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Manual
WAGO I/O SYSTEM 750 XTR
750-838/040-000
Controller CANopen M3 DSub XTR
Controller CANopen; 640/832 KB Program/RAM;
D-Sub; Extreme
Version 1.3.0
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2 WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
© 2019 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: www.wago.com
Technical Support
Phone: +49 (0) 571/8 87 – 4 45 55
Fax: +49 (0) 571/8 87 – 84 45 55
E-Mail: support@wago.com
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: documentation@wago.com
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.
WAGO is a registered trademark of WAGO Verwaltungsgesellschaft mbH.
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WAGO I/O SYSTEM 750 XTR Table of Contents 3
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
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Table of Contents
1 Notes about this Documentation ........................................................... 10
1.1 Validity of this Documentation............................................................... 10
1.2 Copyright .............................................................................................. 10
1.3 Symbols ............................................................................................... 11
1.4 Number Notation .................................................................................. 13
1.5 Font Conventions ................................................................................. 13
2 Important Notes ...................................................................................... 14
2.1 Legal Bases .......................................................................................... 14
2.1.1 Subject to Changes .......................................................................... 14
2.1.2 Personnel Qualifications .................................................................. 14
2.1.3 Use of the 750 Series in Compliance with
Underlying Provisions ...................................................................... 14
2.1.4 Technical Condition of Specified Devices......................................... 15
2.1.4.1 Disposal ...................................................................................... 15
2.1.4.1.1 Electrical and Electronic Equipment ........................................ 15
2.1.4.1.2 Packaging ............................................................................... 16
2.2 Safety Advice (Precautions) ................................................................. 17
3 System Description ................................................................................. 20
3.1 Manufacturing Number ......................................................................... 22
3.2 Update .................................................................................................. 23
3.3 Storage, Assembly and Transport ........................................................ 24
3.4 Assembly Guidelines/Standards ........................................................... 24
3.5 Power Supply ....................................................................................... 25
3.5.1 Overcurrent Protection ..................................................................... 25
3.5.2 Isolation ........................................................................................... 26
3.5.3 System Supply ................................................................................. 27
3.5.3.1 Connection .................................................................................. 27
3.5.3.2 Dimensioning ............................................................................... 29
3.5.4 Field Supply ..................................................................................... 31
3.5.4.1 Connection .................................................................................. 31
3.5.4.2 Fusing via Power Supply Module ................................................. 33
3.5.4.3 Fusing External ........................................................................... 35
3.5.5 Power Supply for Mixed Operation ................................................... 37
3.5.6 Supplementary Power Supply Regulations ...................................... 38
3.5.7 Supply Example ............................................................................... 40
3.5.8 Power Supply Units .......................................................................... 42
3.6 Grounding............................................................................................. 43
3.6.1 Grounding the DIN Rail .................................................................... 43
3.6.1.1 Framework Assembly .................................................................. 43
3.6.1.2 Insulated Assembly ..................................................................... 43
3.6.2 Grounding Function ......................................................................... 44
3.7 Shielding .............................................................................................. 45
3.7.1 General ............................................................................................ 45
3.7.2 Fieldbus Cables ............................................................................... 45
3.7.3 Shielded Signal Lines....................................................................... 46
3.7.4 WAGO Shield Connecting System ................................................... 46
4 Table of Contents WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
4 Device Description .................................................................................. 47
4.1 View ..................................................................................................... 48
4.2 Connectors ........................................................................................... 50
4.2.1 Device Supply .................................................................................. 50
4.2.2 Fieldbus Connection ........................................................................ 50
4.3 Display Elements .................................................................................. 52
4.4 Operating Elements .............................................................................. 54
4.4.1 Service Interface .............................................................................. 54
4.4.2 Mode Selector Switch ...................................................................... 55
4.4.3 Address Selection Switch ................................................................. 57
4.4.3.1 Baud Rate Setting ....................................................................... 57
4.4.3.2 Setting the Module ID .................................................................. 58
4.5 Technical Data ..................................................................................... 59
4.5.1 Device Data ..................................................................................... 59
4.5.2 System Data .................................................................................... 60
4.5.3 Supply .............................................................................................. 61
4.5.4 Accessories ..................................................................................... 62
4.5.5 Connection Type .............................................................................. 62
4.5.6 Mechanical Conditions ..................................................................... 62
4.5.7 Climatic Environmental Conditions ................................................... 62
4.6 Approvals ............................................................................................. 63
4.7 Standards and Guidelines .................................................................... 64
5 Mounting .................................................................................................. 70
5.1 Installation Position ............................................................................... 70
5.2 Overall Configuration ............................................................................ 72
5.3 Mounting onto Carrier Rail .................................................................... 73
5.3.1 Carrier Rail Properties ...................................................................... 73
5.3.2 WAGO DIN Rails ............................................................................. 74
5.4 Spacing ................................................................................................ 74
5.5 Mounting Sequence .............................................................................. 75
5.6 Inserting and Removing Devices .......................................................... 76
5.6.1 Inserting the Fieldbus Coupler/Controller ......................................... 76
5.6.2 Removing the Fieldbus Coupler/Controller ....................................... 77
5.6.3 Inserting the I/O Module ................................................................... 77
5.6.4 Removing the I/O Module ................................................................ 79
6 Connect Devices ..................................................................................... 80
6.1 Data Contacts/Local Bus ...................................................................... 80
6.2 Power Contacts/Field Supply ................................................................ 81
6.3 Connecting a Conductor to the CAGE CLAMP
®
................................... 82
7 Function Description .............................................................................. 83
7.1 Operating System ................................................................................. 83
7.1.1 Start-up ............................................................................................ 83
7.1.2 Application Program Cycle ............................................................... 84
7.2 Process Data Architecture .................................................................... 86
7.3 Data Exchange ..................................................................................... 88
7.3.1 Controller Communication Objects ................................................... 88
7.3.2 Communication Interfaces ............................................................... 89
7.3.3 Memory Space ................................................................................. 89
WAGO I/O SYSTEM 750 XTR Table of Contents 5
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
7.3.4 Addressing ....................................................................................... 91
7.3.4.1 Indexing of the I/O Module Data .................................................. 91
7.3.4.2 Indexing the PFC Variables ......................................................... 95
7.3.4.3 Access to the PFC Variable Data from the Fieldbus .................... 97
7.3.4.3.1 Maximum Indices .................................................................. 101
7.3.5 Absolute Adressing ........................................................................ 102
7.3.5.1 Calculate Addresses .................................................................. 103
7.3.5.2 Address Range of the I/O Module Data ..................................... 103
7.3.5.3 Address Range of the Fieldbus Variables .................................. 103
7.3.5.4 Adress Flags ............................................................................. 103
7.3.6 Examples of Absolute Addresses ................................................... 104
7.4 Programming the PFC with WAGO-I/O-PRO ...................................... 105
7.4.1 CANopen Library for WAGO-I/O-PRO ........................................... 105
7.4.1.1 CIA405.LIB ................................................................................ 106
7.4.2 Transmit IEC-61131-3 Program ..................................................... 107
7.4.2.1 Transmission via the Serial Interface ......................................... 107
7.4.2.2 Transmission via the Fieldbus ................................................... 109
8 Commissioning ..................................................................................... 111
8.1 Connecting PC and Fieldbus Nodes ................................................... 111
8.2 Checking and Setting the Baud Rate .................................................. 111
8.3 Setting the Module ID ......................................................................... 112
8.4 Switching to the OPERATIONAL State ............................................... 113
8.5 Enabling Analog Input Data ................................................................ 113
8.6 Application-Specific Mapping .............................................................. 114
9 Diagnostics............................................................................................ 117
9.1 LED Signaling ..................................................................................... 117
9.1.1 Evaluating Fieldbus Status ............................................................. 118
9.1.2 Evaluating Node Status – I/O LED (Blink Code Table) ................... 119
9.1.3 Evaluating Power Supply Status .................................................... 127
10 Fieldbus Communication ..................................................................... 128
10.1 CANopen ............................................................................................ 128
10.1.1 Description ..................................................................................... 128
10.1.2 Network Configuration .................................................................... 129
10.1.2.1 Transmission Medium ............................................................... 129
10.1.2.1.1 Cable Type ........................................................................... 129
10.1.2.1.2 Maximum Bus Length ........................................................... 129
10.1.2.1.3 Required Cable Cross-Section .............................................. 130
10.1.2.2 Cabling ...................................................................................... 130
10.1.2.3 Topology ................................................................................... 133
10.1.2.4 Interface Modules ...................................................................... 133
10.1.2.5 Configuration Software .............................................................. 133
10.1.3 Network Communication ................................................................ 135
10.1.3.1 Communication Objects ............................................................ 135
10.1.3.1.1 Process Data Object - PDO .................................................. 135
10.1.3.1.1.1 PDO Protocol ................................................................... 136
10.1.3.1.2 Service Data Object ‒ SDO .................................................. 136
10.1.3.1.2.1 SDO Protocol ................................................................... 137
10.1.3.1.2.1.1 General Structure ........................................................ 137
6 Table of Contents WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
10.1.3.1.2.1.2 Download SDO Protocol .............................................. 137
10.1.3.1.2.1.2.1 Initiate SDO Download ............................................ 137
10.1.3.1.2.1.3 Download SDO Segment ............................................. 139
10.1.3.1.2.1.4 Upload SDO Protocol ................................................... 139
10.1.3.1.2.1.4.1 Initiate SDO Upload ................................................. 140
10.1.3.1.2.1.4.2 Upload SDO Segment ............................................. 141
10.1.3.1.2.1.5 Abort SDO Transfer ..................................................... 142
10.1.3.1.2.2 SDO Examples ................................................................. 143
10.1.3.1.2.2.1 Example 1: Read Index 0x1000
Sub-Index 0; Device Type ............................................ 144
10.1.3.1.2.2.2 Example 2: Read Index 0x1008
Sub-Index 0; Manufacturer Device Name .................... 144
10.1.3.1.2.2.3 Example 3: Read Index 0x6000
Sub-Index 1; First 8-Bit Digital Input Block ................... 144
10.1.3.1.2.2.4 Example 4: Write Index 0x6200
Sub-Index 1; First 8-Bit Digital Output Block ................ 145
10.1.3.1.3 Synchronization Object ‒ SYNC ........................................... 145
10.1.3.1.3.1 SYNC Protocol ................................................................. 145
10.1.3.1.4 Emergency Object ‒ EMCY .................................................. 145
10.1.3.1.4.1 EMCY Protocol ................................................................. 146
10.1.3.2 Communication States of a CANopen
Fieldbus Coupler/Controller ....................................................... 146
10.1.3.2.1 CANopen State Diagram ....................................................... 146
10.1.3.2.2 INITIALIZATION.................................................................... 147
10.1.3.2.3 PRE-OPERATIONAL ............................................................ 147
10.1.3.2.4 OPERATIONAL .................................................................... 147
10.1.3.2.5 STOPPED............................................................................. 148
10.1.3.3 Network Management Objects .................................................. 148
10.1.3.3.1 Module Control Protocols ...................................................... 148
10.1.3.3.1.1 Start Remote Node ........................................................... 148
10.1.3.3.1.2 Stop Remote Node ........................................................... 148
10.1.3.3.1.3 Enter Pre-Operational ...................................................... 149
10.1.3.3.1.4 Reset Node ...................................................................... 149
10.1.3.3.2 Error Control Protocols.......................................................... 150
10.1.3.3.3 Node Guarding Protocol........................................................ 150
10.1.3.3.4 Heartbeat Protocol ................................................................ 150
10.1.3.3.5 Boot-up Protocol ................................................................... 151
10.1.3.4 Object Directory ......................................................................... 151
10.1.3.4.1 Initialization ........................................................................... 153
10.1.3.4.1.1 Default Configuration ........................................................ 153
10.1.3.4.1.1.1 Initialization of the Communication
Profile Area .................................................................. 153
10.1.3.4.2 Communication Profile Area ................................................. 157
10.1.3.4.2.1 Object 0x1000 – Device Type........................................... 158
10.1.3.4.2.2 Object 0x1001 – Error Register ........................................ 158
10.1.3.4.2.3 Object 0x1002 – Manufacturer Status Register ................ 159
10.1.3.4.2.4 Object 0x1003 – Predefined Error Field ............................ 159
10.1.3.4.2.5 Object 0x1005 – COB-ID SYNC Message ........................ 160
10.1.3.4.2.6 Object 0x1006 – Communication Cycle Period ................. 160
10.1.3.4.2.7 Object 0x1008 – Manufacturer Device Name ................... 160
WAGO I/O SYSTEM 750 XTR Table of Contents 7
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
10.1.3.4.2.8 Object 0x1009 – Manufacturer Hardware Version ............ 160
10.1.3.4.2.9 Object 0x100A – Manufacturer Software Version ............. 160
10.1.3.4.2.10 Object 0x100C – Guard Time ........................................... 161
10.1.3.4.2.11 Object 0x100D – Life Time Factor .................................... 161
10.1.3.4.2.12 Object 0x1010 – Store Parameters .................................. 161
10.1.3.4.2.13 Object 0x1011 – Restore Default Parameters .................. 162
10.1.3.4.2.13.1 Sub-Index 1 ‒ Permanent Entry
Default Parameters ...................................................... 162
10.1.3.4.2.13.2 Sub-Index 4 ‒ One-Time Entry of
Default Paramters ........................................................ 162
10.1.3.4.2.14 Object 0x1014 – COB-ID Emergency Object .................... 163
10.1.3.4.2.15 Object 0x1015 – Inhibit Time Emergency Object .............. 163
10.1.3.4.2.16 Object 0x1016 – Consumer Heartbeat Time ..................... 163
10.1.3.4.2.17 Object 0x1017 – Producer Heartbeat Time....................... 164
10.1.3.4.2.18 Object 0x1018 – Identity Object ........................................ 164
10.1.3.4.2.19 Object 0x1200 … 0x1201 – Server SDO .......................... 165
10.1.3.4.2.20 Object 0x1400 … 0x141F – Receive
PDO Communication Parameter ...................................... 165
10.1.3.4.2.21 Object 0x1600 … 0x161F – Receive
PDO Mapping Parameter ................................................. 166
10.1.3.4.2.22 Object 0x1800 … 0x181F – Transmit
PDO Communication Parameter ...................................... 167
10.1.3.4.2.23 Object 0x1A00 … 0x1A1F, Transmit
PDO Mapping Parameter ................................................. 168
10.1.3.4.3 Manufacturer Specific Profile Area ........................................ 169
10.1.3.4.3.1 Object 0x2000 – Digital Inputs .......................................... 171
10.1.3.4.3.2 Object 0x2100 – Digital Outputs ....................................... 171
10.1.3.4.3.3 Object 0x2200 – 1-Byte I/O Modules, Inputs .................... 171
10.1.3.4.3.4 Object 0x2300 – 1-Byte I/O Modules, Outputs .................. 171
10.1.3.4.3.5 Object 0x2400 – 2-Byte I/O Modules, Inputs .................... 172
10.1.3.4.3.6 Object 0x2500 – 2-Byte I/O Modules, Outputs .................. 172
10.1.3.4.3.7 Object 0x2600 – 3-Byte I/O Modules, Inputs .................... 172
10.1.3.4.3.8 Object 0x2700 – 3-Byte I/O Modules, Outputs .................. 172
10.1.3.4.3.9 Object 0x2800 – 4-Byte I/O Modules, Inputs .................... 173
10.1.3.4.3.10 Object 0x2900 – 4-Byte I/O Modules, Inputs .................... 173
10.1.3.4.3.11 Object 0x3000 – 5-Byte I/O Modules, Inputs .................... 173
10.1.3.4.3.12 Object 0x3100 – 5-Byte I/O Modules, Outputse ................ 173
10.1.3.4.3.13 Object 0x3200 – 6-Byte I/O Modules, Inputs .................... 174
10.1.3.4.3.14 Object 0x3300 – 6-Byte I/O Modules, Outputs .................. 174
10.1.3.4.3.15 Object 0x3400 – 7-Byte I/O Modules, Inputs .................... 174
10.1.3.4.3.16 Object 0x3500 – 7-Byte I/O Modules, Outputs .................. 174
10.1.3.4.3.17 Object 0x3600 – 8-Byte I/O Modules, Inputs .................... 175
10.1.3.4.3.18 Object 0x3700 – 8-Byte I/O Modules, Outputs .................. 175
10.1.3.4.3.19 Object 0x3800 … 0x380F –
9+ Byte I/O Modules – Inputs ........................................... 175
10.1.3.4.3.20 Object 0x3900 … 0x390F –
9+ Byte I/O Modules – Outputs ........................................ 175
10.1.3.4.3.21 Object 0x4200 … 0x4202 –
Gateway Module Input...................................................... 176
8 Table of Contents WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
10.1.3.4.3.22 Object 0x4300 … 0x4302 –
Gateway Module Output ................................................... 176
10.1.3.4.3.23 Object 0x4500 – Empty Module Configuration .................. 177
10.1.3.4.3.24 Object 0x5000 – Read Input Process Image .................... 182
10.1.3.4.3.25 Object 0x5001 – Write Output Process Image .................. 182
10.1.3.4.3.26 Object 0x5200 – Fieldbus Coupler/Controller
Configuration .................................................................... 183
10.1.3.4.3.27 Object 0x5201 – Diagnostic Configuration ........................ 186
10.1.3.4.3.28 186
10.1.3.4.3.29 Object 0x5202 – Module Configuration ............................. 187
10.1.3.4.4 Standard Device Profile Area – DS 401 ................................ 189
10.1.3.4.4.1 Object 0x6000 – Read Digital Input 8-Bit .......................... 191
10.1.3.4.4.2 Object 0x6005 – Global Interrupt
Enable Digital 8-Bit ........................................................... 191
10.1.3.4.4.3 Object 0x6006 – Digital Interrupt
Mask Any Change 8-Bit .................................................... 191
10.1.3.4.4.4 Object 0x6007 – Digital Interrupt
Mask Low-to-High 8-Bit .................................................... 192
10.1.3.4.4.5 Object 0x6008 – Digital Interrupt
Mask High-to-Low 8-Bit .................................................... 193
10.1.3.4.4.6 Object 0x6100 – Read Digital Input 16-Bit ........................ 193
10.1.3.4.4.7 Object 0x6200 – Write Digital Output 8-Bit ....................... 194
10.1.3.4.4.8 Object 0x6206 – Error Mode Digital Output 8-Bit .............. 194
10.1.3.4.4.9 Object 0x6207 – Error Value Digital Output 8-Bit .............. 195
10.1.3.4.4.10 Object 0x6300 – Write Digital Output 16-Bit ..................... 195
10.1.3.4.4.11 Object 0x6401 – Read Analog Input 16-Bit ....................... 196
10.1.3.4.4.12 Object 0x6411 – Write Analog Output 16-Bit .................... 197
10.1.3.4.4.13 Object 0x6421 – Analog Input Interrupt
Trigger Selection .............................................................. 197
10.1.3.4.4.14 Object 0x6423 – Analog Input Global
Interrupt Enable ................................................................ 198
10.1.3.4.4.15 Object 0x6424 – Analog Input Interrupt
Upper Limit Integer ........................................................... 198
10.1.3.4.4.16 Object 0x6425 – Analog Input Interrupt
Lower Limit Integer ........................................................... 199
10.1.3.4.4.17 Object 0x6426 – Analog Input Interrupt
Delta Unsigned ................................................................. 199
10.1.3.4.4.18 Object 0x6427 – Analog Input Interrupt
Negative Delta Unsigned .................................................. 200
10.1.3.4.4.19 Object 0x6428 – Analog Input Interrupt
Positive Delta Unsigned ................................................... 200
10.1.3.4.4.20 Object 0x6443 – Analog Output Error Mode ..................... 201
10.1.3.4.4.21 Object 0x6444 – Analog Output Error
Value Integer .................................................................... 201
10.1.3.4.4.22 Object 0x67FE – Error Behavior ....................................... 202
10.1.3.4.5 Reserved Area ...................................................................... 203
10.1.3.4.5.1 Object 0xA000, Integer8 IEC 61131-1
Input Variables ................................................................. 205
10.1.3.4.5.2 Object 0xA040, Unsigned8 IEC 61131-1
Input Variables ................................................................. 205
WAGO I/O SYSTEM 750 XTR Table of Contents 9
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
10.1.3.4.5.3 Object 0xA080, Boolean IEC-61131-1
Input Variables ................................................................. 206
10.1.3.4.5.4 Object 0xA0C0, Integer16 IEC-61131-1
Input Variables ................................................................. 206
10.1.3.4.5.5 Object 0xA101 to 0xA8C0 IEC-61131-1
Input/Output Variables ...................................................... 206
10.1.3.5 PDO Transmission .................................................................... 207
10.1.3.5.1 Mapping ................................................................................ 207
10.1.3.5.2 Transmit PDO1 ..................................................................... 208
10.1.3.5.3 Receive PDO1 ...................................................................... 209
10.1.3.5.4 Transmit PDO2 ..................................................................... 210
10.1.3.5.5 Receive PDO2 ...................................................................... 211
10.1.3.6 SYNC Monitoring ....................................................................... 212
10.1.3.7 Node Guarding .......................................................................... 212
10.1.3.8 Heartbeat Monitoring ................................................................. 214
10.1.3.9 Error Messages (Emergency) .................................................... 215
10.1.3.9.1 Diagnostic Messages of the I/O Modules .............................. 217
10.1.3.9.2 Layout of the Module-Specific Diagnostic
Bits of the Digital Input/Output Modules ................................ 220
11 I/O Modules............................................................................................ 222
11.1 Overview ............................................................................................ 222
11.2 Structure of Process Data for CANopen ............................................. 223
11.2.1 Digital Input Modules...................................................................... 223
11.2.2 Digital Output Modules ................................................................... 225
11.2.3 Analog Input Modules .................................................................... 229
11.2.4 Analog Output Modules .................................................................. 231
11.2.5 Specialty Modules .......................................................................... 233
11.2.6 System Modules ............................................................................ 261
12 Use in Hazardous Environments ......................................................... 262
12.1 Marking Configuration Examples ........................................................ 263
12.1.1 Marking for Europe According to ATEX and IECEx ........................ 263
12.1.2 Marking for the United States of America (NEC)
and Canada (CEC) ........................................................................ 267
12.2 Installation Regulations....................................................................... 270
12.2.1 Special Notes including Explosion Protection ................................. 270
12.2.2 Special Notes Regarding ANSI/ISA Ex .......................................... 272
List of Figures ................................................................................................ 273
List of Tables .................................................................................................. 276
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10 Notes about this Documentation WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
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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
Pos: 10 /Serie 75 0 (WAGO-I/O-S YSTEM)/Hi nweise zur Do kumentation (alte Struktur)/Gültig keitsbereich/Gültig keitsbereich D okumentation K oppler/Controller 750-xxxx, ohne Variante nangabe @ 14\ mod_135894 4039400_21.doc x @ 109362 @ @ 1
This documentation is only applicable to the “Controller CANopen M3 DSub XTR”
(750-838/040-000).
Pos: 11 /Serie 75 0 (WAGO-I/O-S YSTEM)/Hi nweise zur Do kumentation (alte Struktur)/Hin weise/Achtung: Hin weis zur Do kumentation Koppler/C ontroller 75 0-xxx/040- 000 (ergänzt) @ 2 7\mod_146 8502038926_21.d ocx @ 216888 @ @ 1
The device Controller CANopen M3 DSub XTR 750-838/040-000 shall only be
installed and operated according to the instructions in this manual and the
system description for the WAGO I/O SYSTEM 750 XTR.
Consider power layout of the WAGO I/O SYSTEM 750 XTR!
In addition to these operating instructions, you will also need the system
description “Design Notes /XTR – Guidelines and Recommendations for
Increasing Operational Safety”, 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
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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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WAGO I/O SYSTEM 750 XTR Notes about this Documentation 11
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
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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.
Pos: 12.5.6 /All e Serien (Allge meine Module)/Sich erheits- und sonstige Hin weise/Achtung/Ach tung: _Warnung vor Sachsch äden durch ele ktrostatische Au fladung_ - Erl äuterung @ 13\mod_1343 310227702_21.doc x @ 101044 @ @ 1
Damage to Property Caused by Electrostatic Discharge (ESD)!
Indicates a potentially hazardous situation which, if not avoided, may result in
damage to property.
Pos: 12.5.7 /All e Serien (Allge meine Module)/ Sicherheits- und sonstige Hin weise/Hinweis/Hin weis: _Wichtiger Hi nweis allge mein_ - Erlä uterung @ 13\ mod_13433103 26906_21.doc x @ 101047 @ @ 1
Important Note!
Indicates a potential malfunction which, if not avoided, however, will not result in
damage to property.
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12 Notes about this Documentation WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
Additional Information:
Refers to additional information which is not an integral part of this
documentation (e.g., the Internet).
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WAGO I/O SYSTEM 750 XTR Notes about this Documentation 13
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
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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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14 Important Notes WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
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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. 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 750 Series in Compliance with Underlying
Provisions
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Fieldbus couplers, 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 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 or controller.
WAGO I/O SYSTEM 750 XTR Important Notes 15
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
Appropriate housing (per 2014/34/EU) 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.
The implementation of safety functions such as EMERGENCY STOP or safety
door monitoring must only be performed by the F I/O modules within the modular
WAGO I/O SYSTEM 750. Only these safe F I/O modules ensure functional safety
in accordance with the latest international standards. WAGO's interference-free
output modules can be controlled by the safety function.
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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. These
modules contain no parts that can be serviced or repaired by the user. The
following actions will result in the exclusion of liability on the part of WAGO
Kontakttechnik GmbH & Co. KG:
• Repairs,
• Changes to the hardware or software that are not described in the
operating instructions,
• Improper use of the components.
Further details are given in the contractual agreements. Please send your
request for modified and new hardware or software configurations directly to
WAGO Kontakttechnik GmbH & Co. KG.
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2.1.4.1 Disposal
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2.1.4.1.1 Electrical and Electronic Equipment
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Electrical and electronic equipment may not be disposed of
with household waste. This also applies to products without
this symbol.
Electrical and electronic equipment contain materials and substances that can be
harmful to the environment and health. Electrical and electronic equipment must
be disposed of properly after use.
WEEE 2012/19/EU applies throughout Europe. Directives and laws may vary
nationally.
16 Important Notes WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
Environmentally friendly disposal benefits health and protects
the environment from harmful substances in electrical and
electronic equipment.
• Observe national and local regulations for the disposal of electrical and
electronic equipment.
• Clear any data stored on the electrical and electronic equipment.
• Remove any added battery or memory card in the electrical and
electronic equipment.
• Have the electrical and electronic equipment sent to your local
collection point.
Improper disposal of electrical and electronic equipment can be harmful to the
environment and human health.
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2.1.4.1.2 Packaging
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Packaging contains materials that can be reused.
PPWD 94/62/EU and 2004/12/EU packaging guidelines apply throughout
Europe. Directives and laws may vary nationally.
Environmentally friendly disposal of the packaging protects the environment and
allows sustainable and efficient use of resources.
• Observe national and local regulations for the disposal of packaging.
• Dispose of packaging of all types that allows a high level of recovery,
reuse and recycling.
Improper disposal of packaging can be harmful to the environment and wastes
valuable resources.
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WAGO I/O SYSTEM 750 XTR Important Notes 17
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
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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 device in only one suitable enclosure!
The device is an open system. Install the device in a suitable enclosure. This
enclosure must:
• Guarantee that the max. permissible degree of pollution is not exceeded.
• Offer adequate protection against contact.
• Prevent fire from spreading outside of the enclosure.
• Offer adequate protection against UV irradiation.
• Guarantee mechanical stability
• Restrict access to authorized personnel and may only be opened with tools
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Ensure disconnect and overcurrent protection!
The device is intended for installation in automation technology systems.
Disconnect protection is not integrated. Connected systems must be protected by
a fuse.
Provide suitable disconnect and overcurrent protection on the system side!
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Ensure a standard connection!
To minimize any hazardous situations resulting in personal injury or to avoid
failures in your system, the data and power supply lines shall be installed
according to standards, with careful attention given to ensuring the correct
terminal assignment. Always adhere to the EMC directives applicable to your
application.
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18 Important Notes WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
Power from SELV/PELV power supply only!
All field signals and field supplies connected to this XTR fieldbus
coupler/controller (750-838/040-000) must be powered from SELV/PELV power
supply(s)!
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Do not touch hot surfaces!
The surface of the housing can become hot during operation. If the device was
operated at high ambient temperatures, allow it to cool off before touching it.
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Ensure proper contact with the DIN-rail!
Proper electrical contact between the DIN-rail and device is necessary to
maintain the EMC characteristics and function of the device.
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Replace defective or damaged devices!
Replace defective or damaged device/module (e.g., in the event of deformed
contacts).
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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 housing and soiled contacts with propanol.
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WAGO I/O SYSTEM 750 XTR Important Notes 19
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
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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Use only direct current (DC) for insulation testing!
Both the system voltage and field voltage side are capacitively coupled to the
DIN-rail. If an I/O module is mounted on the DIN-rail, application of an AC voltage
between the DIN-rail and at least one of these two potentials can lead to the
destruction of the module.
Use only direct current (DC) for insulation testing. To avoid destroying the I/O
module, you must discharge it completely before applying the test voltage again.
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20 System Description WAGO I/O SYSTEM 750 XTR
750-838/040-000 Controller CANopen M3 DSub XTR
Manual
Version 1.3.0
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3 System Description
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The 750 XTR Series is part of the WAGO I/O SYSTEM 750.
Pos: 17.3 /Serie 7 50 (WAGO-I/O-S YSTEM)/S ystembeschreib ung/Gerät und S ystem/Systemb eschreibung - A ufbau Feldbus knoten /XTR @ 18\mod_139 2743431433_ 21.docx @ 14581 7 @ @ 1
The WAGO I/O SYSTEM 750 is a modular, fieldbus-independent input/output
system (I/O system). The configuration described here consists of a fieldbus
coupler/controller (1) and the modular I/O modules (2) for any signal shapes that
form the fieldbus node together. The end module (3) completes the node and is
required for correct operation of the fieldbus node.
Figure 1: Fieldbus Node (Example)
Fieldbus couplers/controllers are available for different fieldbus systems.
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The extended ECO fieldbus couplers contain the fieldbus interface, electronics
and a power supply terminal. The fieldbus interface forms the physical interface
to the relevant fieldbus. The electronics process the data of the bus modules and
make it available for the fieldbus communication. The 24 V system supply and
the 24 V field supply are fed in via the integrated power supply terminal.
The fieldbus coupler/controller communicates via the relevant fieldbus. The
programmable fieldbus controller (PFC) enables the implementation of additional
PLC functions. Programming is done with the WAGO-I/O-PRO in accordance
with IEC 61131-3.
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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 a local 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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