WAGO CANopen Fieldbus Coupler User manual

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WAGO-SPEEDWAY 767

Manual

767-1501

FC CANopen 8DI 24V DC

CANopen Fieldbus Coupler

Version 2.2.0

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2 WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

WAGO Kontakttechnik GmbH & Co. KG

Hansastraße 27

D-32423 Minden

Phone: +49 (0) 571/8 87 – 0

Fax: +49 (0) 571/8 87 – 1 69

E-Mail: [email protected]

Web: http://www.wago.com

Technical Support

Phone: +49 (0) 571/8 87 – 5 55

Fax: +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 Lis te f ür T e xtmar ke Ei nb and _vor ne = ==

WAGO-SPEEDWAY 767 Table of Contents 3

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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Table of Contents

1 Notes about this Documentation ................................................................. 9

1.1 Validity of these Operating Instructions ................................................... 9

1.2 Copyright ................................................................................................... 9

1.3 Symbols ................................................................................................... 10

1.4 Number Notation ..................................................................................... 12

1.5 Font Conventions .................................................................................... 12

2 Important Notes ......................................................................................... 13

2.1 Legal Bases ............................................................................................. 13

2.1.1 Subject to Changes ............................................................................. 13

2.1.2 Personnel Qualification ...................................................................... 13

2.1.3 Use in Compliance with Underlying Provisions ................................ 14

2.1.4 Technical Condition of Specified Devices ......................................... 14

2.2 Safety Advice (Precautions) .................................................................... 15

2.3 Safety Equipment .................................................................................... 16

2.4 Notes on Operation ................................................................................. 17

3 Information on CANopen.......................................................................... 18

3.1 Network Topology .................................................................................. 19

3.1.1 Physical Transmission Technology .................................................... 20

3.1.2 Wiring with Symmetrical Copper Cable ............................................ 20

3.1.3 Maximum Bus Lengths in CAN Networks ........................................ 22

3.2 Communication ....................................................................................... 22

4 Device Description ..................................................................................... 23

4.1 Connectors ............................................................................................... 24

4.2 Marking Possibilities and Fastening ....................................................... 25

4.3 Display Elements .................................................................................... 26

4.4 Operating Elements ................................................................................. 28

4.5 Labeling ................................................................................................... 30

4.6 Schematic Diagram ................................................................................. 32

4.7 Dimensions .............................................................................................. 33

4.8 Technical Data ........................................................................................ 34

4.8.1 Device Data ........................................................................................ 34

4.8.2 System Data ........................................................................................ 34

4.8.3 Supply ................................................................................................. 35

4.8.4 Communication .................................................................................. 35

4.8.5 Inputs .................................................................................................. 35

4.8.6 Configurable Functions ...................................................................... 36

4.8.7 Diagnostics ......................................................................................... 36

4.8.8 Process Image ..................................................................................... 37

4.8.9 Indicators ............................................................................................ 37

4.8.10 Service Interface COM ....................................................................... 37

4.8.11 Isolation .............................................................................................. 37

4.9 Approvals ................................................................................................ 38

4.10 Standards and Guidelines ........................................................................ 39

5 Mounting ..................................................................................................... 40

5.1 Information on Mounting ........................................................................ 40

4 Table of Contents WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

5.2 Tools and Accessories Required for Mounting ....................................... 42

5.3 Direct Mounting on Your System ........................................................... 43

5.4 Mounting on a Carrier Rail (only with WAGO Accessories) ................. 44

5.4.1 Fastening the Carrier Rail Adapter to the Fieldbus Coupler .............. 44

5.4.2 Fastening the Fieldbus Coupler with Carrier Rail Adapter

to a Carrier Rail .................................................................................. 45

5.5 Mounting on a Profile Rail (only with WAGO Accessories) ................. 46

5.5.1 Fastening the Profile Adapter to the Fieldbus Coupler ...................... 46

5.5.2 Fastening the Fieldbus Coupler with Profile Adapter

to a Profile Rail ................................................................................... 47

5.6 Replacing the Marker Card and Strip ...................................................... 48

5.7 Mounting the Spacer in the Case of Compact Arrangement ................... 49

6 Connecting Data and Supply Cables ........................................................ 51

6.1 Notes ....................................................................................................... 51

6.2 Required Accessories .............................................................................. 52

6.3 Connecting the Fieldbus Cable ............................................................... 53

6.3.1 Connecting the Fieldbus Coupler to a CAN Network ........................ 54

6.3.2 Connecting Several Fieldbus Couplers Within a CAN Network ....... 55

6.4 Connecting the S-BUS Cable .................................................................. 56

6.5 Connecting the Supply Cable .................................................................. 58

6.6 Connecting the Sensor Cables ................................................................. 60

6.7 Connecting the USB Cable ..................................................................... 62

7 Commissioning ........................................................................................... 64

7.1 Setting the CANopen Station Address .................................................... 65

7.2 Setting the Baud Rate .............................................................................. 67

7.3 Switching on the Fieldbus Coupler ......................................................... 69

8 Configuration ............................................................................................. 70

8.1 Process Data ............................................................................................ 70

8.2 EDS Files ................................................................................................ 71

8.3 PDO Mapping ......................................................................................... 73

8.3.1 Default PDO Mapping ........................................................................ 74

8.3.2 Application-Specific Mapping ........................................................... 82

8.4 Enabling the Analog Input Data .............................................................. 85

8.5 Inputs on the CANopen Fieldbus Coupler .............................................. 85

8.6 Delayed I/O Module Start-Up ................................................................. 86

8.7 S-BUS Disruption During Continuous Operation ................................... 88

8.8 Activating Data Exchange ....................................................................... 88

9 Diagnostics .................................................................................................. 89

9.1 Diagnostic Messages from I/O Modules ................................................. 89

10 Error Messages (Emergency).................................................................... 90

11 Object Directory......................................................................................... 93

11.1 Communication Profile Area .................................................................. 95

12 CANopen State Diagram ........................................................................... 97

12.1 Initialization ............................................................................................ 97

12.2 Pre-Operational ....................................................................................... 98

12.3 Operational .............................................................................................. 98

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12.4 Stopped .................................................................................................... 98

13 CANopen Communication Objects .......................................................... 99

13.1 Process Data Object (PDO) ..................................................................... 99

13.2 Service Data Object (SDO) ................................................................... 100

13.2.1 Initiate SDO Download .................................................................... 101

13.2.2 Download SDO Segment ................................................................. 103

13.2.3 Initiate SDO Upload ......................................................................... 104

13.2.4 Upload SDO Segment ...................................................................... 106

13.2.5 Abort SDO Transfer ......................................................................... 107

13.2.6 Examples of SDOs ........................................................................... 109

13.3 Node Guarding ...................................................................................... 111

13.4 Heartbeat Monitoring ............................................................................ 113

13.5 Synchronization Object, SYNC ............................................................ 114

13.5.1 SYNC Monitoring ............................................................................ 114

13.6 Emergency Object (EMCY) .................................................................. 115

13.7 Network Management Protocol ............................................................ 115

13.7.1 Start Remote Node ........................................................................... 115

13.7.2 Stop Remote Node ............................................................................ 116

13.7.3 Enter Pre-Operational ....................................................................... 116

13.7.4 Reset Node........................................................................................ 117

13.8 Error Control Protocols ......................................................................... 118

13.8.1 Node Guarding Protocol ................................................................... 118

13.8.2 Heartbeat Protocol ............................................................................ 119

13.8.3 Bootup Protocol ................................................................................ 119

14 Diagnostics ................................................................................................ 120

14.1 LED Signaling ....................................................................................... 120

14.2 CANopen Status Messages ................................................................... 120

14.3 Operational Messages of the Fieldbus Coupler .................................... 123

14.4 Error Messages from the Fieldbus Coupler via LED Signals ............... 125

14.4.1 Progression of Blink Sequence ......................................................... 126

14.4.2 Example of an Error Message via Blink Code ................................. 127

14.4.3 Meaning of the Blink Codes and Procedures for Correcting Them . 128

14.5 Readout of Blink Codes using WAGO DTMs ...................................... 139

15 Parameterizing ......................................................................................... 140

15.1 Installing the FDT/DTM Components .................................................. 141

15.2 Starting WAGOframe ........................................................................... 144

15.3 Expansion of Device Catalog to include 767 Components ................... 145

15.4 Setting Up Network Manually .............................................................. 146

15.4.1 Adding the Communication DTM.................................................... 146

15.4.2 Selecting the Communications Interface for WAGOframe ............. 148

15.4.3 Adding a Fieldbus Coupler ............................................................... 149

15.4.4 Adding the I/O Modules ................................................................... 150

15.5 Online and Offline Parameter Setting ................................................... 152

15.5.1 Offline Parameter Setting ................................................................. 152

15.5.2 Online Parameter Setting .................................................................. 153

15.6 The “Additional Functions” and “Scan” Selections .............................. 155

15.6.1 Changing the Bus Address ............................................................... 156

15.6.2 Service Page ..................................................................................... 158

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767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

15.6.3 Set up network automatically ........................................................... 159

15.6.4 Life List ............................................................................................ 160

15.6.5 System Update .................................................................................. 162

15.6.5.1 Notes on System Update .............................................................. 162

15.6.5.2 Service Communication via USB ................................................ 162

15.6.5.2.1 Adding the Communication DTM USB ................................. 162

15.6.5.2.2 Adding the DTM System Update............................................ 165

15.6.5.2.3 Go online to 767 Nodes using Update DTM .......................... 166

15.6.5.2.4 Updating the 767 Components ................................................ 166

15.7 Parameterization .................................................................................... 172

15.7.1 General Parameters ........................................................................... 174

15.7.2 CANopen-Specific Parameters ......................................................... 181

15.7.3 Diagnostic Overview and Parameters of Inputs ............................... 182

16 Service ....................................................................................................... 186

16.1 Updating the Firmware ......................................................................... 186

16.2 Replacing the Fieldbus Coupler ............................................................ 186

16.2.1 Disconnecting the Cables ................................................................. 186

16.2.2 Removing the Fieldbus Coupler from your System ......................... 187

16.2.3 Removing the Fieldbus Coupler from the Carrier Rail .................... 187

16.2.4 Removing the Fieldbus Coupler from the Profile Adapter .............. 188

16.2.5 Connecting a New Fieldbus Coupler ................................................ 188

16.3 Disposal ................................................................................................. 188

17 Use in Hazardous Environments ............................................................ 189

17.1 Marking Configuration Examples ......................................................... 190

17.1.1 Marking for Europe According to ATEX and IEC-Ex .................... 190

17.2 Installation Regulations ......................................................................... 191

17.2.1 Special Conditions for Safe Use

(ATEX Certificate BVS 15 ATEX E098X) ..................................... 192

17.2.2 Special Conditions for Safe Use

(IEC Ex Certificate IECEx BVS 15.0083X) .................................... 193

18 Accessories ................................................................................................ 194

18.1 S-BUS Cable, Assembled on One End ................................................. 194

18.2 S-BUS Cable, Assembled on One End, Suitable for Drag Chains ....... 195

18.3 S-BUS Cable, Assembled on Both Ends ............................................... 196

18.4 S-BUS Cable, Assembled on Both Ends, Suitable for Drag Chains ..... 197

18.5 S-BUS Cable, Not Fitted With Connectors ........................................... 197

18.6 S-BUS Cable, Not Fitted With Connectors, Suitable for Drag Chains . 198

18.7 S-BUS Terminator and USB Cable ....................................................... 198

18.8 Accessories for S-BUS .......................................................................... 198

18.9 Power Supply Cable, Assembled on One End ...................................... 199

18.10 Power Supply Cable, Assembled on Both Ends ................................... 200

18.11 Power Supply Cable, Not Fitted With Connectors ............................... 200

18.12 Accessories for Power Supply Cable .................................................... 201

18.13 CANopen, DeviceNet Cable, Assembled on One End ......................... 201

18.14 CANopen, DeviceNet Cable, Assembled on Both Ends ....................... 202

18.15 Accessories for CANopen and DeviceNet ............................................ 202

18.16 Torque Wrench M8 and M12 ................................................................ 202

18.17 Carrier Rail / Profile Adapters and Spacer Module .............................. 203

WAGO-SPEEDWAY 767 Table of Contents 7

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Manual

Version 2.2.0

18.18 Protective Caps ...................................................................................... 203

19 Appendix ................................................................................................... 204

19.1 CANopen Objects of the Fieldbus Coupler .......................................... 204

19.1.1 Object 0x1000, Device Type ............................................................ 204

19.1.2 Object 0x1001, Error Register .......................................................... 205

19.1.3 Object 0x1003, Pre-Defined Error Field .......................................... 206

19.1.4 Object 0x1005, COB-ID SYNC Message ........................................ 206

19.1.5 Object 0x1006, Communication Cycle Period ................................. 207

19.1.6 Object 0x1008, Manufacturer Device Name .................................... 207

19.1.7 Object 0x1009, Manufacturer Hardware Version ............................ 207

19.1.8 Object 0x100A, Manufacturer Software Version ............................. 207

19.1.9 Object 0x100C, Guard Time ............................................................ 208

19.1.10 Object 0x100D, Life Time Factor .................................................... 208

19.1.11 Object 0x1010, Store Parameters ..................................................... 209

19.1.12 Object 0x1011, Restore Default Parameters .................................... 210

19.1.12.1 Sub-Index 1 - Permanent Creation of Default Parameters .......... 210

19.1.12.2 Sub-Index 4 – One-Time Creation of Default Parameters .......... 211

19.1.13 Object 0x1014, COB ID Emergency Object .................................... 211

19.1.14 Object 0x1015, Inhibit Time Emergency Object ............................. 212

19.1.15 Object 0x1016, Consumer Heartbeat Time ...................................... 213

19.1.16 Object 0x1017, Producer Heartbeat Time ........................................ 213

19.1.17 Object 0x1018, Identity Object ........................................................ 214

19.1.18 Object 0x1029, Error Behavior ........................................................ 215

19.1.19 Object 0x1200 – 0x1201, Server SDO ............................................. 216

19.1.20 Object 0x1400 – 0x141F, Receive PDO Communication

Parameter .......................................................................................... 217

19.1.21 Object 0x1600 – 0x161F, Receive PDO Mapping Parameter .......... 219

19.1.22 Object 0x1800 – 0x181F, Transmit PDO Communication

Parameter .......................................................................................... 220

19.1.23 Object 0x1A00 – 0x1A1F, Transmit PDO Mapping Parameter ...... 223

19.2 Manufacturer-Specific Profile Area, Object 0x2000 – 0x5FFF ........... 224

19.2.1 Object 0x37F1, Fieldbus Coupler CS LED Flash Signals ............... 224

19.2.2 Object 0x37F5, Fieldbus Coupler Diagnostics ................................. 225

19.2.3 Object 0x37F6, Fieldbus Coupler Diagnostic Acknowledgement ... 226

19.2.4 Object 0x5000, Read Input Process Image ....................................... 227

19.2.5 Object 0x5001, Write Output Process Image ................................... 228

19.2.6 Object 0x5200, Coupler Configuration Object ................................ 229

19.2.7 0x5202 Module Configuration Object.............................................. 230

19.2.8 Object 0x5300 – 0x5340, Input Data of I/O Modules ...................... 231

19.2.9 Object 0x5400 – 0x5440, Output Data of the I/O Modules ............. 233

19.3 Standard Device Profile Area – DS 401, from Object 0x6000 ............. 235

19.3.1 Object 0x6000, Digital Inputs .......................................................... 237

19.3.2 Object 0x6005, Global Interrupt Enable Digital, 8 Bit .................... 237

19.3.3 Object 0x6006, Interrupt Mask Any Change, 8 Bit .......................... 238

19.3.4 Object 0x6007, Interrupt Mask Low-to-High, 8 Bit ......................... 239

19.3.5 Object 0x6008, Interrupt Mask High-to-Low, 8 Bit ......................... 240

19.3.6 Object 0x6200, Digital Outputs ........................................................ 241

19.3.7 Object 0x6206, Error Mode Output, 8 Bit ........................................ 241

19.3.8 Object 0x6207, Error Value Output, 8 Bit ....................................... 242

19.3.9 Object 0x6401, Analog Inputs, 16 Bit .............................................. 243

8 Table of Contents WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

19.3.10 Object 0x6411, Analog Outputs, 16 Bit ........................................... 243

19.3.11 Object 0x6421, Analog Input Interrupt Trigger Selection ............... 244

19.3.12 Object 0x6423, Analog Input Global Interrupt Enable .................... 245

19.3.13 Object 0x6424, Analog Input Interrupt Upper Limit Integer ........... 245

19.3.14 Object 0x6425, Analog Input Interrupt Lower Limit Integer........... 246

19.3.15 Object 0x6426, Analog Input Interrupt Delta Unsigned .................. 247

19.3.16 Object 0x6427, Analog Input Interrupt Negative Delta Unsigned ... 248

19.3.17 Object 0x6428, Analog Input Interrupt Positive Delta Unsigned .... 249

19.3.18 Object 0x6443, Analog Output Error Mode ..................................... 250

19.3.19 Object 0x6444, Analog Output Error Value Integer ........................ 250

19.3.20 Object 0x67FE, Error Behavior ........................................................ 251

19.3.21 Reserved Range ................................................................................ 251

List of Figures .................................................................................................... 252

List of Tables ...................................................................................................... 255

=== Ende der Lis te f ür T e xtmar ke V erz eic hnis _vor ne == =

WAGO-SPEEDWAY 767 Notes about this Documentation 9

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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1 Notes about this Documentation

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The fieldbus coupler shall only be installed and operated in conjunction with these

operating instructions and the system description.

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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.

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Observe release notes!

Please note that, within the SPEEDWAY system, a function is provided without

restriction only if all system's components have the same system-wide firmware

release. Therefore, always observe the appropriate release notes on products used.

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Supply layout!

In addition to these operating instructions, you will need the “WAGO

SPEEDWAY 767, System Description and Information” manual, which can be

downloaded at www.wago.com. There you will find information regarding supply

layout, etc.

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1.1 Validity of these Operating Instructions

These operating instructions are only applicable to the WAGO SPEEDWAY 767

Series fieldbus coupler FC CANopen 8DI 24V DC, 767-1501.

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1.2 Copyright

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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.

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10 Notes about this Documentation WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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1.3 Symbols

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Personal Injury!

Indicates a high-risk, imminently hazardous situation which, if not avoided, will

result in death or serious injury.

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Personal Injury Caused by Electric Current!

Indicates a high-risk, imminently hazardous situation which, if not avoided, will

result in death or serious injury.

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Personal Injury!

Indicates a moderate-risk, potentially hazardous situation which, if not avoided,

could result in death or serious injury.

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Personal Injury!

Indicates a low-risk, potentially hazardous situation which, if not avoided, may

result in minor or moderate injury.

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Damage to Property!

Indicates a potentially hazardous situation which, if not avoided, may result in

damage to property.

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Damage to Property Caused by Electrostatic Discharge (ESD)!

Indicates a potentially hazardous situation which, if not avoided, may result in

damage to property.

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Important Note!

Indicates a potential malfunction which, if not avoided, however, will not result in

damage to property.

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WAGO-SPEEDWAY 767 Notes about this Documentation 11

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

Additional Information:

Refers to additional information which is not an integral part of this

documentation (e.g., the Internet).

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12 Notes about this Documentation WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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1.4 Number Notation

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Table 1: Number Notation

Number Code

Example

Note

Decimal

100

Normal notation

Hexadecimal

0x64

C notation

Binary

'100'

'0110.0100'

In quotation marks, nibble separated with

dots (.)

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1.5 Font Conventions

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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

Menu items are marked in bold letters.

e.g.: Save

>

A greater-than sign between two names means the selection of a

menu item from a menu.

e.g.: File > New

Input

Designation of input or optional fields are marked in bold letters,

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.

[Button]

Pushbuttons in dialog boxes are marked with bold letters in square

brackets.

e.g.: [Input]

[Key]

Keys are marked with bold letters in square brackets.

e.g.: [F5]

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WAGO-SPEEDWAY 767 Important Notes 13

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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2 Important Notes

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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.

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2.1 Legal Bases

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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.

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2.1.2 Personnel Qualification

All sequences implemented on the module may only be carried out by electrical

specialists with sufficient knowledge in automation. The specialists must be

familiar with the current standards and guidelines for the module and automation

environment.

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14 Important Notes WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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2.1.3 Use in Compliance with Underlying Provisions

The CANopen fieldbus coupler provides digital process data from digital and

analog I/O modules. The data is gathered by the fieldbus coupler and made

available to a higher-level controller for further processing.

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The fieldbus coupler shall not be used to control safety-related functions; i.e.,

emergency-off devices shall not be operated with this fieldbus coupler.

The fieldbus coupler may only be operated in combination with components of

the WAGO SPEEDWAY 767 Series.

The fieldbus coupler was developed for applications requiring IP 67

(NEMA type 6, 6P) protection.

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The fieldbus coupler is expandable by a maximum of 64 I/O modules from the

WAGO SPEEDWAY 767 Series.

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Applications other than those described in this manual are not permitted.

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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.

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WAGO-SPEEDWAY 767 Important Notes 15

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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2.2 Safety Advice (Precautions)

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Electric voltage!

Operate the 767 Series components exclusively with 24 VDC PELV (Protective

Extra Low Voltage) or SELV (Safety Extra Low Voltage) voltage sources. Failure

to comply may result in electric shock.

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Hot connection sockets!

Even when taking into account derating, high surface temperatures on the metallic

connection sockets and on the enclosure can arise during operation. If the 767

Series component has been in operation, allow it to cool off before moving it.

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The highest current carrying capacity of the supply contacts is 4 A!

Always observe the maximum current carrying capacity per supply line (U

LS

, U

A

)

for each 767 Series component and the overall power consumption for all

767 components. Neither of these values shall exceed 4 A since an increase in

current causes the contacts to overheat and damages the 767 Series components.

Information regarding the power demand of each 767 Series component can be

found in the corresponding data sheet, which is available from www.wago.com.

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Exposed connections!

If connections have not been closed with protective caps, liquid or dirt can

penetrate the components of the 767 Series module and ruin it. Therefore, close

all unnecessary connections with protective caps, which must be ordered

separately, in order to maintain the IP67 degree of protection. (See section

“Accessories” of the fieldbus coupler/controller manual.)

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• Always keep the cover cap of the DIP switch closed.

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• Disconnect the power supply from the system on which you wish to mount

the 767 Series device.

• Observe the appropriate accident prevention regulations for your system

during assembly, start-up, maintenance, and repairs. For example, BGV A3,

“Electrical systems and equipment”.

• The operating instructions for the 767 Series module and the system

description must be laid out ready on site.

• Observe the exact positioning (coding) between plug and socket.

16 Important Notes WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

• The 767 Series device shall not come into contact with substances having

seeping and insulating properties. Otherwise, additional measures shall be

taken for the device, such as installation of an enclosure that is resistant to

the above-mentioned substance properties.

• Electronic components fulfilling the ESD requirements according to the IEC

61000-6-2 are integrated in the 767 device. As higher voltages may occur,

under unfavorable circumstances, due to electrical charge in the field,

discharge must be ensured before performing work on the 767 system.

• Ensure that the potential equalization is correctly laid out.

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• Keep all cables a sufficient distance away from electromagnetic sources of

interference in order to maintain a high level of interference resistance of

the 767 system against electromagnetic emissions. Use only shielded cables

at the necessary locations, and always observe the appropriate standards for

EMC-suitable installations.

• For the power supply and for the S-BUS, use only pre-assembled WAGO

system cables, so the specified characteristics of the technical data can be

achieved.

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• Replace defective or damaged modules (e.g., deformed connections), else

function disruptions can occur in the respective fieldbus stations or nodes.

• When laying any cables, make sure that you do not lay them within the

shear range of movable machine parts.

• For each activity, observe the corresponding personnel qualification in the

corresponding section.

• Observe the marking on the front and rear side of the module.

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2.3 Safety Equipment

All 767 Series products are designed to meet the requirements of IP67. This

includes complete protection against accidental contact with electrical voltage and

currents – even when wet.

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WAGO-SPEEDWAY 767 Important Notes 17

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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2.4 Notes on Operation

When integrating the 767 module in your machine or system, all the currently

applicable norms, regulations and guidelines shall be observed during all

activities: for example, BGV A3, “Electrical systems and equipment”,

DIN EN 418, EN 60204. The emergency stop equipment shall remain effective in

all operating modes of the system and machine.

For protection from electromagnetic interferences

• Connect your system to protective earth (PE), and

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• Ensure that the cable routing and the installation of the fieldbus cable, S-

BUS cable, supply cable, and sensor or actuator cable are correct.

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The following elements for 24 V supply shall be present:

• Outer lightning protection on buildings

• Inner lightning protection of supply lines and signal lines

• Safe electrical separation of low voltage 24 VDC through PELV (Protective

Extra Low Voltage) or SELV (Safety Extra Low Voltage) voltage sources

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18 Information on CANopen WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

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3 Information on CANopen

CAN ("Controller Area Network") was developed in the mid-1980s for data

transmission in automobiles.

CANopen describes the application level based on the CAN bus system. As a

standard application level, CANopen is defined by specification DS 301 of CiA

("CAN in Automation"). The CANopen Network Management enables a

simplified start of the CAN bus, which can be expanded within the approved

range.

CAN is a multi-master bus system. Contrary to other fieldbus systems, the bus

devices connected to the CAN are not addressed; instead, the telegrams are

identified. The users are always allowed to send telegrams when there is data

traffic on the CAN bus. Bus conflicts are solved because the telegrams are

assigned a specific priority. This priority is determined by the COB ID

("Communication Object Identifier") and is unambiguously assigned to a

communication object. The smaller the identifier, the higher the priority.

The CANopen specification (DS 301) defines the technical and functional

characteristics of CANopen. The CANopen specification allows for additional

device profiles, in which the objects and communication parameters of devices in

a particular application area are specified. The fieldbus coupler supports device

profile DS-401 ("Device Profile for Generic I/O Modules"). The flash signals

RUN and ERR LED on the fieldbus coupler correspond to the supplementary

CANopen specification "DR303 Part 3 Indicator Specification."

The CANopen protocol implemented in a device is designated as a CANopen

application. Most adjustments to the CANopen protocol can be found in the

manufacturer-specific area of the object directory and within the supported error

messages ("Emergency").

WAGO-SPEEDWAY 767 Information on CANopen 19

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

3.1 Network Topology

The CAN network is set up as a linear topology with terminating resistors

(120 Ohm). In the CAN network, all devices are wired in parallel. This requires

the CAN bus cable to be looped through without disruption.

All devices in the CAN network communicate with the same baud rate. The bus

structure (disconnected from power supply) enables devices to be added and

removed in a non-reactive manner; it also enables step-by-step startup of the CAN

bus. Later upgrades have no effect on CANopen devices that are already in

operation. If a device malfunctions or if a new device is added to the CAN bus, it

is automatically detected.

The maximum number of physical devices on the CAN network depends on the

input impedance of the CAN bus drivers being used. The CAN bus driver utilized

in the fieldbus coupler allows a total of 120 CANopen devices to be connected.

Star repeaters enable branching in linear structures and thus the setup of hierarchal

network structures. If repeaters are used, the maximum possible quantity of 127

CANopen devices can be achieved, or the network reach (bus length) can be

enlarged. However, when using repeaters the internal delay of the repeaters

should be taken into account when calculating the network reach. Another

advantage of the repeaters is error suppression. Without repeaters, all

communication in the CAN network would fail if a short circuit arose between

CAN_High and CAN_Low. Using repeaters would cause the error to only have an

effect on the subsegment that is disconnected by the repeaters. The rest of the

network would continue to function without constraint. In addition, repeaters can

also enable the implementation of subsegments with fiber optic cable. This

illustrates the advantage of isolating high-frequency interference signals, through

which subsegments can be conducted even in environments with electrical

interference.

20 Information on CANopen WAGO-SPEEDWAY 767

767-1501 FC CANopen 8DI 24V DC

Manual

Version 2.2.0

3.1.1 Physical Transmission Technology

CANopen is based on CAN, which is standardized as a communication medium

in the ISO 11898 specification.

3.1.2 Wiring with Symmetrical Copper Cable

Signal transmission through symmetrical copper cable ("twisted pair") is

established with a transfer rate of 125 KBit/s – 1 Mbit/s. STP ("shielded twisted

pair") is to be used as a transmission medium.

For wiring with shielded copper cable (3 x 0.25 mm²), the corresponding plug

with the CAN_High, CAN_Low and CAN_GND connections is to be used.

CAN_High and CAN_Low are two physically different bus signal levels.

CAN_GND is the collective reference potential.

The cable's shielding can be placed on the CAN_SHLD connection.

Each CANopen node forms the V

Diff

differential voltage from the CAN_High and

CAN_Low bus signal levels as follows: V

Diff

= V

CAN_High

- V

CAN_Low

.

The differential signal transmission offers the benefit of insensitivity to common

mode interferences and potential differences between the CANopen 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. The differential voltage amounts to 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 amounts to approx. 2 V.

Check to ensure correct installation of the terminating resistors by using an

ohmmeter to measure resistance. Please see the following figure:

Figure 1: Measuring principle to check CAN bus before startup

Ohmmeter

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WAGO CANopen Fieldbus Coupler User manual

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