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WAGO CANopen Fieldbus Coupler, MCS User manual

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WAGO-I/O-SYSTEM 750
Manual
750-337
CANopen Fieldbus Coupler, MCS
10 kBaud ...
1 MBaud; digital and analog signals
Version 4.1.0
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2 WAGO-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
© 2015 by WAGO Kontakttechnik GmbH & Co. KG
All rights reserved.
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-I/O-SYSTEM 750 Table of Contents 3
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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Table of Contents
1 Notes about this Documentation ................................................................. 9
1.1 Validity of this Documentation ................................................................. 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 Qualifications ..................................................................... 13
2.1.3 Use of the WAGO-I/O-SYSTEM 750 in Compliance with Underlying
Provisions ........................................................................................... 13
2.1.4 Technical Condition of Specified Devices ......................................... 14
2.2 Safety Advice (Precautions) .................................................................... 15
3 System Description..................................................................................... 17
3.1 Manufacturing Number ........................................................................... 18
3.2 Component Update .................................................................................. 19
3.3 Storage, Assembly and Transport ........................................................... 19
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 ............................................................................................ 28
3.5.4 Supplementary Power Supply Regulations ........................................ 31
3.5.5 Supply Example.................................................................................. 32
3.5.6 Power Supply Unit ............................................................................. 34
3.6 Grounding ............................................................................................... 35
3.6.1 Grounding the DIN Rail ..................................................................... 35
3.6.1.1 Framework Assembly .................................................................... 35
3.6.1.2 Insulated Assembly ........................................................................ 35
3.6.2 Grounding Function............................................................................ 36
3.7 Shielding ................................................................................................. 37
3.7.1 General ............................................................................................... 37
3.7.2 Bus Cables .......................................................................................... 37
3.7.3 Signal Lines ........................................................................................ 38
3.7.4 WAGO Shield Connecting System .................................................... 38
4 Device Description ..................................................................................... 39
4.1 View ........................................................................................................ 40
4.2 Connectors ............................................................................................... 42
4.2.1 Device Supply .................................................................................... 42
4.2.2 Fieldbus Connection ........................................................................... 42
4 Table of Contents WAGO-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
4.3 Display Elements .................................................................................... 44
4.4 Operating Elements ................................................................................. 45
4.4.1 Service Interface ................................................................................. 45
4.4.2 Address Selection Switch ................................................................... 46
4.4.2.1 Baud Rate Setting .......................................................................... 46
4.5 Technical Data ........................................................................................ 48
4.5.1 Device Data ........................................................................................ 48
4.5.2 System Data ........................................................................................ 48
4.5.3 Power Supply...................................................................................... 49
4.5.4 Accessories ......................................................................................... 49
4.5.5 Electrical Safety.................................................................................. 49
4.5.6 Connection Type ................................................................................ 49
4.5.7 Climatic Environmental Conditions ................................................... 50
4.5.8 Mechanical Strength acc. to IEC 61131-2 .......................................... 50
4.6 Approvals ................................................................................................ 51
4.7 Standards and Guidelines ........................................................................ 53
5 Mounting ..................................................................................................... 54
5.1 Installation Position ................................................................................. 54
5.2 Overall Configuration ............................................................................. 54
5.3 Mounting onto Carrier Rail ..................................................................... 56
5.3.1 Carrier Rail Properties ........................................................................ 56
5.3.2 WAGO DIN Rail ................................................................................ 57
5.4 Spacing .................................................................................................... 57
5.5 Mounting Sequence ................................................................................. 58
5.6 Inserting and Removing Devices ............................................................ 59
5.6.1 Inserting the Fieldbus Coupler/Controller .......................................... 60
5.6.2 Removing the Fieldbus Coupler/Controller ....................................... 60
5.6.3 Inserting the I/O Module .................................................................... 61
5.6.4 Removing the I/O Module .................................................................. 62
6 Connect Devices ......................................................................................... 63
6.1 Data Contacts/Internal Bus ..................................................................... 63
6.2 Power Contacts/Field Supply .................................................................. 64
6.3 Connecting a Conductor to the CAGE CLAMP
®
................................... 65
7 Function Description ................................................................................. 66
7.1 Operating System .................................................................................... 66
7.2 Process Data Architecture ....................................................................... 67
7.3 Data Exchange ........................................................................................ 69
7.3.1 Fieldbus Coupler Communication Objects ........................................ 69
7.3.2 Communication Interfaces .................................................................. 69
7.3.3 Memory Space .................................................................................... 69
7.3.4 Addressing .......................................................................................... 70
7.3.4.1 Indexing of the I/O Module Data ................................................... 71
8 Commissioning ........................................................................................... 75
8.1 Connecting PC and Fieldbus Nodes ........................................................ 75
8.2 Checking and Setting the Baud Rate ....................................................... 75
8.3 Setting the Module ID ............................................................................. 76
8.4 Switching to the OPERATIONAL State ................................................. 77
8.5 Enabling Analog Input Data .................................................................... 77
WAGO-I/O-SYSTEM 750 Table of Contents 5
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
8.6 Application-Specific Mapping ................................................................ 78
9 Diagnostics .................................................................................................. 81
9.1 LED Signaling ......................................................................................... 81
9.1.1 Evaluating Fieldbus Status ................................................................. 82
9.1.2 Evaluating Node Status – I/O LED (Blink Code Table) .................... 83
9.2 Behavior of the Fieldbus Coupler during Interruption of Operations ..... 91
9.2.1 Loss of Power ..................................................................................... 91
9.2.2 Loss of Fieldbus ................................................................................. 91
9.2.3 Internal Data Bus Error ...................................................................... 91
10 Fieldbus Communication .......................................................................... 92
10.1 CANopen ................................................................................................. 92
10.1.1 Description ......................................................................................... 92
10.1.2 Network Configuration ....................................................................... 93
10.1.2.1 Transmission Medium ................................................................... 93
10.1.2.1.1 Cable Type ................................................................................ 93
10.1.2.1.2 Maximum Bus Length .............................................................. 93
10.1.2.1.3 Required Cable Cross-Section .................................................. 94
10.1.2.2 Cabling ........................................................................................... 94
10.1.2.3 Topology ........................................................................................ 97
10.1.2.4 Interface Modules .......................................................................... 97
10.1.2.5 Configuration Software ................................................................. 97
10.1.3 Network Communication ................................................................... 99
10.1.3.1 Communication Objects ................................................................ 99
10.1.3.1.1 Process Data Object - PDO ....................................................... 99
10.1.3.1.1.1 PDO Protocol ..................................................................... 100
10.1.3.1.2 Service Data Object ‒ SDO .................................................... 100
10.1.3.1.2.1 SDO Protocol ..................................................................... 100
10.1.3.1.2.1.1 General Structure ........................................................... 101
10.1.3.1.2.1.2 Download SDO Protocol ............................................... 101
10.1.3.1.2.1.2.1 Initiate SDO Download ............................................ 101
10.1.3.1.2.1.3 Download SDO Segment .............................................. 103
10.1.3.1.2.1.4 Upload SDO Protocol .................................................... 103
10.1.3.1.2.1.4.1 Initiate SDO Upload ................................................. 104
10.1.3.1.2.1.4.2 Upload SDO Segment ............................................... 105
10.1.3.1.2.1.5 Abort SDO Transfer ...................................................... 106
10.1.3.1.2.2 SDO Examples ................................................................... 107
10.1.3.1.2.2.1 Example 1: Read Index 0x1000 Sub-Index 0; Device Type108
10.1.3.1.2.2.2 Example 2: Read Index 0x1008 Sub-Index 0;
Manufacturer Device Name........................................... 108
10.1.3.1.2.2.3 Example 3: Read Index 0x6000 Sub-Index 1; First 8-Bit
Digital Input Block ........................................................ 108
10.1.3.1.2.2.4 Example 4: Write Index 0x6200 Sub-Index 1; First 8-Bit
Digital Output Block ..................................................... 109
10.1.3.1.3 Synchronization Object ‒ SYNC ............................................ 109
10.1.3.1.3.1 SYNC Protocol ................................................................... 109
10.1.3.1.4 Emergency Object ‒ EMCY ................................................... 109
10.1.3.1.4.1 EMCY Protocol .................................................................. 110
10.1.3.2 Communication States of a CANopen Fieldbus Coupler/Controller110
10.1.3.2.1 CANopen State Diagram ........................................................ 110
6 Table of Contents WAGO-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
10.1.3.2.2 INITIALIZATION .................................................................. 111
10.1.3.2.3 PRE-OPERATIONAL ............................................................ 111
10.1.3.2.4 OPERATIONAL ..................................................................... 111
10.1.3.2.5 STOPPED ............................................................................... 112
10.1.3.3 Network Management Objects .................................................... 112
10.1.3.3.1 Module Control Protocols ....................................................... 112
10.1.3.3.1.1 Start Remote Node ............................................................. 112
10.1.3.3.1.2 Stop Remote Node ............................................................. 112
10.1.3.3.1.3 Enter Pre-Operational ......................................................... 113
10.1.3.3.1.4 Reset Node ......................................................................... 113
10.1.3.3.2 Error Control Protocols ........................................................... 114
10.1.3.3.3 Node Guarding Protocol ......................................................... 114
10.1.3.3.4 Heartbeat Protocol................................................................... 114
10.1.3.3.5 Boot-up Protocol ..................................................................... 115
10.1.3.4 Object Directory .......................................................................... 115
10.1.3.4.1 Initialization ............................................................................ 117
10.1.3.4.1.1 Default Configuration ........................................................ 117
10.1.3.4.1.1.1 Initialization of the Communication Profile Area ......... 117
10.1.3.4.2 Communication Profile Area .................................................. 121
10.1.3.4.2.1 Object 0x1000 – Device Type ............................................ 121
10.1.3.4.2.2 Object 0x1001 – Error Register ......................................... 122
10.1.3.4.2.3 Object 0x1002 – Manufacturer Status Register ................. 122
10.1.3.4.2.4 Object 0x1003 – Predefined Error Field ............................ 123
10.1.3.4.2.5 Object 0x1005 – COB-ID SYNC Message ........................ 123
10.1.3.4.2.6 Object 0x1006 – Communication Cycle Period ................. 124
10.1.3.4.2.7 Object 0x1008 – Manufacturer Device Name .................... 124
10.1.3.4.2.8 Object 0x1009 – Manufacturer Hardware Version ............ 124
10.1.3.4.2.9 Object 0x100A – Manufacturer Software Version ............ 124
10.1.3.4.2.10 Object 0x100C – Guard Time ............................................ 124
10.1.3.4.2.11 Object 0x100D – Life Time Factor .................................... 125
10.1.3.4.2.12 Object 0x1010 – Store Parameters ..................................... 125
10.1.3.4.2.13 Object 0x1011 – Restore Default Parameters .................... 126
10.1.3.4.2.13.1 Sub-Index 1 ‒ Permanent Entry Default Parameters ..... 126
10.1.3.4.2.13.2 Sub-Index 4 ‒ One-Time Entry of Default Paramters ... 126
10.1.3.4.2.14 Object 0x1014 – COB-ID Emergency Object .................... 127
10.1.3.4.2.15 Object 0x1015 – Inhibit Time Emergency Object ............. 127
10.1.3.4.2.16 Object 0x1016 – Consumer Heartbeat Time ...................... 127
10.1.3.4.2.17 Object 0x1017 – Producer Heartbeat Time ........................ 128
10.1.3.4.2.18 Object 0x1018 – Identity Object ........................................ 128
10.1.3.4.2.19 Object 0x1200 … 0x1201 – Server SDO ........................... 129
10.1.3.4.2.20 Object 0x1400 … 0x141F – Receive PDO Communication
Parameter ............................................................................ 129
10.1.3.4.2.21 Object 0x1600 … 0x161F – Receive PDO Mapping
Parameter ............................................................................ 130
10.1.3.4.2.22 Object 0x1800 … 0x181F – Transmit PDO Communication
Parameter ............................................................................ 131
10.1.3.4.2.23 Object 0x1A00 … 0x1A1F, Transmit PDO Mapping
Parameter ............................................................................ 132
10.1.3.4.3 Manufacturer Specific Profile Area ........................................ 133
10.1.3.4.3.1 Object 0x2000 – Digital Inputs .......................................... 135
WAGO-I/O-SYSTEM 750 Table of Contents 7
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
10.1.3.4.3.2 Object 0x2100 – Digital Outputs ....................................... 135
10.1.3.4.3.3 Object 0x2200 – 1-Byte I/O Modules, Inputs .................... 135
10.1.3.4.3.4 Object 0x2300 – 1-Byte I/O Modules, Outputs ................. 135
10.1.3.4.3.5 Object 0x2400 – 2-Byte I/O Modules, Inputs .................... 136
10.1.3.4.3.6 Object 0x2500 – 2-Byte I/O Modules, Outputs ................. 136
10.1.3.4.3.7 Object 0x2600 – 3-Byte I/O Modules, Inputs .................... 136
10.1.3.4.3.8 Object 0x2700 – 3-Byte I/O Modules, Outputs ................. 136
10.1.3.4.3.9 Object 0x2800 – 4-Byte I/O Modules, Inputs .................... 137
10.1.3.4.3.10 Object 0x2900 – 4-Byte I/O Modules, Inputs .................... 137
10.1.3.4.3.11 Object 0x3000 – 5-Byte I/O Modules, Inputs .................... 137
10.1.3.4.3.12 Object 0x3100 – 5-Byte I/O Modules, Outputse ................ 137
10.1.3.4.3.13 Object 0x3200 – 6-Byte I/O Modules, Inputs .................... 138
10.1.3.4.3.14 Object 0x3300 – 6-Byte I/O Modules, Outputs ................. 138
10.1.3.4.3.15 Object 0x3400 – 7-Byte I/O Modules, Inputs .................... 138
10.1.3.4.3.16 Object 0x3500 – 7-Byte I/O Modules, Outputs ................. 138
10.1.3.4.3.17 Object 0x3600 – 8-Byte I/O Modules, Inputs .................... 139
10.1.3.4.3.18 Object 0x3700 – 8-Byte I/O Modules, Outputs ................. 139
10.1.3.4.3.19 Object 0x3800 … 0x380F – 9+ Byte I/O Modules – Inputs139
10.1.3.4.3.20 Object 0x3900 … 0x390F – 9+ Byte I/O Modules – Outputs140
10.1.3.4.3.21 Object 0x4200 … 0x4202 – Gateway Module Input ......... 140
10.1.3.4.3.22 Object 0x4300 … 0x4302 – Gateway Module Output ...... 141
10.1.3.4.3.23 Object 0x4500 – Empty Module Configuration ................. 141
10.1.3.4.3.24 Object 0x5000 – Read Input Process Image ...................... 147
10.1.3.4.3.25 Object 0x5001 – Write Output Process Image ................... 147
10.1.3.4.3.26 Object 0x5200 – Fieldbus Coupler/Controller Configuration149
10.1.3.4.3.27 Object 0x5201 – Diagnostic Configuration ....................... 152
10.1.3.4.3.28 Object 0x5202 – Module Configuration ............................ 152
10.1.3.4.4 Standard Device Profile Area – DS 401 ................................. 155
10.1.3.4.4.1 Object 0x6000 – Read Digital Input 8-Bit ......................... 157
10.1.3.4.4.2 Object 0x6005 – Global Interrupt Enable Digital 8-Bit ..... 157
10.1.3.4.4.3 Object 0x6006 – Digital Interrupt Mask Any Change 8-Bit157
10.1.3.4.4.4 Object 0x6007 – Digital Interrupt Mask Low-to-High 8-Bit158
10.1.3.4.4.5 Object 0x6008 – Digital Interrupt Mask High-to-Low 8-Bit158
10.1.3.4.4.6 Object 0x6100 – Read Digital Input 16-Bit ....................... 159
10.1.3.4.4.7 Object 0x6200 – Write Digital Output 8-Bit ...................... 159
10.1.3.4.4.8 Object 0x6206 – Error Mode Digital Output 8-Bit ............ 160
10.1.3.4.4.9 Object 0x6207 – Error Value Digital Output 8-Bit ............ 160
10.1.3.4.4.10 Object 0x6300 – Write Digital Output 16-Bit .................... 161
10.1.3.4.4.11 Object 0x6401 – Read Analog Input 16-Bit ....................... 161
10.1.3.4.4.12 Object 0x6411 – Write Analog Output 16-Bit ................... 162
10.1.3.4.4.13 Object 0x6421 – Analog Input Interrupt Trigger Selection 162
10.1.3.4.4.14 Object 0x6423 – Analog Input Global Interrupt Enable .... 162
10.1.3.4.4.15 Object 0x6424 – Analog Input Interrupt Upper Limit Integer163
10.1.3.4.4.16 Object 0x6425 – Analog Input Interrupt Lower Limit Integer163
10.1.3.4.4.17 Object 0x6426 – Analog Input Interrupt Delta Unsigned .. 164
10.1.3.4.4.18 Object 0x6427 – Analog Input Interrupt Negative Delta
Unsigned ............................................................................. 164
10.1.3.4.4.19 Object 0x6428 – Analog Input Interrupt Positive Delta
Unsigned ............................................................................. 165
10.1.3.4.4.20 Object 0x6443 – Analog Output Error Mode ..................... 165
8 Table of Contents WAGO-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
10.1.3.4.4.21 Object 0x6444 – Analog Output Error Value Integer ........ 166
10.1.3.4.4.22 Object 0x67FE – Error Behavior ....................................... 166
10.1.3.4.4.23 Object 0xA000-0xFFFF, Reserved Area ........................... 167
10.1.3.5 PDO Transmission ....................................................................... 167
10.1.3.5.1 Mapping .................................................................................. 167
10.1.3.5.2 Transmit PDO1 ....................................................................... 168
10.1.3.5.3 Receive PDO1 ......................................................................... 169
10.1.3.5.4 Transmit PDO2 ....................................................................... 170
10.1.3.5.5 Receive PDO2 ......................................................................... 171
10.1.3.6 SYNC Monitoring ....................................................................... 172
10.1.3.7 Node Guarding ............................................................................. 172
10.1.3.8 Heartbeat Monitoring ................................................................... 174
10.1.3.9 Error Messages (Emergency) ...................................................... 175
10.1.3.9.1 Diagnostic Messages of the I/O Modules ............................... 177
10.1.3.9.2 Layout of the Module-Specific Diagnostic Bits of the Digital
Input/Output Modules ............................................................. 180
11 I/O Modules .............................................................................................. 182
11.1 Overview ............................................................................................... 182
11.2 Structure of Process Data for CANopen ............................................... 183
11.2.1 Digital Input Modules....................................................................... 183
11.2.2 Digital Output Modules .................................................................... 185
11.2.3 Analog Input Modules ...................................................................... 190
11.2.4 Analog Output Modules ................................................................... 192
11.2.5 Specialty Modules ............................................................................ 195
11.2.6 System Modules ............................................................................... 224
11.2.6.1 Binary Space Module .................................................................. 224
12 Use in Hazardous Environments ............................................................ 225
12.1 Marking Configuration Examples ......................................................... 226
12.1.1 Marking for Europe According to ATEX and IEC-Ex .................... 226
12.1.2 Marking for America According to NEC 500 .................................. 231
12.2 Installation Regulations ......................................................................... 232
12.2.1 Special Conditions for Safe Use (ATEX Certificate TÜV 07 ATEX
554086 X) ......................................................................................... 233
12.2.2 Special Conditions for Safe Use (ATEX Certificate TÜV 12 ATEX
106032 X) ......................................................................................... 234
12.2.3 Special Conditions for Safe Use (IEC-Ex Certificate TUN 09.0001 X)235
12.2.4 Special Conditions for Safe Use (IEC-Ex Certificate IECEx TUN
12.0039 X) ........................................................................................ 236
12.2.5 Special Conditions for Safe Use According to ANSI/ISA 12.12.01 237
List of Figures .................................................................................................... 238
List of Tables ...................................................................................................... 241
=== Ende der Lis te f ür T e xtmar ke V erz eic hnis _vor ne == =
WAGO-I/O-SYSTEM 750 Notes about this Documentation 9
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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1 Notes about this Documentation
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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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1.1 Validity of this Documentation
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This documentation is only applicable to the “CANopen Fieldbus Coupler, MCS”
(750-337) and the variants listed in the table below.
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Table 1: Variants
Item Number/Variant
Designation
750-337
CANopen Fieldbus Coupler, MCS
750-337/025-000
CANopen Fieldbus Coupler, MCS/T
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Documentation Validity for Variants
Unless otherwise indicated, the information given in this documentation applies to
listed variants.
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The product “CANopen Fieldbus Coupler, MCS” (750-337) shall only be
installed and operated according to the instructions in this manual and the system
description for the WAGO-I/O-SYSTEM 750.
Consider power layout of the WAGO-I/O-SYSTEM 750!
In addition to these operating instructions, you will also need the system
description for the WAGO-I/O-SYSTEM 750, which can be downloaded at
www.wago.com. There, you can obtain important information including
information on electrical isolation, system power and supply specifications.
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1.2 Copyright
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-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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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.
Pos: 14 .4.2 /Al le Seri en (All gemei ne Mod ule)/ Wichti ge Erl äuter unge n/Sich erheit s- und sonsti ge Hinw eise/ Gefa hr/Gef ahr: _ Warnu ng vor Per son enschä den durc h elek trisc hen Str om_ - Erläuterung @ 13\mod_1343309694914_21.docx @ 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.
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Personal Injury!
Indicates a moderate-risk, potentially hazardous situation which, if not avoided,
could result in death or serious injury.
Pos: 14 .4.4 /Al le Seri en (All gemei ne Mod ule)/ Wichti ge Erl äuter unge n/Sich erheit s- und so nsti ge H inw eis e/V orsic ht /Vor sic ht: _War nung vor Pers onens chäde n allg emein _ - Erläuterung @ 13\mod_1343310028762_21.docx @ 101038 @ @ 1
Personal Injury!
Indicates a low-risk, potentially hazardous situation which, if not avoided, may
result in minor or moderate injury.
Pos: 14 .4.5 /Al le Seri en (All gemei ne Mod ule)/ Wichti ge Erl äuter unge n/Sich erheit s- und sonstige Hinweise/Achtung/Achtung: _Warnung vor Sachschäden allgemein_ - Erläuterung @ 13\mod_1343310134623_21.docx @ 101041 @ @ 1
Damage to Property!
Indicates a potentially hazardous situation which, if not avoided, may result in
damage to property.
Pos: 14 .4.6 /Al le Seri en (All gemei ne Mod ule)/ Wichti ge Erl äuter unge n/Sich erheit s- und sonstige Hinweise/Achtung/Achtung: _Warnung vor Sachschäden durch elektrostatische Aufladung_ - Erläuterung @ 13\mod_1343310227702_21.docx @ 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: 14 .4.7 /Al le Seri en (All gemei ne Mod ule)/ Wichti ge Erl äuter unge n/Sich erheit s- und sonstige Hinweise/Hinweis/Hinweis: _Wichtiger Hinweis allgemein_ - Erläuterung @ 13\mod_1343310326906_21.docx @ 101047 @ @ 1
Important Note!
Indicates a potential malfunction which, if not avoided, however, will not result in
damage to property.
Pos: 14 .4.8 /Al le Seri en (All gemei ne Mod ule)/ Wichti ge Erl äuter unge n/Sich erheit s- und so nsti ge H inw eis e/I nfor mat ion/ Inf or matio n: _W eiter e Inf or mati on allg emei n_ - Erl äuter ung @ 13 \mod_1343310439814_21.docx @ 101051 @ @ 1
WAGO-I/O-SYSTEM 750 Notes about this Documentation 11
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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1.4 Number Notation
Table 2: 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
Table 3: Font Conventions
Indicates
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.
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,
e.g.: Start of measurement range
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
brackets.
e.g.: [Input]
Keys are marked with bold letters in square brackets.
e.g.: [F5]
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WAGO-I/O-SYSTEM 750 Important Notes 13
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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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 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.
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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.
14 Important Notes WAGO-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
Appropriate housing (per 94/9/EG) is required when operating the WAGO-I/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.
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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-I/O-SYSTEM 750 Important Notes 15
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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2.2 Safety Advice (Precautions)
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For installing and operating purposes of the relevant device to your system the
following safety precautions shall be observed:
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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.
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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.
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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.
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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.
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Clean only with permitted materials!
Clean soiled contacts using oil-free compressed air or with ethyl alcohol and
leather cloths.
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16 Important Notes WAGO-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
Do not use any contact spray!
Do not use any contact spray. The spray may impair contact area functionality in
connection with contamination.
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Do not reverse the polarity of connection lines!
Avoid reverse polarity of data and power supply lines, as this may damage the
devices involved.
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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.
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WAGO-I/O-SYSTEM 750 System Description 17
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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3 System Description
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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.
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The standard fieldbus couplers/controllers 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 I/O
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 exchanges process data with the respective control
via the respective fieldbus. The programmable fieldbus controllers (PFC) allow
implementation of additional PLC functions. WAGO-I/O-PRO is used to program
the fieldbus controllers according to IEC 61131-3.
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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.
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18 System Description WAGO-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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3.1 Manufacturing Number
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.
Figure 2: Labeling on the Side of a Component (Example)
Manufacturing number
01
03
01
02
03
-
B060606
Calendar
week
Year
Software
version
Hardware
version
Firmware
loader
version
Internal
number
Figure 3: Example of a Manufacturing Number
The manufacturing number consists of the production week and year, the software
version (if available), the hardware version of the component, the firmware loader
(if available) and further internal information for WAGO Kontakttechnik GmbH
& Co. KG.
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WAGO-I/O-SYSTEM 750 System Description 19
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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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; starting from calendar
week 13/2004), date stamp (DS), software version (SW), hardware version (HW)
and the firmware loader version (FWL, if available).
Current version data for
1. Update
2. Update
3. Update
Production order no.
NO
only starting from
Date stamp
DS
calendar week 13/2004
Software version
SW
Hardware version
HW
Firmware loader vers.
FWL
only for fieldbus
couplers/controllers
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 controller
is imprinted with the current production order number.
The original manufacturing information on the device's housing remains
unchanged.
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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.
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20 System Description WAGO-I/O-SYSTEM 750
750-337 CANopen Fieldbus Coupler, MCS
Manual
Version 4.1.0
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3.4 Assembly Guidelines/Standards
• DIN 60204 Electrical equipping of machines
• DIN EN 50178 Equipping of high-voltage systems with electronic
components (replacement for VDE 0160)
• EN 60439 Low-voltage switchgear and controlgear assemblies
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