WAGO CANopen Controller/XTR User manual

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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

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.

Pos: 12.5.3 /All e Serien (Allge meine Module)/Sich erheits- und sonstige Hin weise/Warnung/W arnung: _Warn ung vor Perso nenschäden allg emein_ - Erläut erung @ 13\mod_1 343309877041_ 21.docx @ 101 035 @ @ 1

Personal Injury!

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

could result in death or serious injury.

Pos: 12.5.4 /All e Serien (Allge meine Module)/Sich erheits- und sonstige Hin weise/Vorsicht/V orsicht: _Warn ung vor Persone nschäden allge mein_ - Erlä uterung @ 13\ mod_13433100 28762_21.doc x @ 101038 @ @ 1

Personal Injury!

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

result in minor or moderate injury.

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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.

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Important Note!

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

damage to property.

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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.

Pos: null /Serie 7 50 (WAGO-I/O- SYSTEM)/ Wichtige Erläuterung en (alte Str uktur)/Bestimm ungsgemäße Ver wendung/Bestimm ungsgemäße Verwendung 7 50-xxxx - Üb erschrift 3 @ 3 2\mod_15360 41141528_21.d ocx @ 498494 @ 3 @ 1

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.

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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.

Pos: 17.4 /Serie 7 50 (WAGO-I/O-S YSTEM)/S ystembeschreib ung/Gerät und S ystem/Systemb eschreibung - B eschreibung Aufbau Feldbus knoten (erweit erter ECO) @ 1 1\mod_1320913 005501_21. docx @ 83000 @ @ 1

The extended ECO fieldbus couplers contain the fieldbus interface, electronics

and a power supply terminal. The fieldbus interface forms the physical interface

to the relevant fieldbus. The electronics process the data of the bus modules and

make it available for the fieldbus communication. The 24 V system supply and

the 24 V field supply are fed in via the integrated power supply terminal.

The fieldbus coupler/controller communicates via the relevant fieldbus. The

programmable fieldbus controller (PFC) enables the implementation of additional

PLC functions. Programming is done with the WAGO-I/O-PRO in accordance

with IEC 61131-3.

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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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WAGO CANopen Controller/XTR User manual

WAGO CANopen Controller/XTR User manual

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