output 16-Bit................................... 183 Table 191: Object 0x6401 – Read Analog Input 16-Bit ..................................... 183 Table 192: Object 0x6411 – Write Analog Output 16-Bit .................................. 184 Table 193: Object 0x6421 – Analog Input Interrupt Trigger Selection .............. 184 Table 194: Object 0x6421 – Structure of Sub-Index 1..128 ............................... 184 Table 195: Object 0x6423 – Analog Input Global Interrupt Enable ................... 184 Table 196: Object 0x6424 – Analog Input Interrupt Upper Limit Integer .......... 185 Table 197: Object 0x6425 – Analog Input Interrupt Lower Limit Integer ......... 185 Table 198: Object 0x6426 – Analog Input Interrupt Delta Unsigned ................. 186 Table 199: Object 0x6427 – Analog Input Interrupt Negative Delta Unsigned . 187 Table 200: Object 0x6428 – Analog input interrupt positive delta unsigned ..... 187 Table 201: Object 0x6443 – Analog Output Error Mode ................................... 188 Table 202: Object 0x6444 – Analog Output Error Value Integer ....................... 188 Table 203: Object 0x67FE – Error Behavior ...................................................... 188 Table 204: Object 0x67FE – Structure of a Communication Error Entry: ......... 189 Table 205: Communication Profile Area ............................................................ 191 Table 206: Object 0xA000, Integer8 IEC-61131-1 input variables .................... 192 Table 207: Object 0xA000, Integer8 IEC-61131-1 input variables .................... 192 Table 208: Object 0xA000, Boolean IEC-61131-1 input variables .................... 193 Table 209: Object 0xA0C0, Integer16 IEC-61131-1 input variables ................. 193 Table 210: Sub-indexing of variable data in the object directory ....................... 193 Table 211: States ................................................................................................. 201 Table 212: EMCY-CODE ................................................................................... 203 Table 213: DD in the Default Layout (750-506) ................................................. 208 Table 214: DD in the Alternative Layout (750-506) ........................................... 209 Table 215: 1-Channel Digital Input Modules with Status ................................... 211 Table 216: 2-Channel Digital Input Modules...................................................... 212 Table 217: 2-Channel Digital Input Modules with Diagnostics.......................... 212 Table 218: 2-Channel Digital Input Modules with Diagnostics and Output Data ............................................................................................................ 212 Table 219: 4-Channel Digital Input Modules...................................................... 212 Table 220: 8-Channel Digital Input Modules...................................................... 213 Table 221: 16-Channel Digital Input Modules.................................................... 213 Table 222: 1-Channel Digital Output Modules with Input Data ......................... 213 Table 223: 2-Channel Digital Output Modules ................................................... 214 Table 224: 2-Channel Digital Output Modules with Input Data ......................... 214 Table 225: 4-Channel Digital Output Modules with Input Data ......................... 214 Table 226: 4-Channel Digital Output Modules ................................................... 215 Table 227: 4-Channel Digital Output Modules with Input Data ......................... 215 Table 228: 8-Channel Digital Output Modules ................................................... 215 Table 229: 8-Channel Digital Output Modules with Input Data ......................... 216 Table 230: 16-Channel Digital Output Modules ................................................. 216 Table 231: 8-Channel Digital Input/Output Modules ......................................... 216 Table 232: 1-Channel Analog Input Modules ..................................................... 217 Table 233: 2-Channel Analog Input Modules ..................................................... 217 Table 234: 4-Channel Analog Input Modules ..................................................... 218 Table 235: 8-Channel Analog Input Modules ..................................................... 218 Table 236: 2-Channel Analog Output Modules .................................................. 219 Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR List of Tables 271 Table 237: 4-Channel Analog Output Modules .................................................. 219 Table 238: 8-Channel Analog Output Modules .................................................. 220 Table 239: Counter modules – 5 bytes of user data; 32-bit counter values – input ........................................................................................................... 221 Table 240: Counter modules – 5 bytes of user data; 32-bit counter values – output ......................................................................................................... 222 Table 241: Counter modules – 5 bytes of user data; 16-bit counter values – input ........................................................................................................... 222 Table 242: Counter modules – 5 bytes of user data; 16-bit counter values – output ......................................................................................................... 222 Table 243: Counter modules – 6 bytes of user data; 16-bit counter values – input ........................................................................................................... 223 Table 244: Counter modules – 6 bytes of user data; 16-bit counter values – output ......................................................................................................... 223 Table 245: 3-phase power measurement modules – 9 bytes of user data ........... 224 Table 246: 3-phase power measurement module – 24 bytes of user data – input ........................................................................................................... 225 Table 247: 3-phase power measurement module – 24 bytes of user data – output ......................................................................................................... 226 Table 248: Pulse width modules ......................................................................... 226 Table 249: Serial interfaces with alternative data format.................................... 227 Table 250: Serial interface with standard data format ........................................ 227 Table 251: Input/output process image of the KNX/EIB/TP1-module ............... 228 Table 252: Input/output process image, serial interface, serial transmission mode........................................................................................................... 229 Table 253: Input/output process image, serial interface, data exchange mode ... 229 Table 254: Data exchange modules..................................................................... 230 Table 255: SSI transmitter interface modules with alternative data format ........ 230 Table 256: SSI transmitter interface modules with standard data format ........... 231 Table 257: Distance and angle measurement modules ....................................... 231 Table 258: Distance and angle measurement modules ....................................... 231 Table 259: Incremental encoder interface – Input ............................................... 232 Table 260: Incremental encoder interface – Output ............................................ 232 Table 261: Incremental encoder interface – 6 bytes of user data ........................ 232 Table 262: Digital impulse interface 750-635 ..................................................... 233 Table 263: RTC Module...................................................................................... 233 Table 264: Input process image, stepper module with mailbox deactivated ....... 234 Table 265: Output process image, stepper module with mailbox activated ........ 234 Table 266: DALI/DSI master module – Input..................................................... 235 Table 267: DALI/DSI master module – Output .................................................. 235 Table 268: Overview of input process image in the “Easy” mode ..................... 236 Table 269: Overview of the output process image in the “Easy” mode.............. 237 Table 270: EnOcean radio receiver I/O module .................................................. 238 Table 271: EnOcean radio receiver I/O module .................................................. 238 Table 272: Bluetooth® RF transceiver ................................................................. 239 Table 273: MP Bus Master module ..................................................................... 240 Table 274: Vibration velocity/bearing condition monitoring VIB I/O ............... 240 Table 275: DC drive controller input process image .......................................... 241 Table 276: DC drive controller output process image ........................................ 241 Table 277: 4-channel IO-Link-Master input/output process image .................... 242 Manual Version 1.2.0 272 List of Tables WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Table 278: CAN Gateway input/output process image ....................................... 243 Table 279: CAN Gateway input/output process image ....................................... 244 Table 280: Proportional Valve Module input process image .............................. 245 Table 281: Proportional Valve Module output process image ............................ 245 Table 282: Proportional Valve Module input process image .............................. 246 Table 283: Proportional Valve Module output process image ............................ 246 Table 284: AS-Interface Master, number of occupied PDOs when the mailbox is visible permanently .................................................................. 247 Table 285: AS-Interface Master, number of occupied PDOs when the mailbox is hidden ....................................................................................... 248 Table 286: System modules with diagnostics ..................................................... 249 Table 287: Binary Spacer Modules (with the Behavior of a 2 DI) ..................... 249 Table 288: Description of Marking Example for Approved I/O Modules According to ATEX and IECEx ................................................................ 252 Table 289: Description of Marking Example for Approved Ex i I/O Modules According to ATEX and IECEx ................................................................ 254 Table 290: Description of Marking Example for Approved I/O Modules According to NEC 500............................................................................... 256 === Ende der Liste für T extmar ke Verzeic hnis_hi nten === Manual Version 1.2.0 WAGO-I/O-SYSTEM 750 XTR 750-838/040-000 CANopen Contr.640/832KB DSUB /XTR Pos : 58 /D okumentation allgemei n/Einband/Einband H andbuc h - Leers eite für durc h 2 teilbar e Seitenzahl (Standar ddr uc k) @ 3\mod_1219230851078_0.doc x @ 21123 @ @ 1 Manual Version 1.2.0 273 Pos : 59 /D okumentation allgemei n/Einband/Einband H andbuc h - R üc kseite 2015 @ 9\mod_1285229376516_21.doc x @ 64944 @ @ 1 WAGO Kontakttechnik GmbH & Co. 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