WAGO I/O-SYSTEM 750 Technical Description Download Page 141

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CANopen

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Network Communication

WAGO-I/O-SYSTEM 750

CANopen

4.3.5.5 Receive PDO2

The following diagram shows an overview of the relevant objects and their
connection for the PDO transmission of analog outputs.

ENTRY

into

0x6411

RECEIVE

RPDO2...4

Switch if

Device
Failure

0x1401...3

Default

Mapping

Parameter

0x1601...3

Default

Communication

Parameter

0x6443

Error Mode

0x6444

Error Value

SWITCH

IF 0x0

CAN

Reception

SINGLE

ANALOG

OUTPUT

Fig. 4-3: PDO transmission of analog output data

g012459x

Index

Object name

Description

See on
page:

0x1401…3

Receive PDO Communication
Parameter

Communication parameters for the Receive PDOs

114

0x1601…3

Transmit PDO Mapping Parameter Mapping parameters for the Transmit PDOs

114

0x6411

Write Analogue Output 16-Bit

Data of the analog 16 bit Outputs

132

0x6443

Analogue Output Error Mode

Release of pre-defined error values of the 16-bits
analog output data

135

0x6444

Analogue Output Error Value
Integer

Pre-defined error values of the 16-bits analog output
data

136

Summary of Contents for I/O-SYSTEM 750

Page 1: ...Modular I O System CANopen 750 337 750 338 Manual Technical Description Installation and Configuration Version 3 0 2...

Page 2: ...71 8 87 5 55 Fax 49 0 571 8 87 85 55 E Mail support wago com Every conceivable measure has been taken to ensure the correctness and com pleteness of this documentation However as errors can never be f...

Page 3: ...Setup 21 2 6 1 Installation Position 21 2 6 2 Total Expansion 21 2 6 3 Assembly onto Carrier Rail 22 2 6 3 1 Carrier rail properties 22 2 6 3 2 WAGO DIN Rail 23 2 6 4 Spacing 23 2 6 5 Plugging and Rem...

Page 4: ...54 3 1 4 1 Structure in principle 54 3 1 5 Data Exchange 54 3 1 5 1 Communication objects 55 3 1 5 2 Communication interfaces 55 3 1 5 3 Memory Areas 55 3 1 5 4 Addressing 56 3 1 6 Starting up a CANo...

Page 5: ...Protocol 99 4 3 3 5 Bootup Protocol 100 4 3 4 Object Directory 100 4 3 4 1 Initialization 102 4 3 4 2 Communication Profile Area 106 4 3 4 3 Manufactor Specific Profile Area 117 4 3 4 4 Standard Devic...

Page 6: ...EC and IEC 180 6 3 1 Divisions 180 6 3 2 Explosion protection group 181 6 3 3 Unit categories 182 6 3 4 Temperature classes 182 6 3 5 Types of ignition protection 183 6 4 Classifications meeting the N...

Page 7: ...chnical progress All rights developing from the issue of a patent or the legal protection of util ity patents are reserved to WAGO Kontakttechnik GmbH Co KG Third party products are always indicated w...

Page 8: ...he hardware or software and the non conforming use of the components entail the exclusion of liability on the part of WAGO Kontakttechnik GmbH Co KG Please direct any requirements pertaining to a modi...

Page 9: ...ation to protect persons from injury Warning Always observe this information to prevent damage to the device Attention Marginal conditions that must always be observed to ensure smooth and effi cient...

Page 10: ...long term basis Warning The components are not resistant against materials having seeping and insu lating properties Belonging to this group of materials is e g aerosols sili cones triglycerides foun...

Page 11: ...ash between two names characterizes the selec tion of a menu point from a menu e g File New END Press buttons are marked as bold with small capitals e g ENTER Keys are marked bold within angle bracket...

Page 12: ...us 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...

Page 13: ...CAGE CLAMP Wire range 0 08 mm 2 5 mm AWG 28 14 Stripped length 8 9 mm 9 10 mm for components with pluggable wiring 753 xxx Contacts Power jumpers contacts blade spring contact self cleaning Current vi...

Page 14: ...kV line earth 1 B 1 kV line line 2 EN 61000 4 5 surge AC sup ply 2 kV line earth 3 B EN 61000 4 6 RF disturbances 10 V m 80 AM 0 15 80 MHz 3 A Emission of interference for industrial areas acc to EN 6...

Page 15: ...uency change max 1 octave minute b Vibration direction 3 axes 15 g IEC 60068 2 27 shock Note on shock test a Type of shock half sine b Shock duration 11 ms c Shock direction 3x in positive and 3x in n...

Page 16: ...urbances harmonic waves 3 V 2 W A Type test high voltage 755 V DC 1500 V AC Emission of interference acc to Germanischer Lloyd 2003 Test specification Limit values Frequency range Distance 96 50 dB V...

Page 17: ...l areas housing commercial and business areas small scale enterprises The special permit can be obtained from an authority or inspection office In Germany the Federal Office for Post and Telecommunica...

Page 18: ...ons 51 24V 0V 01 02 C D B A C D B A C D B A C D B A C D B A 100 12 24 64 35 65 Side view Dimensions in mm Fig 2 2 Dimensions g01xx05e Note The illustration shows a standard coupler For detailed dimens...

Page 19: ...0 0 0 2 0 3 B 0 0 0 0 0 0 Hansastr 27 D 32423 Minden ITEM NO 750 333 PROFIBUS DP 12 MBd DPV1 0 V Power Supply Electronic PATENTS PENDING II 3 GD DEMKO 02ATEX132273 X EEx nA II T4 24V DC AWG 28 14 55...

Page 20: ...ent version data are registered into the columns of the matrix Additionally with the update of a fieldbus coupler or controller also the cover of the configuration and programming interface of the cou...

Page 21: ...ected to the coupler controller is 780mm When as sembled the I O modules have a maximum length of 768mm Examples 64 I O modules of 12mm width can be connected to one coupler controller 32 I O modules...

Page 22: ...urbances In order to avoid corrosion this tin plated carrier rail contact must not form a galvanic cell with the material of the carrier rail which generates a differential voltage above 0 5 V saline...

Page 23: ...lotted unslotted 210 118 35 x 15 2 3 mm steel yellow chromated unslotted 210 198 35 x 15 2 3 mm copper unslotted 210 196 35 x 7 5 1 mm aluminum unslotted 2 6 4 Spacing The spacing between adjacent com...

Page 24: ...using a screwdriver To pull out the fieldbus coupler controller release the locking disc by pressing on the bottom groove with a screwdriver and then pulling the orange colored unlocking lug Fig 2 5...

Page 25: ...according to the project planning Errors in the planning of the node in terms of the potential groups connection via the power contacts are recognized as the bus modules with power contacts male cont...

Page 26: ...acts which are available as self cleaning gold spring contacts Fig 2 7 Data contacts p0xxx07x Warning Do not touch the gold spring contacts on the I O modules in order to avoid soiling or scratching E...

Page 27: ...n the left side Danger The power contacts are sharp edged Handle the module carefully to prevent injury Attention Please take into consideration that some bus modules have no or only a few power jumpe...

Page 28: ...o the opening After removing the operating tool the conductor is safely clamped More than one conductor per connection is not permissible If several conduc tors have to be made at one connection point...

Page 29: ...ase see catalog Fig 2 10 Isolation g0xxx01e Attention The ground wire connection must be present in each group In order that all protective conductor functions are maintained under all circumstances i...

Page 30: ...stem supply modules 750 613 The voltage supply is reverse voltage protected Attention The use of an incorrect supply voltage or frequency can cause severe damage to the component Fig 2 11 System Suppl...

Page 31: ...ply unit See coupler controller and internal system supply module 750 613 cf catalogue W4 Volume 3 manuals or Internet Example Coupler 750 301 internal current consumption 350 mA at 5V residual curren...

Page 32: ...following formulas Coupler Controller I 5 V total Sum of all the internal current consumption of the connected bus modules internal current consumption coupler controller 750 613 I 5 V total Sum of al...

Page 33: ...r other potentials e g AC 230 V Like wise with the aid of the power supply modules various potentials can be set up The connections are linked in pairs with a power contact Fig 2 13 Field Supply Senso...

Page 34: ...otentials e g the alteration from DC 24 V to AC 230V a spacer module should be used The optical separa tion of the potentials acts as a warning to heed caution in the case of wiring and maintenance wo...

Page 35: ...ge a fuse or to switch off the voltage in succeeding bus modules the fuse holder may be pulled out In order to do this use a screwdriver for example to reach into one of the slits one on both sides an...

Page 36: ...fusing can be done externally The fuse modules of the WAGO series 281 and 282 are suitable for this purpose Fig 2 18 Fuse modules for automotive fuses Series 282 pf66800x Fig 2 19 Fuse modules with pi...

Page 37: ...for the certified operation of the system Item No Name Description 750 626 Supply filter Filter module for system supply and field supply 24 V 0 V i e for field bus coupler controller and bus power s...

Page 38: ...750 613 750 512 750 512 750 616 750 513 750 610 750 552 750 600 750 612 750 616 1 a b c d 1 2 2 24V 24V 10 A 10 A L1 L2 L3 N PE 230V 230V Main ground bus Shield screen bus System Supply Field Supply F...

Page 39: ...s modules should be considered The field supply as well influences the bus modules as the inputs and outputs of some bus modules require the voltage of the field supply Note The system supply and the...

Page 40: ...ssembly Insulated assembly has been achieved when there is constructively no direct conduction connection between the cabinet frame or machine parts and the carrier rail Here the earth must be set up...

Page 41: ...ome components in the I O system have a carrier rail contact that dissipates electro magnetic disturbances to the carrier rail Fig 2 23 Carrier rail contact g0xxx10e Attention Care must be taken to en...

Page 42: ...ttention Should the ground conductor connection of the power jumper contacts within the node become disrupted e g due to a 4 channel bus terminal the ground connection will need to be re established T...

Page 43: ...is incoming disturbances can be easily diverted The shielding should be placed over the entrance of the cabinet or housing in order to already repel disturbances at the entrance 2 9 2 Bus Conductors T...

Page 44: ...ther these allow many dfferent possibilities See catalog W4 volume 3 chapter 10 Fig 2 25 WAGO Shield Screen Connecting System p0xxx08x p0xxx09x and p0xxx10x Fig 2 26 Application of the WAGO Shield Scr...

Page 45: ...10 kBaud 1 Mbaud digital and analog signals D Sub Fieldbus connection 2 12 Abbreviation AI Analog Input AO Analog Output BC Buscoupler CAL CAN Application Layer CAN Controller Area Network COB ID Com...

Page 46: ...process image from this with all inputs and outputs This could involve a mixed arrangement of analog word by word data ex change and digital byte by byte data exchange modules The local process image...

Page 47: ...node ID and baud rate flap opened Fig 3 1 1 Fieldbus Coupler 750 337 CANopen g033700e The fieldbus coupler is comprised of Supply module with Internal system supply module for the system supply as wel...

Page 48: ...device supply is intended both for the system and the field units 1 2 3 4 5 6 7 8 750 307 24V 10nF 24V 10nF 0V 24V 5V 24V 0V 24V 0V 0V 1 2 2 10nF 500V 1 1MW 5V ELECTRONICS Bus modules FIELDBUS INTERF...

Page 49: ...he shield on the CANopen communication cable must be connected to drain The shield is connected via a 1 M resistor to ground earth rail carrier contact A connection of low impedance between shield and...

Page 50: ...ng STOP red The buscoupler node is in the state STOP RUN green The buscoupler node is in the state OPERATIONAL Tx Overflow red CAN transmitter buffer is full Rx Overflow red CAN receiver buffer is ful...

Page 51: ...ust not be connected or disconnected while the coupler controller is powered on 3 1 2 7 Hardware Address Module ID The DIP switch is used both for setting the baud rate of the fieldbus coupler and for...

Page 52: ...wing saving the new baud rate is displayed by the corresponding LEDs having a steady light Except for the baud rate of 1MBaud this is displayed by all 4 LEDs blink ing being lit Example 125 kB Tx Over...

Page 53: ...ernal not visible list is generated In the event of a fault the coupler changes to the Stop condition The I O LED flashes red After clearing the fault and cycling power the coupler changes to the Fiel...

Page 54: ...rresponding I O module description The data of the I O modules is separated for the local input and output process image in the sequence of their position after the coupler in the individual proc ess...

Page 55: ...data 32 Rx PDOs for process data exchange of fieldbus node output data 2 Server SDO for exchange of configuration data and for information on the state of the node Synchronization Object SYNC for netw...

Page 56: ...ng to the output modules is possible from the fieldbus side 3 1 5 4 Addressing Upon switching on the supply voltage the data is mapped from the process image to an object directory initialization A CA...

Page 57: ...nce sensors Power supply modules with fuse holder diagnostics Pulse width output modules Solid State power relay Interface module Relay output modules Up down counter I O modules for angle and path me...

Page 58: ...odule configuration contains 1 5 digital 2 channel input modules i e 750 400 2 one digital 4 channel output module i e 750 504 and 3 two 2 channel analog output modules with output modules having 2 by...

Page 59: ...3 1 6 1 Connecting the PC and Fieldbus Node Connect the fitted CANopen fieldbus node to the CANopen fieldbus PCB in your PC via a fieldbus cable and start your PC 3 1 6 2 Checking and Setting the Baud...

Page 60: ...as you switch on the supply voltage the coupler is in the INITIALIZATION status At the same time the process image is created by means of the connected bus modules and the object directory initialize...

Page 61: ...ation is possible according to the Default Mapping refer to chapter 5 3 4 1 Initializa tion 3 1 6 5 Switching on the analog Input Data To avoid the CAN bus from overflowing with CAN messages the trans...

Page 62: ...8 xx is not evaluated 1 First of all deactivate the PDO you wish to map In the present example this is the TxPDO2 To this effect write value 0x80000000 into the object having the index 0x1801 sub ind...

Page 63: ...he aid of SDO transmissions Mapping 3 analog input channel CAN ID Data Transmit 0x608 0x23 01 1A 01 10 03 00 24 23 0 data bytes invalid 011A Index Lowbyte first 01 Sub index 10 Data width of the analo...

Page 64: ...rameter Index 0x1801 Sub Index Value Meaning 0 3 Number of supported entries in the record 1 0x432 COB ID used by PDO 2 3 Transmission Type 3 0 Inhibit Time Sub Index 3 Inhibit Time 0 CAN ID Data Tran...

Page 65: ...ts g033702x The LEDs can be divided into three groups The first group fieldbus contains the LEDs with the denotation CAN ERR red RUN green Tx Overflow red and Rx Overflow red signalling the operating...

Page 66: ...is full Data loss is likely Increase the time span between 2 protocols X X ON X CAN transmitter buffer is full Data loss is likely Check the data sizes of the bus system Increase the transmit priority...

Page 67: ...he I O LED continues blinking red Detailed fault messages are displayed via the I O ERR LED with the aid of a blink code A fault is cyclically displayed with up to 3 blink sequences The first blink se...

Page 68: ...Turn off the power supply of the node reduce number of I O mod ules and turn the power supply on again 1 Overflow of the internal buffer memory for the inline code Turn off the power supply of the nod...

Page 69: ...gain 8 Invalid hardware firmware com bination Turn off the power supply of the node exchange the bus coupler and turn the power supply on again 9 Checksum error in the EEPROM Turn off the power supply...

Page 70: ...n detect the faulty I O module as follows turn off the power supply of the node Place the end module in the middle of the fieldbus node Turn the power supply on again If the LED is still blinking turn...

Page 71: ...coupler Turn the power supply on again Repeat this procedure until the faulty I O module is detected Replace the faulty I O module If there is only one I O module left but the LED is still blinking th...

Page 72: ...imum process image size is not yet reached 2 Maximum size of Mailbox ex ceeded Reduce the Mailbox size 3 Maximum size of process image exceeded due to the put Modules with Mailbox functionality Reduce...

Page 73: ...Fieldbus Coupler 750 337 750 338 73 Fieldbus Coupler WAGO I O SYSTEM 750 CANopen The LEDB left below or the LED C right above signals the supply to the field side i e the power jumper contacts...

Page 74: ...2 EMC CE Immunity to interference 750 337 750 338 acc to EN 50082 2 1996 acc to EN 61000 6 2 2001 EMC CE Emission of interference 750 337 750 338 acc to EN 50081 2 1994 acc to EN 61000 6 3 2001 EMC m...

Page 75: ...mmunication profile DS 301 V4 01 Device profile DS 401 V2 0 marginal check edge triggered PDOs program mable error response COB ID Distribution SDO Standard Node ID Distribution DIP Switch Further CAN...

Page 76: ...d by the user as desired CAN is a Multimaster bus system In contrast to other fieldbus systems the modules connected to the bus are not addressed but the messages identified Whenever the bus is free t...

Page 77: ...ted Pair is low priced convenient to use and permits simple bus type wir ing The WAGO CANopen fieldbus nodes are intended for wiring using shielded copper wire 3x0 25 mm Two important points have to b...

Page 78: ...n reference potential The conductor shield of the cable can be routed on the connection drain which is terminated with 1 M as against the ground or PE carrier rail con tact A low ohmic connection of t...

Page 79: ...t the data lines are not mixed up At its conductor ends the bus cable must always be connected with a match ing resistor of 120 Ohm to avoid reflections and as a result transmission problems This is a...

Page 80: ...nite o k GND and CAN_H 0 Short circuit between GND and CAN_H ca 60 o k 2 terminal resistors in the bus ca 120 Only 1 terminal resistor in the bus CAN_L and CAN_H 50 More than 2 terminal resistors in t...

Page 81: ...e same Baud rate The bus structure permits coupling in and out without side effect of stations or the step by step start up of the system Later extensions have no influence on stations already in oper...

Page 82: ...LCs or PC in terface PCBs for CANopen or it is contained in the used CAN Master Software e g SyCon of the company Firma Hilscher GmbH The needed data to the WAGO CANopen couplers and controllers are m...

Page 83: ...illed in the object directory Type and number of objects supported by the node depend on the individual fieldbus coupler In addition to several special objects i e for the network management NMT for s...

Page 84: ...rameters A differentiation is made between RxPDO receipt PDO and TxPDO trans mit PDO Client Receive Process Data Object RxPDO COB ID yy Data 0 8 Server Fig 4 1 RxPDO g012403x Client RTR Frame COB ID x...

Page 85: ...OB ID 1536 Module ID COB ID 1408 Module ID Data Data Sub Index Sub Index Index High Byte Index High Byte Index Low Byte Index Low Byte Command specifier Command specifier 0 0 1 1 2 2 3 3 4 4 8 8 Serve...

Page 86: ...s which do not contain any data Example 3 data bytes e 1 and s 1 n 4 3 1 e transfer type 0 normal transfer number of the bytes to be writ ten 5 byte 1 expedited transfer number of the bytes to be writ...

Page 87: ...mmand specifier 0 download segment request scs server command specifier 1 download segment response seg data Contains the data to be transmitted The meaning of the data is determined by the applicatio...

Page 88: ...ver Server Fig 4 6 Initiate SDO Upload g012410x ccs Client command specifier 2 initiate upload request scs Server command specifier 2 initiate upload response n is only valid if e 1 and s 1 otherwise...

Page 89: ...issions Client Client Upload SDO Segment Upload SDO Segment reserved Segment data ccs 3 scs 0 t t x c x request confirm indication response 0 0 0 0 7 7 6 6 5 5 4 4 3 2 3 2 1 1 1 1 8 8 Server Server Fi...

Page 90: ...t SDO Transfer This protocol is used in the event of errors occurring during transmission Client Abord SDO Transfer Data cs 4 x m request indication 0 0 7 6 5 4 3 2 1 1 4 8 Server Fig 4 8 Abort SDO Tr...

Page 91: ...does not match length of service parameter too high 06 07 00 13 Data type does not match length of service parameter too low 06 09 00 11 Sub index does not exist 06 09 00 30 Value range of parameter e...

Page 92: ...0 XX XX XX XX BK M 0x581 D 0x43 00 10 00 91 01 DD 00 Result Data bytes 4 and 5 91 01 Sequence Low Byte High Byte rotation 0x0191 401 Device Profile Number Data bytes 6 and 7 DD 00 Sequence Low Byte Hi...

Page 93: ...ub Index 1 First 8 bit digital output block The output values of the digital output modules are saved in index 0x6100 8 bits each are assigned to a group and can be read and written as from sub in dex...

Page 94: ...ved during operation or a module signals an error The bus coupler then sends an emergency object to all connected devices Broadcast to broadcast the error occurred The informed bus subscribers can the...

Page 95: ...atically in the INITIALIZATION status In this status the bus coupler performs a self check to check all functions of its components and the com munication interface The process image is created on the...

Page 96: ...on via SDOs and PDOs it does however not allow different configurations It is for instance not allowed to change the COB ID in the presence of a valid PDO For a detailed description please re fer to t...

Page 97: ...vidually 4 3 3 1 1 Start Remote Node This service is used to change the NMT Slave bus coupler status to OPERATIONAL NMT Master Start Remote Node NMT Slave s request indication s CS 1 COB ID 0 Node ID...

Page 98: ...odes is changed to PRE OPERATIONAL 4 3 3 1 4 Reset Node In this service a reset is performed with the NMT Slave bus coupler NMT Master Reset Node NMT Slave s request indication s CS 129 COB ID 0 Node...

Page 99: ...ponse 7 7 Toggle Bit Toggle Bit Node State Node State 6 6 0 0 request indication Remote Frame COB ID 0x700 Node ID Remote Frame COB ID 0x700 Node ID Fig 4 16 Node Guarding Protocol g012419x 4 3 3 4 He...

Page 100: ...ANopen communi cation This area is identical for all CANopen subscribers Manufacturer Specific Profile Area Index 0x2000 0x5FFF In this profile each manufacturer can implement his own company specific...

Page 101: ...00 Not used 0x0001 0x001F Static data types 0x0020 0x003F Complex data types 0x0040 0x005F Manufacturer specific data types 0x0060 0x007F Profile specific static data types 0x0080 0x009F Profile speci...

Page 102: ...process described there is used The first 4 Rx TxPDOs are defined as default PDOs If more inputs outputs exist at the bus coupler than can be covered with the default PDOs from Rx TxPDO 5 all remaini...

Page 103: ...ult value 0 and this PDO is not used with its default value Idx S Idx Description Default Value 0x1602 0 Number of mapped objects None possible values 0 no analog output 1 4 1 4 analog outputs 1 5 map...

Page 104: ...ut block 0x6000 01 08 2 2 mapped digital input block 0x6000 02 08 8 8 mapped digital input block 0x6000 08 08 2 TxPDO contains maximum the 1st to 4th 16 bit analog input If no 16 bit analog inputs exi...

Page 105: ...0x6401 08 10 4 TxPDO contains maximum the 9th to 12th 16 bit analog input If not more than 8 16 bit analog inputs exist the sub index 0 has the default value 0 and this PDO is not used with its defaul...

Page 106: ...tore Parameters Array Unsigned32 Parameter to store the configuration 109 0x1011 Restore default Parameter Array Unsigned32 Parameter to restore the default con figuration 110 0x1014 COB ID Emergency...

Page 107: ...evice Profile Number 0x91 Low Byte With Bit 1 1 if at least one digital input is connected 2 1 if at least one digital output is connected 3 1 if at least one analog input is connected 4 1 if at least...

Page 108: ...additional code of the Emergency telegram The error code coincides with the error code in the Emergency telegram The complete error memory is deleted by writing a 0 in sub index 0 4 3 4 2 4 Object 0x1...

Page 109: ...signed8 RW 0 The life Time Factor is part of the Node Guarding Protocol The NMT slave checks if it was interrogated within the Node Life Time Guardtime multiplied with the life time factor If not the...

Page 110: ...round and takes approx 2 3 sec onds When the performance is finished the SDO reply message is sent Com munication can be continued during performance using SDOs An error mes sage is only tripped with...

Page 111: ...is to be entered set bit 31 to 1 first because standard DS301 does not allow to change a valid COB ID Bit31 0 4 3 4 2 14 Object 0x1015 Inhibit Time Emergency Object Idx S Idx Name Type Attribute Defau...

Page 112: ...ct 0x1017 Producer Heartbeat Time Idx S Idx Name Type Attribute Default Value 0x1017 0 Producer Heartbeat Time Unsigned16 RW 0 The object defines the time between two Heartbeat messages sent in milli...

Page 113: ...1400 to 0x141F 0 Max supported Entries Unsigned8 RO 2 1 COB ID Unsigned32 RW Idx 0x1400 0x200 Module ID Idx 0x1401 0x300 Module ID Idx 0x1402 0x400 Module ID Idx 0x1403 0x500 Module ID Idx 0x1404 141F...

Page 114: ...X COV 1 COV 1 the data is transmitted at the interval of the set inhibit time 4 3 4 2 20 Object 0x1600 0x161F Receive PDO Mapping Parameter Idx S Idx Name Type Attribute Default Value 0x1600 to 0x161F...

Page 115: ...r number of modules is connected also the default PDOs not used are de activated Inhibit Time shows the min time between two consecutive PDOs having the same COB ID One time unit is 100us The transmit...

Page 116: ...W This object is used to define the data which is transmitted using the PDO Sub index 0 contains the number of objects valid for the PDO Design 1 to 8 Object Bit31 Bit16 Bit 15 Bit8 Bit7 Bit0 Index Su...

Page 117: ...byte special input modules 118 0x2700 3 byte special modules outputs Record Data of 3 byte special output modules 119 0x2800 4 byte special modules inputs Record Data of 4 byte special input modules...

Page 118: ...Byte Special Modules Outputs Idx S Idx Name Type Attribute Default Value Meaning 0x2300 0 special 1 byte output Unsigned8 RO Number of the 1 byte special channels 1 1 special output Unsigned8 RW 0 1 O...

Page 119: ...bject 0x3000 5 Byte Special Modules Inputs Idx S Idx Name Type Attribute Default Value Meaning 0x3000 0 special 5 byte input Unsigned8 RO Number of the 5 byte special channels 1 1 special input Unsign...

Page 120: ...annel 64 64 special input Unsigned64 RO 64 Input channel 4 3 4 3 18 Object 0x3700 8 Byte Special Modules Outputs Idx S Idx Name Type Attribute Default Value Meaning 0x3700 0 Special 8 byte output Unsi...

Page 121: ...S Idx Name Type Attribute Default Value Meaning 0x4500 0 Number of plugged and virtual I O nodules Unsigned8 RW 0 0 not active 1 64 Maximum number of plugged I O modules physically virtual 1 1 I O mod...

Page 122: ...he default configura tion in accordance with the modules connected and changes to the STOP status Emergency Message Error Code 0x5000 Error Register 0x81 Additional Code 00 03 PP LL SS PP indicates th...

Page 123: ...A D indicates whether or not the module is of an analog or a digital type 0 analog 1 digital input indicates whether or not the module is an input module 0 no input module 1 input module 1 output indi...

Page 124: ...2 0x8063 digital input 4 channels 1bit per channel connected mod 2 3 0x 8094 analog output 2 channels 2byte per channel connected mod 3 4 0x 8094 analog output 2 channels 2byte per channel connected...

Page 125: ...channel not conn mod 5 6 0x 0055 digital output 2 channels 1bit per channel not conn mod 6 7 0x 0055 digital output 2 channels 1bit per channel not conn mod 7 8 0x 8055 digital output 2 channels 1bit...

Page 126: ...gment 2 Octed_String RW none 2 Output PA segment the top 255 bytes of 512 bytes PA Is only available if 255 bytes output data are possible accord ing to the module configuration Permits writing of the...

Page 127: ...ts a channel of the module bit 0 channel 0 bit 1 channel 1 bit 7 channel 7 Bit n 1 no diagnostics messages are transmitted via Emergency n 0 7 If all bits are set to 1 255 the transmission of the diag...

Page 128: ...750 404 000 001 750 337 0 0 750 404 0 1 Digital I O Modules Bit 63 Bit 48 Bit 47 Bit 32 Bit 31 Bit 16 Bit 15 Bit 0 0 0 0 Digital Module descrip tion 0 only diagnostic 1 only inputs 2 only outputs 3 o...

Page 129: ...x6401 Read Analog Input 16 Bit Array Unsigned16 Data of analog input I O modules 16 bit 132 0x6411 Write Analog Output 16 Bit Array Unsigned16 Data of analog output I O modules 16 bit 132 0x6421 Analo...

Page 130: ...transmission of the PDO If the value is 0 the digital input data is not transmitted independent of the objects 0x6006 0x6008 4 3 4 4 3 Object 0x6006 Interrupt Mask Any Change 8 Bit Idx S Idx Name Type...

Page 131: ...0 32 Mask 32 input block Unsigned8 RW 0 This object is used to define the digital input channel which transmits its data in the event of a negative flank change from 1 to 0 Prerequisite being that the...

Page 132: ...ibute Default Value 0x6207 0 Number of digital output blocks Unsigned8 RO 1 Mask 1 output block Unsigned8 RW 0 2 Mask 2 output block Unsigned8 RW 0 32 Mask 32 output block Unsigned8 RW 0 This object i...

Page 133: ...0x6423 and consequently the general transmission released Design Sub Index 1 128 Bit Transmission conditions Configuration Sub Index 0 Threshold value exceeded 0x6424 1 Threshold value fallen short 0...

Page 134: ...channel Unsigned16 RW 0 128 Lower Limit 128 channel Unsigned16 RW 0 This object allows a threshold value monitoring if it is configured in object 0x6423 If the input value is the determined threshold...

Page 135: ...definition of this object the new value to be transmitted must be larger than the previously sent value at least by the delta value Delta Previous value Transmission g012439e 4 3 4 4 18 Object 0x6443...

Page 136: ...3 4 3 4 4 20 Object 0x67FE Error Behavior Idx S Idx Name Type Attribute Default Value 0x67FE 0 Max supported Sub Index Unsigned8 RO 1 1 Communication error Unsigned8 RW 0 This object is used to define...

Page 137: ...bit Time can be selected More over there is the possibility to reduce the amount of messages by configuring the objects for the threshold value monitoring objects 0x6421 0x6424 0x6425 and for the delt...

Page 138: ...cription See on page 0x1800 Transmit PDO Communication Parameter Communication parameters for the Receive PDOs 114 0x1A00 Transmit PDO Mapping Parameter Mapping parameters for the Transmit PDOs 115 0x...

Page 139: ...H IF 0x0 CAN Reception RPDO1 SINGLE DIGITAL OUTPUT Fig 4 1 PDO transmission of digital output data g012457x Index Object name Description See on page 0x1400 Receive PDO Communication Parameter Communi...

Page 140: ...mit PDO Mapping Parameter Mapping parameters for the Transmit PDOs 115 0x6401 Analogue Input Trigger Selection Specify the Trigger condition for the 16 bits analog input data 133 0x6423 Analogue Input...

Page 141: ...N Reception SINGLE ANALOG OUTPUT Fig 4 3 PDO transmission of analog output data g012459x Index Object name Description See on page 0x1401 3 Receive PDO Communication Parameter Communication parameters...

Page 142: ...operating status and another emergency message Error Code 0x0000 Error Register 0x81 Addi tional Code 00 04 00 000 0 is sent to show that the SYNC monitoring func tions again 4 3 7 Node Guarding The N...

Page 143: ...onal Code 0x00 04 00 000 0 is sent the outputs are ac tivated according to the objects 0x6206 0x6207 0x6443 and 0x6444 and the bus coupler changes to the pre defined status according to object 0x67FE...

Page 144: ...ergency message Error Code 0x0000 Error Register 0x11 Additional Code 0x00 05 KK 00 00 is sent to display that Heartbeat is active again whereby the outputs and the bus coupler status remain unchanged...

Page 145: ...The outputs are switched as defined in the Error Mode Value Objects 0x8110 0x11 00 02 00 00 00 internal transmit buffer overflow status change as defined in object 0x67FE The outputs are switched as...

Page 146: ...le Identifier of the diagnosis message Module specific diagnosis byte analog modules Module specific diagnosis byte digital modules 0 if the error have been cleared i e byte SK Bit 8 0 Fig 4 5 Design...

Page 147: ...s overcome 00 00 81 00 07 11 01 01 Emergency Telegram 1 Error Channel 1 Error corrected Module plugged at position 17 Diagnosis message Always 0 for ok message Error Register Error Code Fig 4 8 Design...

Page 148: ...connection high side switching DI DC 24 V 750 400 753 400 2 Channel DC 24 V 3 0 ms 2 to 4 conductor connection high side switching 750 401 753 401 2 Channel DC 24 V 0 2 ms 2 to 4 conductor connection...

Page 149: ...Channel AC DC 24 V 2 conductor connection 750 423 753 423 4 Channel AC DC 24 V 2 to 3 conductor connection with power jumper contacts DI AC DC 42 V 750 428 753 428 4 Channel AC DC 42 V 2 conductor con...

Page 150: ...ected high side switching 750 531 753 531 4 Channel DC 24 V 0 5 A short circuit protected high side switching 750 516 753 516 4 Channel DC 24 V 0 5 A short circuit protected low side switching 750 530...

Page 151: ...2 channel 0 1 A AC DC Differential Inputs AI 0 5 A 750 475 020 000 753 475 020 000 2 channel 0 5 A AC DC Differential Inputs AI 0 10 V 750 467 753 467 2 Channel DC 0 10 V single ended S E 750 477 753...

Page 152: ...sistor Bridges Strain Gauge 5 1 4 Analog Output Modules AO 0 20 mA 750 552 753 552 2 Channel 0 20 mA 750 585 2 Channel 0 20 mA EEx i 750 553 753 553 4 Channel 0 20 mA AO 4 20 mA 750 554 753 554 2 chan...

Page 153: ...mental Encor Interface RS 422 cam outputs 750 635 753 635 Digital Pulse Interface Serial Interfaces 750 650 753 Serial Interface RS 232 C 750 653 753 Serial Interface RS 485 750 651 TTY Serial Interfa...

Page 154: ...agnostics with fuse holder AC 230 V Power Supply Modules 750 612 AC DC 230 V without diagnostics passiv 750 609 AC 230 V max 6 3 A without diagnostics with fuse holder 750 611 AC 230 V max 6 3 A with...

Page 155: ...the CANopen object directory the entire input process image can be read over the index 0x5000 and the entire output process image can be written over the index 0x5001 5 2 1 Digital Input Modules Digit...

Page 156: ...nnel Digital Input Module with Diagnostics and Output Process Data 750 418 753 418 The 750 418 753 418 digital input module supplies a diagnostic and ac knowledge bit for each input channel If a fault...

Page 157: ...bit DI 2 Channel 2 Data bit DI 1 Channel 1 For the digital inputs the object 0x6000 also 0x2000 possible is used 5 2 2 Digital Output Modules Digital output modules use one bit of data per channel to...

Page 158: ...mage Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Diagnostic bit S 2 Channel 2 Diagnostic bit S 1 Channel 1 For the digital inputs the object 0x6000 also 0x2000 possible is used Output Process Imag...

Page 159: ...750 532 digital output modules have a diagnostic bit for each output channel When an output fault condition occurs i e overload short circuit or broken wire a diagnostic bit is set The diagnostic dat...

Page 160: ...tic bit is set The diagnostic data is mapped into the Input Process Image while the output control bits are in the Output Process Image Input Process Image Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bi...

Page 161: ...l variations Input Process Image Sub index Offset byte Destination Remark 0 D0 n 1 D1 Measured Value UD 2 D2 n 1 3 D3 Measured Value Uref These modules present themselves with 2x2 bytes so that the ob...

Page 162: ...are of an analog output module has 16 bits of analog output data per channel and 8 control status bits However the CANopen coupler controller does not have access to the 8 control status bits With CAN...

Page 163: ...es also the control status byte is mapped in the process image The control status byte is required for the bi directional data exchange of the module with the higher ranking control sys tem The contro...

Page 164: ...ntrol byte 1 not used 2 D0 3 D1 4 D2 n 5 D3 Counter Setting Value These modules present themselves with 1x6 bytes so that the object 0x3300 for 6 byte Special Modules Outputs is used Therefore for eac...

Page 165: ...ove Counter Modules have a total of 6 bytes of user data in both the In put and Output Process Image 4 bytes of counter data and 2 bytes of con trol status The two counter values are supplied as 16 bi...

Page 166: ...nnel data and 2 bytes of con trol status The two channel values are supplied as 16 bits Each channel has its own control status byte The following table illustrates the Input and Out put Process Image...

Page 167: ...have a total of 4 bytes mapped into each image Input and Output Process Image Sub index Offset byte Destination Remark 0 C S Control Status byte n 1 D0 2 D1 n 1 3 D2 Data bytes These modules present...

Page 168: ...D1 2 D2 n 1 3 D3 Data bytes These modules present themselves with 2x2 bytes so that the object 0x6401 also 0x2400 possible for 2 byte Special Modules Inputs and the object 0x6411 also 0x2500 possible...

Page 169: ...f 5 bytes of user data in the Input Process Image 4 bytes of user data and 1 byte of status The following table illustrates the Input Process Image which has a total of 6 bytes mapped into the image I...

Page 170: ...hemselves with 1x6 bytes so that the object 0x3200 for 6 byte Special Modules Inputs is used Therefore for each module one Subindex is occupied Output Process Image Sub index Offset byte Destination R...

Page 171: ...odic time 4 D3 n 5 D4 Latch word If cycle duration measurement mode is enabled in the control byte the cycle duration is given as a 24 bit value that is stored in D2 together with D3 D4 These modules...

Page 172: ...bject 0x2600 for 3 byte Special Modules Inputs and the object 0x2700 for 3 byte Special Modules Outputs are used Therefore for each module one Subindex is occu pied 750 635 753 635 The above Digital P...

Page 173: ...D2 n 5 D3 Data bytes These modules present themselves with 1x6 bytes so that the object 0x3200 for 6 byte Special Modules Inputs is used And the object 0x3300 for 6 byte Special Modules Outputs is us...

Page 174: ...ent themselves with 1x6 bytes so that the object 0x3300 for 6 byte Special Modules Outputs is used Therefore for each module one Subindex is occupied EnOcean Radio Receiver 750 642 The EnOcean radio r...

Page 175: ...s of user data in both the In put and Output Process Image 6 bytes of module data and 2 bytes of con trol status The following table illustrates the Input and Output Process Im age which have 8 bytes...

Page 176: ...el 2 Sensor input 2 6 C2 S2 Control Status byte log Channel 3 Sensor input 1 7 D4 n 2 8 D5 Data bytes log Channel 3 Sensor input 1 9 C3 S3 Control Status byte log Channel 4 Sensor input 2 10 D6 n 3 11...

Page 177: ...31A 8 byte prozess data sl 16 16A sl 31 31A 8 byte prozess data sl 16 16A sl 31 31A 8 byte prozess data sl 16 16A sl 31 31A n 3 th PDO free for next module free for next module 8 byte prozess data sl...

Page 178: ...slave 11B 8 byte process data sl 28 28A slave 11B 8 byte process data sl 28 28A slave 11B 8 byte process data sl 28 28A slave 11B n 3 th PDO free for next module free for next module 8 byte process da...

Page 179: ...le is used Binary Space Module 750 622 The Binary Space Modules 750 622 behave alternatively like 2 channel digital input modules or output modules and occupy depending upon the selected set tings 1 2...

Page 180: ...condary ex plosion protection comes into play Following is a detailed description of such secondary measures 6 3 Classification meeting CENELEC and IEC The specifications outlined here are valid for u...

Page 181: ...as can expect the rare or short term occurrence of an explosive atmosphere 0 h 10 h year 6 3 2 Explosion protection group In addition the electrical components for explosive areas are subdivided into...

Page 182: ...Zone 22 Explosive environment by dust 6 3 4 Temperature classes The maximum surface temperature for electrical components of explosion pro tection group I is 150 C danger due to coal dust deposits or...

Page 183: ...79 5 Sand encapsulation Zone 1 2 EEx d EN 50 018 IEC 79 1 Pressure resistant encapsulation Zone 1 2 EEx e EN 50 019 IEC 79 7 Increased safety Zone 1 2 EEx m EN 50 028 IEC 79 18 Cast encapsulation Zon...

Page 184: ...ectric Code are valid for North America 6 4 1 Divisions The Divisions describe the degree of probability of whatever type of dan gerous situation occurring Here the following assignments apply Explosi...

Page 185: ...classes Maximum surface temperature Ignition temperature of the combustible materials T1 450 C 450 C T2 300 C 300 C to 450 C T2A 280 C 280 C to 300 C T2B 260 C 260 C to 280 C T2C 230 C 230 C to 260 C...

Page 186: ...14 55 C max ambient LISTED 22ZA AND 22XM 2 4 2 4 6 2 1 0 1 0 2 0 3 II 3 G KEMA 01ATEX1024 X EEx nA II T4 Explosion protection group Unit category Community symbol for explosion protected electrical co...

Page 187: ...G KEMA 01ATEX1024 X EEx nA II T4 CL I DIV 2 Grp A B C D op temp code T4A 24V DC AWG 28 14 55 C max ambient 2 4 2 4 6 4 1 0 0 0 2 0 3 LISTED 22ZA AND 22XM CL I DIV 2 Grp ABCD optemp code T4A Explosion...

Page 188: ...ts from additional VDE regulations DIN VDE 0100 Installation in power plants with rated voltages up to 1000 V DIN VDE 0101 Installation in power plants with rated voltages above 1 kV DIN VDE 0800 Inst...

Page 189: ...non hazardous areas Installation connection addition removal or replacement of modules field bus connectors or fuses may only take place when the system supply and the field supply are switched off o...

Page 190: ...een de vices of automation technology in the process related field area Hardware Electronic electrical and mechanic components of a module subassembly Operating system Software which links the applica...

Page 191: ...oupler 39 D data contacts 19 E Electrical isolation 43 F Fieldbus node 77 100 101 Fieldbus nodes 99 I I O modules data indexing 73 I O Modules 92 Internal bus 41 L Light diodes 44 locking disc 17 P Po...

Page 192: ...WAGO Kontakttechnik GmbH Co KG Postfach 2880 D 32385 Minden Hansastra e 27 D 32423 Minden Phone 05 71 8 87 0 Fax 05 71 8 87 1 69 E Mail info wago com Internet http www wago com...

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